Sensorized, Flat, Pneumatic Artificial Muscle Embedded with Biomimetic Microfluidic Sensors for Proprioceptive...

Area of Science:

• Robotics
• Biomedical Engineering
• Materials Science

Background:

• Soft components like pneumatic artificial muscles (PAMs) are used in wearable devices for safety.
• Traditional PAM systems require bulky external sensors, limiting user maneuverability.
• Organic muscles use embedded sensors for real-time feedback, inspiring a new design approach.

Purpose of the Study:

• To design and fabricate a sensorized flat pneumatic artificial muscle (sFPAM) with embedded force and position sensors.
• To develop and verify a hyperelastic model for the sFPAM.
• To demonstrate the feasibility of embedded sensors for feedback control in wearable actuation systems.

Main Methods:

• Fabrication of a novel sensorized flat pneumatic artificial muscle (sFPAM).
• Development and experimental validation of a hyperelastic model for the sFPAM.
• Implementation of a sliding mode controller using embedded sensor feedback.

Main Results:

• The sFPAM successfully integrated embedded force and position sensors.
• The developed hyperelastic model accurately predicted the sFPAM's performance.
• The sliding mode controller demonstrated effective feedback control using embedded sensor data.

Conclusions:

• A lightweight, compact actuation system was developed using sensorized pneumatic artificial muscles.
• Embedded sensors in sFPAMs overcome limitations of external sensors in wearable devices.
• This technology facilitates seamless integration into future wearable robotic systems.