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Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control.

Johannes Mersch1, Najmeh Keshtkar2, Henriette Grellmann3

  • 1Institute of Solid-State Electronics, Faculty of Electrical and Computer Engineering, Technische Universität Dresden, 01062 Dresden, Germany.

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Summary

This study introduces a novel soft actuator with integrated fiber-based sensors for monitoring deformation and temperature. This innovation enables precise closed-loop control of fiber-rubber composite actuators in robotics.

Keywords:
active structure controlfiber rubber compositeintegrated sensorsshape memory alloyssoft robotics

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Area of Science:

  • Robotics and Human-Machine Interaction
  • Materials Science
  • Sensor Technology

Background:

  • Soft actuators are crucial for advanced robotics and human-machine interfaces.
  • Integrating sensors into soft actuators is essential for autonomous control.
  • Shape memory alloy wire actuators offer high deformability in composite structures.

Purpose of the Study:

  • To develop a soft actuator with integrated fiber-based sensors for simultaneous deformation and temperature monitoring.
  • To analyze the correlation between actuator deformation and sensor signals.
  • To implement closed-loop control using the novel fiber-rubber composite material.

Main Methods:

  • Braiding and tailored fiber placement of actuator and sensor materials.
  • Molding processed fibers with silicone rubber to create a composite.
  • Experimental evaluation of actuator deformation and sensor response.
  • Analysis of sensor signal correlation with physical deformation.
  • Implementation of closed-loop control system.

Main Results:

  • The soft actuator demonstrated significant deformation around two solid body joints.
  • A strong correlation was found between actuator deformation and sensor signals.
  • The novel fiber-rubber composite enabled closed-loop control with a maximum error of 0.5°.

Conclusions:

  • The developed soft actuator with integrated fiber sensors effectively monitors deformation and temperature.
  • The fiber-rubber composite material is suitable for precise closed-loop control applications.
  • This work advances the development of autonomous, deformable robotic systems.