Bidirectional Double-Spring Pneumatic Artificial Muscle With Inductive Self-Sensing

This study proposes a bidirectional double-spring pneumatic artificial muscle (PAM) with inductive self-sensing for wearable robotic devices. The actuator structure, composed of commercially available latex and springs, enables a low-cost and consistent manufacturing process. Springs, which serve as...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2023-12, Vol.8 (12), p.8160-8167
Main Authors: Cho, Yeonha, Kim, Woojong, Park, Hyunkyu, Kim, Jung, Na, Youngjin
Format: Article
Language:English
Subjects:
Actuation
Actuator design
Actuators
Artificial muscles
Closed loops
Control
Design parameters
Elongation
Force
Inductance
Latex
learning for soft robots
modeling
Robot sensing systems
soft robot materials and design
Soft robotics
Soft sensors
soft sensors and actuators
Springs
Wearable robots
Wearable technology
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Description
Summary:This study proposes a bidirectional double-spring pneumatic artificial muscle (PAM) with inductive self-sensing for wearable robotic devices. The actuator structure, composed of commercially available latex and springs, enables a low-cost and consistent manufacturing process. Springs, which serve as the skeleton of the actuator, were used to increase the stability and stiffness of the structure, as well as to embed a self-sensing ability using the inductance of the spring. The actuator design parameters were selected through simulations to prevent buckling while achieving a notable actuation performance. The bidirectional force characteristics of the actuator were evaluated through quasi-static experiments, and the inductance-based length-sensing performance was validated during both contraction and elongation. The need for self-sensing in bidirectional actuation was emphasized through closed-loop length control. The proposed actuator can potentially enable the development of lightweight and efficient wearable robotic devices with improved sensing and actuation capabilities.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2023.3326660