Design and Research of a Self Sensing Soft Actuator that Can be Used to Identify Bending Shape,Pressure,and Object Size
Pneumatic soft actuators have been widely used in fields such as non-destructive grasping,re-habilitation therapy,and human-computer interaction.It is very important for software actuators to perceive their pressure and bending shape during operation.However,apart from machine vision,they rarely have other effective ways to perceive their own state.This article proposes a pneumatic soft actuator that integrates bend-ing and pressure sensors for shape and pressure sensing in robots.These scalable sensors are composed of E-coflex 00-50/MWCNTs(MWCNTs)composite materials and embedded in channels on the surface of the actua-tor.The experimental results show that bending and pressure sensors can not only measure bending shape and pressure separately,but can also be used in combination to measure bending changes under positive and neg-ative pressure,as well as deformation during the gripping process.
万方数据
维普
