Acoustic Length Sensor for Soft Extensible Pneumatic Actuators with a Frequency Characteristics Model

Ken Takaki, Yoshitaka Taguchi, Satoshi Nishikawa, Ryuma Niiyama, Yoshihiro Kawahara

研究成果: ジャーナルへの寄稿学術誌査読

9 被引用数 (Scopus)

抄録

In this study, we present a length sensor that can be used for extensible soft pneumatic actuators. Conventional length sensors detect the changes in electrical resistance and capacitance owing to the deformation of the actuator; hence, deterioration and destruction occur when they are used with an actuator that has a large expansion ratio. In addition, their low resolution and linearity makes them unsuitable for use in actuator control. Our proposed sensor comprises only a speaker and a microphone installed at one end of the actuator. We propose a method to deterministically measure the length of a tube by generating a broadband acoustic signal in a tube and measuring the resonance characteristics determined by the shape of the tube. Our experimental results demonstrate that the error in the measurement with our sensor is not more than 4% with a strain up to 200%. Unlike conventional acoustic sensing methods that measure the time of flight by using ultrasound, our proposed method yields accurate results even when the tube is bent. Therefore, the proposed method can be applied to various types of pneumatic actuators.

本文言語英語
論文番号8772162
ページ(範囲)4292-4297
ページ数6
ジャーナルIEEE Robotics and Automation Letters
4
4
DOI
出版ステータス出版済み - 10月 2019
外部発表はい

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

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