ID | 63499 |
FullText URL | |
Author |
Tian, Weihang
Graduate School of Natural Science and Technology, Okayama University
Wakimoto, Shuichi
Graduate School of Natural Science and Technology, Okayama University
ORCID
Kaken ID
publons
researchmap
Kanda, Takefumi
Graduate School of Natural Science and Technology, Okayama University
Kaken ID
publons
researchmap
Yamaguchi, Daisuke
Graduate School of Natural Science and Technology, Okayama University
|
Abstract | A thin McKibben artificial muscle is a pneumatic actuator with an outer diameter of only 1.8 mm. We fabricated a string-shaped actuator called an "active string actuator," which achieves a high contractile displacement by accumulating thin McKibben artificial muscles. To control the displacement, the length of the active string actuator should be estimated. However, this is difficult because bulky and rigid sensors are unsuitable for the sensor element of the active string actuator. Therefore, in this study, we propose a new sensing method for estimating the length of an active string actuator. The proposed sensing system is simple and comprises only three components: a step-index multimode optical fiber, a light emitter, and a light receiver. A step-index multimode optical fiber was combined with the active string actuator, and the length was estimated from the change in the amount of light propagating in the optical fiber when the active string actuator was driven. Fundamental experiments were conducted in this study, and the results demonstrated that the optical fiber sensor value changed with the actuator length. This suggests that it is possible to estimate the displacement of an active string actuator using an optical fiber sensor.
|
Keywords | thin artificial muscle
active string actuator
step-index multimode optical fiber
displacement sensing
|
Published Date | 2022-04-22
|
Publication Title |
Sensors
|
Volume | volume22
|
Issue | issue9
|
Publisher | MDPI
|
Start Page | 3232
|
ISSN | 1424-8220
|
Content Type |
Journal Article
|
language |
English
|
OAI-PMH Set |
岡山大学
|
Copyright Holders | © 2022 by the authors.
|
File Version | publisher
|
PubMed ID | |
DOI | |
Web of Science KeyUT | |
Related Url | isVersionOf https://doi.org/10.3390/s22093232
|
License | https://creativecommons.org/licenses/by/4.0/
|