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Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids.

Tim Helps1,2, Jonathan Rossiter1,2

  • 11 Department of Engineering Mathematics, University of Bristol , Bristol, United Kingdom .

Soft Robotics
|December 7, 2017
PubMed
Summary
This summary is machine-generated.

This study introduces a novel proprioceptive soft actuator using conductive liquid for both actuation and self-sensing. This innovation enables precise control and potential applications in bionic healthcare components.

Keywords:
actuatorflexiblefluidicproprioceptionsensorsoft

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Area of Science:

  • Soft robotics
  • Materials science
  • Biomedical engineering

Background:

  • Soft robotic systems necessitate integrated soft actuators and sensors for complex functions.
  • Proprioception (self-sensing) in soft actuators often requires combining separate sensing and actuation components.

Purpose of the Study:

  • To introduce and demonstrate a novel concept of using conductive liquid as a dual-function working fluid for proprioceptive soft actuators.
  • To investigate the feasibility of a single conductive fluid performing both actuation and strain-sensing in flexible fluidic actuators (FFAs).

Main Methods:

  • Development of two flexible fluidic actuators (FFAs): a linear and a bending actuator, utilizing conductive liquids as working fluids.
  • Characterization of the relationship between electrical resistance and strain in the FFAs.
  • Evaluation of the bandwidth of resistance as a sensing variable and its use in a control loop.
  • Investigation of temperature effects on resistance-strain behavior and detection of actuator constraints.

Main Results:

  • Demonstrated that electrical resistance of the conductive liquid can accurately infer strain in both linear and bending FFAs.
  • Achieved high repeatability in sensing despite some hysteresis and nonlinearity.
  • Determined a bandwidth of approximately 3.665 Hz for the bending FFA's resistance sensing.
  • Successfully implemented resistance feedback for controlling the bending FFA to respond to target functions.
  • Showcased the ability to detect actuator constraints using simultaneous volume and resistance measurements.

Conclusions:

  • Conductive liquids offer a viable solution for creating integrated proprioceptive soft actuators.
  • The developed FFAs show promise for low-cost, biocompatible bionic healthcare applications like orthotics, prosthetics, and artificial muscles.