Presentation Type
Oral Presentation
Start Date
5-8-2024 1:00 PM
End Date
5-8-2024 3:00 PM
Subjects
Robotics, Biomimetics
Advisor
Dr. Alexander Hunt
Student Level
Undergraduate
Abstract
This work presents a novel approach to real-time length sensing for biomimetic Braided Pneumatic Actuators (BPAs) as artificial muscles in soft robotics applications. The use of artificial muscles enables the development of more interesting robotic designs that no longer depend on single rotation joints controlled by motors. Developing robots with these capabilities, however, produces more complexities in control and sensing. Joint encoders, the mainstay of robotic feedback, can no longer be used, so new methods of sensing are needed to get feedback on muscle behavior to implement intelligent controls. To address this need, flexible strain gauge sensors from Portland company, LiquidWire, are ironed onto a sewn Nylon sleeve for external placement on BPAs. This approach offers accurate real-time feedback for enhanced robotic control, addressing the need for low-profile, modular sensors that mimic muscle stretch receptors. Calibration equations that include strain rate and hysteresis are developed to convert strain gauge resistance into muscle displacement. Experimental results demonstrate the efficacy of the proposed method, achieving low error rates and high biomimicry. The non-linear calibration outperforms linear methods, showcasing its suitability for artificial proprioceptive neural networks.
Creative Commons License or Rights Statement
This work is licensed under a Creative Commons Attribution 4.0 License.
Included in
Flexible Strain Gauge Sensors as Real-Time Stretch Receptors For Use in Biomimetic BPA Muscle Applications
This work presents a novel approach to real-time length sensing for biomimetic Braided Pneumatic Actuators (BPAs) as artificial muscles in soft robotics applications. The use of artificial muscles enables the development of more interesting robotic designs that no longer depend on single rotation joints controlled by motors. Developing robots with these capabilities, however, produces more complexities in control and sensing. Joint encoders, the mainstay of robotic feedback, can no longer be used, so new methods of sensing are needed to get feedback on muscle behavior to implement intelligent controls. To address this need, flexible strain gauge sensors from Portland company, LiquidWire, are ironed onto a sewn Nylon sleeve for external placement on BPAs. This approach offers accurate real-time feedback for enhanced robotic control, addressing the need for low-profile, modular sensors that mimic muscle stretch receptors. Calibration equations that include strain rate and hysteresis are developed to convert strain gauge resistance into muscle displacement. Experimental results demonstrate the efficacy of the proposed method, achieving low error rates and high biomimicry. The non-linear calibration outperforms linear methods, showcasing its suitability for artificial proprioceptive neural networks.