NDLI: Measuring McKibben actuator shrinkage using fiber sensor

Content Provider	IEEE Xplore Digital Library
Author	Van Anh Ho Hirai, S.
Copyright Year	2015
Description	Author affiliation: Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan (Hirai, S.) \|\| Dept. of Mech. & Syst. Eng., Ryukoku Univ., Otsu, Japan (Van Anh Ho)
Abstract	This paper focuses on sensing of McKibben actuator shrinkage using a fiber sensor. Control of McKibben actuators requires sensing their shrinkage without preventing their deformation. We applied electro-conductive yarn, with resistance related to its extensional strain, suggesting that measuring the resistance of the yarn can determine its length. The yarn is also bendable and light in weight, thus not preventing the deformation of a McKibben actuator. A fiber sensor consisting of these electro-conductive yarns was attached onto the membrane of a McKibben actuator to measure the distance between both ends of the sensor along the membrane. This paper describes a fiber sensor model that can calculate McKibben actuator shrinkage from the fiber sensor measurement. Based on the model, we investigated the arrangement of a fiber sensor so that the fiber extensional stress is within its allowable range. We then show a prototype of the fiber sensor that was utilized to measure McKibben actuator shrinkage. Experimentally, we found that the shrinkage of an actuator could be measured within 20 % error of its length.
Starting Page	628
Ending Page	633
File Size	1101302
Page Count	6
File Format	PDF
e-ISBN	9781467367042
DOI	10.1109/ROMAN.2015.7333585
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-31
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Robot sensing systems Yarn Electrical resistance measurement Strain Resistance Mathematical model
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Development of intelligent McKibben actuator

Development of intelligent McKibben actuator with built-in soft conductive rubber sensor

Modeling and implementation of McKibben actuators for a hopping robot

Research on strain monitoring of RC girder using long-gauge strain sensors

Measurement of piezoelectric based tactile sensor using low cost setup

Flexible sensor for Mckibben pneumatic actuator

Actuator Model Uncertainty with Bounded Responses

NLGA-based detection and isolation of actuator and sensor faults for quadrotors

Flexible artificial muscle by bundle of McKibben fiber actuators

Measuring McKibben actuator shrinkage using fiber sensor

Similar Documents

Development of intelligent McKibben actuator

Development of intelligent McKibben actuator with built-in soft conductive rubber sensor

Modeling and implementation of McKibben actuators for a hopping robot

Research on strain monitoring of RC girder using long-gauge strain sensors

Measurement of piezoelectric based tactile sensor using low cost setup

Flexible sensor for Mckibben pneumatic actuator

Actuator Model Uncertainty with Bounded Responses

NLGA-based detection and isolation of actuator and sensor faults for quadrotors

Flexible artificial muscle by bundle of McKibben fiber actuators

Measuring McKibben actuator shrinkage using fiber sensor