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Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids
- Source :
- Helps, T & Rossiter, J 2018, ' Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids ', Soft Robotics, vol. 5, no. 2, pp. 175-189 . https://doi.org/10.1089/soro.2017.0012, https://doi.org/10.1089/soro.2017.0012, Soft Robotics
- Publication Year :
- 2018
-
Abstract
- Soft robotic systems generally require both soft actuators and soft sensors to perform complex functions. Separate actuators and sensors are often combined into one composite device when proprioception (self-sensing) is required. In this article, we introduce the concept of using a conductive liquid to perform both the sensing and actuation functions of a proprioceptive soft actuator. The working fluid drives actuator deformation while simultaneously acting as a strain-sensing component for detecting actuator deformation. The concept is examined and demonstrated in two proprioceptive flexible fluidic actuators (FFAs) that use conductive liquids as their working fluids: a linear actuator and a bending actuator. In both cases, we show that resistance can be used to infer strain. Some hysteresis and nonlinearity are present, but repeatability is high. The bandwidth of resistance as a sensing variable in the bending FFA is tested and found to be ∼3.665 Hz. Resistance is demonstrated as a feedback variable in a control loop, and the proprioceptive bending FFA is controlled to respond to step input and sinusoidal target functions. The effect of temperature on resistance–strain behavior is also examined, and we demonstrate how measurement of volume and resistance can be used to detect when the actuator is constrained. Biocompatible proprioceptive soft actuators such as those presented in this article are ideal for use in low-cost bionic healthcare components such as orthotics, prosthetics, or even replacement muscles.
- Subjects :
- fluidic
0209 industrial biotechnology
medicine.medical_specialty
Computer science
proprioception
Biophysics
Soft robotics
02 engineering and technology
Orthotics
020901 industrial engineering & automation
Artificial Intelligence
Control theory
sensor
medicine
Fluidics
actuator
Bandwidth (signal processing)
Temperature
Equipment Design
Robotics
Original Articles
Linear actuator
021001 nanoscience & nanotechnology
Nonlinear system
Control and Systems Engineering
soft
Control system
Hydrodynamics
flexible
0210 nano-technology
Actuator
Tactile Action Perception
Subjects
Details
- Language :
- English
- Database :
- OpenAIRE
- Journal :
- Helps, T & Rossiter, J 2018, ' Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids ', Soft Robotics, vol. 5, no. 2, pp. 175-189 . https://doi.org/10.1089/soro.2017.0012, https://doi.org/10.1089/soro.2017.0012, Soft Robotics
- Accession number :
- edsair.doi.dedup.....34169de06017640b7a1919c243582109