This paper presents a novel wireless inductive sensing technology to measure body deformation of soft pneumatic actuators (SPAs). The proposed technology exploits a magnetorheological elastomer (MRE) both as actuator's highly deformable skin and as target of the inductive sensor. When the MRE skin is deformed by internal driving and/or external load., the distance between the MRE and sensing coil changes., thereby the inductance. A flat SPA with an MRE skin is developed as a case study to validate and evaluate the proposed technology. A multiphysics finite element model is built to simulate the characteristics of the soft actuator and sensor as a single system. Experimental results highlight that this inductive sensing technology can measure the skin deformation with an effective resolution as high as 3 μm (RMS) at null deformation (50 μm at maximum deformation), without any hysteresis. Moreover., with pressure information, it is possible to retrieve both the deformation caused by internal driving and external load. A typical pneumatic bending actuator was developed to demonstrate its easy implementation in soft actuators. The presented technology does not require wires or mechanical connections between electronics and the deformable body, providing a promising sensing solution for SPAs and other soft systems. ; This is the final version of the accepted manuscript submitted for publication


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A Wireless Inductive Sensing Technology for Soft Pneumatic Actuators Using Magnetorheological Elastomers


    Beteiligte:

    Erscheinungsdatum :

    2019-05-27



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    600 / 629




    A Magnetorheological Elastomer‐Based Proportional Valve for Soft Pneumatic Actuators

    Sihan Wang / Liang He / Alessandro Albini et al. | BASE | 2022

    Freier Zugriff

    Sensing Behavior of Magnetorheological Elastomers

    Wang, Xiaojie | Online Contents | 2009


    Potential Applications of Magnetorheological Elastomers

    Ubaidillah / Mazlan, S.A. / Sutrisno, J. et al. | British Library Conference Proceedings | 2014


    Soft pneumatic actuators for legged locomotion

    Florez, Juan Manuel / Shih, Benjamin / Bai, Yixin et al. | IEEE | 2014


    Pneumatic tire using magnetorheological elastomer

    OH HYUNHWAN | Europäisches Patentamt | 2023

    Freier Zugriff