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

This study proposes a soft inductive coil spring (SICS) strain sensor that can measure the strain of soft actuators. The SICS sensor, produced by transforming a shape memory alloy (SMA) wire with the same materials as that of an SMA spring bundle actuator (SSBA) into a coil spring shape, measures in...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2021-03, Vol.21 (7), p.2304
Main Authors: Choi, Kyungjun, Park, Seong Jun, Won, Mooncheol, Park, Cheol Hoon
Format: Article
Language:English
Subjects:
Actuators
coil spring sensor
Communication
Inductance
inductive sensor
Muscles
Permeability
Production methods
Robot arms
Robotics
Sensors
Shape memory alloys
SMA spring bundle actuator
soft actuator
soft strain sensor
Water temperature
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Summary:This study proposes a soft inductive coil spring (SICS) strain sensor that can measure the strain of soft actuators. The SICS sensor, produced by transforming a shape memory alloy (SMA) wire with the same materials as that of an SMA spring bundle actuator (SSBA) into a coil spring shape, measures inductance changes according to length changes. This study also proposes a manufacturing method, output characteristics of the SICS sensor applicable to the SSBA among soft actuators, and the structure of the SICS sensor-integrated SSBA (SI-SSBA). In the SI-SSBA, the SMA spring bundle and SICS sensor have structures corresponding to the muscle fiber and spindle of the skeletal muscle, respectively. It is demonstrated that when a robotic arm with one degree of freedom is operated by attaching two SI-SSBAs in an antagonistic structure, the displacement of the SSBA can be measured using the proposed strain sensor. The output characteristics of the SICS sensor for the driving speed of the robotic arm were evaluated, and it was experimentally proven that the strain of the SSBA can be stably measured in water under a temperature change of 54 °C from 36 to 90 °C.
ISSN:1424-8220
1424-8220
DOI:10.3390/s21072304