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Optical Sensor-Embedded Pneumatic Artificial Muscle for Position and Force Estimation.

Lucas O Tiziani1, Frank L Hammond1,2

  • 1George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia.

Soft Robotics
|February 8, 2020
PubMed
Summary
This summary is machine-generated.

This study introduces a novel pneumatic artificial muscle with integrated soft optical sensing for precise estimation of muscle contraction length and force. This innovation enables accurate robotic arm control, demonstrating low position and force estimation errors.

Keywords:
force estimationoptical sensorspneumatic artificial muscleposition estimationrobotic arm

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Area of Science:

  • Robotics
  • Biomimetics
  • Soft Sensors

Background:

  • Pneumatic artificial muscles (PAMs) are widely used in robotics due to their high power-to-weight ratio.
  • Accurate estimation of contraction length and force is crucial for effective control of PAMs.
  • Existing sensing methods for PAMs often lack integration or are not soft and compliant.

Purpose of the Study:

  • To design and develop a novel pneumatic artificial muscle with integrated soft optical sensing.
  • To enable simultaneous estimation of muscle contraction length and force.
  • To evaluate the performance of the sensorized muscle in a robotic system.

Main Methods:

  • Designed a PAM with two embedded soft optical sensors utilizing LED-photodiode pairs.
  • Calibrated sensors by mapping optical data to muscle length and force under varying pressures.
  • Integrated antagonistic PAM pairs to actuate a planar two-degree-of-freedom robotic arm.

Main Results:

  • Optical sensors accurately estimated muscle contraction length and force.
  • The sensorized robotic arm achieved precise position control with low average errors (1.3 cm static, 1.1 cm dynamic).
  • Accurate force estimation was achieved with low average errors (0.16 N static, 0.12 N dynamic).

Conclusions:

  • The integrated soft optical sensing system effectively estimates PAM contraction length and force.
  • This technology enables accurate control of robotic systems actuated by PAMs.
  • The developed sensorized muscle offers a promising solution for advanced soft robotics applications.