Using conductive fabrics as inflation sensors for pneumatic artificial muscles

Hitzmann, Arne; Wang, Yanlin; Kessler, Tyler; Hosoda, Koh

doi:10.1080/01691864.2021.1957015

Cited by 9 publications

(6 citation statements)

References 16 publications

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“…The high elasticity of the fabric allows sensors to be able to stretch and contract almost synchronously without damaging the muscles. Through the evaluation experiments in our previous research [27], we have concluded that the feedback provided by our fabric sensor is sufficient to indicate the degree of PAM's inflation and detect sudden disturbances.…”

Section: B Bio-inspired Sensorsmentioning

confidence: 90%

“…1) Muscle spindle sensors: Our previous researches have developed a cost-effective external inflation sensor that does not change the actuator's shape or flexibility [26], [27].…”

Section: B Bio-inspired Sensorsmentioning

confidence: 99%

“…The objective of this study is to incorporate two distinct types of reflex pathways in a musculoskeletal robot, to detect muscle sensory information and thus reduce the negative impact of disturbances. We developed a musculoskeletal robot arm powered by PAMs and equipped with biologicallyinspired sensors (corresponding to muscle spindles and GTOs [26], [27]). The system was structured to imitate Ia and Ib sensory pathways and translate the output of these sensors into activation patterns of the PAMs.…”

Section: Introductionmentioning

confidence: 99%

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Implementation of Basic Reflex Functions on Musculoskeletal Robots Driven by Pneumatic Artificial Muscles

Takahashi

Wang

et al. 2023

IEEE Robot. Autom. Lett.

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Musculoskeletal robots hold significant potential for the design of future robots. One of the challenges is the possibility of output delays from the muscles, which may prevent higher centers from compensating during sudden disturbances. The reflex system, widely observed in animals, is viewed as an efficient mechanism for overcoming this challenge. Specifically, the Ia and Ib reflex pathways, as the sensory pathways originating from muscle sensory receptors, are considered to contribute to the responsiveness and convergence of the feedback system with the dynamics of the musculoskeletal body. In this study, we propose a basic reflex system that can be implemented into a robot arm driven by pneumatic artificial muscles (PAMs) and investigate its effectiveness through two experiments: a sudden force shock and a position constraint. The results demonstrate that the reflex behavior is capable of reducing the impact of disturbances, with the Ia reflex pathways providing an immediate response to disturbances and the Ib reflex pathways curbing excessive output force.

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Section: B Bio-inspired Sensorsmentioning

confidence: 90%

“…1) Muscle spindle sensors: Our previous researches have developed a cost-effective external inflation sensor that does not change the actuator's shape or flexibility [26], [27].…”

Section: B Bio-inspired Sensorsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Implementation of Basic Reflex Functions on Musculoskeletal Robots Driven by Pneumatic Artificial Muscles

Takahashi

Wang

et al. 2023

IEEE Robot. Autom. Lett.

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“…In addition, Mansard (2021) demonstrated the possibility of a macroporous smart gel as the tubing PMA material to realise a large PMA with minimal actuation time. Aside from that, many researchers have developed self-sensing PMAs to precisely control PMA (Hitzmann et al, 2021;Kanno et al, 2021;Legrand et al, 2020;Wakimoto et al, 2016). Other novel designs include using variable recruitment to maximise the efficiency of bundled McKibben muscles (Robinson et al, 2015).…”

Section: There Is Also Another Class Of Pma Called Miniature Mckibben...mentioning

confidence: 99%

A Systematic Review of Soft Actuators in Agriculture

Mhd Yusoff,

Mohd Faudzi

2023

Adv Agric Food Res J

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Industrial machines and robots use actuators to facilitate repetitive tasks. Conventionally, stiff actuators are used to enable precise position control in a high-pace system. They are usually placed in human-free environments because of safety concerns as they do not comply in a collision. On the other hand, there has been a growing interest in human-robot interactions that require robots to be placed alongside humans. These applications need a soft actuator. An example of a soft actuator is a pneumatic muscle actuator (PMA) which produces a one-way motion and force as a result of the muscle’s contraction under air pressure. In this paper, the aim is to present a systematic review covering the main published solutions of soft actuators including PMA in agricultural applications. This paper provides a useful foundation on the soft actuators, their main applications in agriculture, their challenges and opportunities, as well as supporting new research works in the soft actuators' field.

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“…To date, researchers have been seeking to perfectly replicate and construct flexible electronic devices that can sense changes in the external environment and deform autonomously like living organisms. − Currently, artificial soft robots made with compliant materials can mimic the movement of living organisms to adapt to the surrounding environment. , Typically, the actuation strategies for driving the motion of the robot mostly originate from hydraulic actuation, asymmetric expansion, , and pneumatic inflation. However, it suffers from the predicament of not being capable of sensing its motion because of its construction based on structural materials and the lack of signal-sensing mechanism. Thus, various sensing devices based on capacitance, triboelectricity, piezoresistivity, , and electroluminescence have been incorporated into the actuators for achieving self-sensing actuation capability; however, its actuation and sensing modules are relatively independent, thereby restricting its deformation when exposed to complex environments.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Adaptive Cross-linked Elastomers with Highly Robust, Recyclable, and Conductive Abilities toward Strain Sensors and Self-Sensing Actuators

Yang,

Song,

Yang

et al. 2024

ACS Sustainable Chem. Eng.

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Integration of sensing and actuation capabilities into flexible electronics is critical to expanding their applications. Existing stimuli-responsive polymers fail to achieve satisfactory requirements, considering their strength− toughness trade-off, conductivity, and recyclability. Here, a novel stimuli-responsive elastomer is reported by molecular design, thus simultaneously enabling the effective unification of sensing and actuation functions. The stimuli-responsive elastomer realizes high strength (32 MPa), high stretchability (527%), high toughness (74.8 MJ• m −3 ), high fracture energy (75,300 J•m −2 ), efficient recyclability processability, puncture-resistance, and high conductivity (120.1 S•m −1 ) where the conductive elastomer is created by incorporating both dynamic covalent bonds (strong bonds)/ coordination bonds (weak bonds) for the formation of dynamic adaptive networks and coated conductive ink. In parallel, benefiting from the sensing actuation mechanism from its architecture, the elastomer-enabled sensor and actuator achieve both exceptional sensing performance as a green strain sensor for monitoring body movements and excellent actuation ability as a green self-sensing actuator for load-carrying. Overall, this comprehensive elastomer brings new inspiration and insights into the design of next-generation green e-skin, flexible robots, and other stimuli-responsive materials.

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Using conductive fabrics as inflation sensors for pneumatic artificial muscles

Cited by 9 publications

References 16 publications

Implementation of Basic Reflex Functions on Musculoskeletal Robots Driven by Pneumatic Artificial Muscles

Implementation of Basic Reflex Functions on Musculoskeletal Robots Driven by Pneumatic Artificial Muscles

A Systematic Review of Soft Actuators in Agriculture

Dynamic Adaptive Cross-linked Elastomers with Highly Robust, Recyclable, and Conductive Abilities toward Strain Sensors and Self-Sensing Actuators

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