| نوع المادة:
مقال
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| العنوان |
Contraction Sensing With Smart Braid McKibben Muscles
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| المؤلف/ المؤلفين |
Felt,Wyatt
(Author)
Chin,Khai Yi
(Author)
Remy,C. David
(Author)
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| بيانات المجلة المصدر |
العنوان: IEEE / ASME Transactions on Mechatronics
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العدد: 2016/JUN V.21 N.3
رقم الإستدعاء: 621.05 ITM
الموقع: قاعة المراجع والدوريات - الطابق الثاني
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| الوصف المادي |
p 1201 - 1209
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| رأس الموضوع |
الهندسة
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| الواصفات |
Mechatronics
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| رقم التزويد |
155399
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المستخلص
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The inherent compliance of soft fluidic actuators makes them attractive for use in wearable devices and soft robotics. Their flexible nature permits them to be used without traditional rotational or prismatic joints. Without these joints, however, measuring the motion of the actuators is challenging. Actuator-level sensors could improve the performance of continuum robots and robots with compliant or multi-degree-of-freedom joints. We make the reinforcing braid of a pneumatic artificial muscle (PAM or McKibben muscle) “smart” by weaving it from conductive insulated wires. These wires form a solenoid-like circuit with an inductance that more than doubles over the PAM contraction. The reinforcing and sensing fibers can be used to measure the contraction of a PAM actuator ...
رابط المستخلص: http://ieeexplore.ieee.org/document/7302589/
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