拮抗配置された回転型釣糸人工筋肉アクチュエータのセンサレストルク制御

Translated title of the contribution: Sensorless Torque Control for Antagonistically Arranged Rotational-Type Twisted Polymeric Fiber Actuators

吉田 優太郎, 林 亮, 岩崎 政仁, 田原 健二

Research output: Contribution to journalArticle

Abstract

<p>A rotational-type Twisted Polymeric Fiber Actuator (TPFA) has attracted attention because it is silent, inexpensive, and lightweight. Although the TPFA has many advantages, it also has some disadvantages in that there is a gap of control performance between the heating phase and cooling phase and that it is difficult to implement sensors due to the softness and compactness. In this paper, to reduce the above drawbacks, a sensorless torque control method for an antagonistically arranged TPFAs module is proposed. The usefulness of the proposed method is demonstrated through some experiments using a prototype of the module.</p>
Translated title of the contributionSensorless Torque Control for Antagonistically Arranged Rotational-Type Twisted Polymeric Fiber Actuators
Original languageJapanese
Pages (from-to)2P3-F08
Journalロボティクス・メカトロニクス講演会講演概要集
Volume2021
Issue number0
DOIs
Publication statusPublished - 2021

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