Self-Sensing Electro-Ribbon Actuators
| Autor: | Tim Helps, Simon Bluett, Jonathan Rossiter, Majid Taghavi |
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| Rok vydání: | 2020 |
| Předmět: |
Imagination
Control and Optimization Chemical substance Materials science Acoustics media_common.quotation_subject Capacitive sensing Biomedical Engineering 02 engineering and technology 01 natural sciences Capacitance Displacement (vector) Artificial Intelligence Position (vector) 0103 physical sciences soft sensors and actuators media_common 010302 applied physics Mechanical Engineering modeling 021001 nanoscience & nanotechnology Computer Science Applications Human-Computer Interaction Control and Systems Engineering Electrode compliant joint/mechanism learning for soft robots Computer Vision and Pattern Recognition 0210 nano-technology Actuator control |
| Zdroj: | Bluett, S, Helps, T, Taghavi, M & Rossiter, J M 2020, ' Self-sensing Electro-ribbon Actuators ', IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 3931-3936 . https://doi.org/10.1109/LRA.2020.2983677 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2020.2983677 |
| Popis: | In this letter, we investigate the viability of capacitance self-sensing of electro-ribbon actuators, allowing them to be used simultaneously as an actuator and a sensor. Initially the electro-ribbon actuator was implemented only as a sensor, and it was found that the exponential relationship between capacitance and displacement made the device a poor sensor at distances greater than 2 mm. When used simultaneously as an actuator and a sensor, the `zipping' motion of the electrodes changed this relationship, making it more suitable for position sensing. Capacitance was found to be a good indicator of the amount of zipping experienced by the electrodes. For effective displacement sensing, the mass of the the load being applied to the actuator should be known. Finally, a closed-loop PI position control system using self-sensing feedback was implemented. The results demonstrated that, provided the applied load is known, capacitive self-sensing can be used to control the position of electro-ribbon actuators with reasonable accuracy. |
| Databáze: | OpenAIRE |
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