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Soft Inductive Coil Spring Strain Sensor Integrated with SMA Spring Bundle Actuator.

Kyungjun Choi1,2, Seong Jun Park1,3, Mooncheol Won2

  • 1Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials, Daejeon 34103, Korea.

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Summary

This study introduces a novel soft inductive coil spring (SICS) strain sensor for soft actuators. The SICS sensor accurately measures strain in shape memory alloy spring bundle actuators (SSBA), enabling precise robotic arm control.

Keywords:
SMA spring bundle actuatorcoil spring sensorinductive sensorsoft actuatorsoft strain sensor

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Area of Science:

  • Robotics
  • Materials Science
  • Sensor Technology

Background:

  • Soft actuators require accurate strain measurement for controlled movement.
  • Existing strain sensors may not be suitable for the unique properties of soft actuators like SSBA.

Purpose of the Study:

  • To propose a novel soft inductive coil spring (SICS) strain sensor for soft actuators.
  • To develop a manufacturing method and characterize the SICS sensor for SMA spring bundle actuators (SSBA).
  • To integrate the SICS sensor with SSBA to create a sensor-integrated SSBA (SI-SSBA) and demonstrate its functionality.

Main Methods:

  • Transforming shape memory alloy (SMA) wire into a coil spring shape to create the SICS sensor.
  • Integrating the SICS sensor with an SMA spring bundle actuator (SSBA) to form the SI-SSBA.
  • Utilizing an antagonistic structure with two SI-SSBAs to operate a robotic arm and measure displacement.

Main Results:

  • The SICS sensor measures strain by detecting inductance changes corresponding to length variations.
  • The SI-SSBA structure mimics skeletal muscle, with the SMA spring bundle as muscle fiber and the SICS sensor as the spindle.
  • Stable strain measurement of the SSBA was achieved in water across a significant temperature range (36-90 °C) during robotic arm operation.

Conclusions:

  • The proposed SICS strain sensor is effective for measuring the strain of soft actuators, specifically SSBA.
  • The SI-SSBA demonstrates a biomimetic design with potential for advanced soft robotic applications.
  • The SICS sensor exhibits robust performance in varying environmental conditions, including temperature fluctuations and aquatic environments.