Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback

Kenji Tahara, Ryo Hayashi, Ken Masuya, Kentaro Takagi, Toshihira Irisawa, Takuma Yamauchi, Eitaro Tanaka

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

A twisted polymeric fiber (TPF) actuator often referred to as a fishing line/sewing thread artificial muscle, is one of the soft actuators which is made by twisting and heating a nylon fishing line. There are mainly two types of the TPF actuator, one is to make a contraction motion, which is sometimes called a twisted and coiled polymeric fiber actuator, and the other is to make a rotational motion, called simply a TPF actuator. This letter focuses on the latter one and proposes an estimated temperature feedback control method to regulate a torsional angle of the TPF actuator. The TPF actuator is very lightweight and low cost, but the advantage would be lost if some external sensors, such as a thermal sensor or encoder is used. In order to control the torsional angle without the use of the external sensors, a temperature of the actuator is estimated by measuring the change in the Ohm resistance of a heater wrapping around the actuator. By feedbacking the estimated temperature, the torsional angle can be regulated indirectly. First, the two types of models are proposed. One is to derive a desired temperature of the actuator from the desired angle. The other is to estimate the actuator's temperature from a change of the resistance of the actuator's heater. Next, the temperature feedback control law is composed using these two models. Finally, experiments of the torsional angle regulation are conducted using a prototype of the actuation module, which consists of antagonistically embedded two TPF actuators to demonstrate the usefulness of the proposed controller.

Original languageEnglish
Article number8653971
Pages (from-to)2447-2454
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume4
Issue number3
DOIs
Publication statusPublished - Jul 1 2019

Fingerprint

Actuator
Actuators
Fiber
Feedback
Angle
Fibers
Temperature
Temperature Control
Temperature control
Sensor
Feedback Control
Feedback control
Sensors
Artificial muscle
Motion
Line
Encoder
Thread
Muscle
Heating

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence

Cite this

Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback. / Tahara, Kenji; Hayashi, Ryo; Masuya, Ken; Takagi, Kentaro; Irisawa, Toshihira; Yamauchi, Takuma; Tanaka, Eitaro.

In: IEEE Robotics and Automation Letters, Vol. 4, No. 3, 8653971, 01.07.2019, p. 2447-2454.

Research output: Contribution to journalArticle

Tahara, K, Hayashi, R, Masuya, K, Takagi, K, Irisawa, T, Yamauchi, T & Tanaka, E 2019, 'Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback', IEEE Robotics and Automation Letters, vol. 4, no. 3, 8653971, pp. 2447-2454. https://doi.org/10.1109/LRA.2019.2901982
Tahara, Kenji ; Hayashi, Ryo ; Masuya, Ken ; Takagi, Kentaro ; Irisawa, Toshihira ; Yamauchi, Takuma ; Tanaka, Eitaro. / Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback. In: IEEE Robotics and Automation Letters. 2019 ; Vol. 4, No. 3. pp. 2447-2454.
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