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Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control
Soft actuators are a promising option for the advancing fields of human-machine interaction and dexterous robots in complex environments. Shape memory alloy wire actuators can be integrated into fiber rubber composites for highly deformable structures. For autonomous, closed-loop control of such sys...
Autores principales: | , , , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8778086/ https://www.ncbi.nlm.nih.gov/pubmed/35057234 http://dx.doi.org/10.3390/ma15020520 |
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author | Mersch, Johannes Keshtkar, Najmeh Grellmann, Henriette Gomez Cuaran, Carlos Alberto Bruns, Mathis Nocke, Andreas Cherif, Chokri Röbenack, Klaus Gerlach, Gerald |
author_facet | Mersch, Johannes Keshtkar, Najmeh Grellmann, Henriette Gomez Cuaran, Carlos Alberto Bruns, Mathis Nocke, Andreas Cherif, Chokri Röbenack, Klaus Gerlach, Gerald |
author_sort | Mersch, Johannes |
collection | PubMed |
description | Soft actuators are a promising option for the advancing fields of human-machine interaction and dexterous robots in complex environments. Shape memory alloy wire actuators can be integrated into fiber rubber composites for highly deformable structures. For autonomous, closed-loop control of such systems, additional integrated sensors are necessary. In this work, a soft actuator is presented that incorporates fiber-based actuators and sensors to monitor both deformation and temperature. The soft actuator showed considerable deformation around two solid body joints, which was then compared to the sensor signals, and their correlation was analyzed. Both, the actuator as well as the sensor materials were processed by braiding and tailored fiber placement before molding with silicone rubber. Finally, the novel fiber-rubber composite material was used to implement closed-loop control of the actuator with a maximum error of 0.5°. |
format | Online Article Text |
id | pubmed-8778086 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-87780862022-01-22 Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control Mersch, Johannes Keshtkar, Najmeh Grellmann, Henriette Gomez Cuaran, Carlos Alberto Bruns, Mathis Nocke, Andreas Cherif, Chokri Röbenack, Klaus Gerlach, Gerald Materials (Basel) Article Soft actuators are a promising option for the advancing fields of human-machine interaction and dexterous robots in complex environments. Shape memory alloy wire actuators can be integrated into fiber rubber composites for highly deformable structures. For autonomous, closed-loop control of such systems, additional integrated sensors are necessary. In this work, a soft actuator is presented that incorporates fiber-based actuators and sensors to monitor both deformation and temperature. The soft actuator showed considerable deformation around two solid body joints, which was then compared to the sensor signals, and their correlation was analyzed. Both, the actuator as well as the sensor materials were processed by braiding and tailored fiber placement before molding with silicone rubber. Finally, the novel fiber-rubber composite material was used to implement closed-loop control of the actuator with a maximum error of 0.5°. MDPI 2022-01-10 /pmc/articles/PMC8778086/ /pubmed/35057234 http://dx.doi.org/10.3390/ma15020520 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Mersch, Johannes Keshtkar, Najmeh Grellmann, Henriette Gomez Cuaran, Carlos Alberto Bruns, Mathis Nocke, Andreas Cherif, Chokri Röbenack, Klaus Gerlach, Gerald Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control |
title | Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control |
title_full | Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control |
title_fullStr | Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control |
title_full_unstemmed | Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control |
title_short | Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control |
title_sort | integrated temperature and position sensors in a shape-memory driven soft actuator for closed-loop control |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8778086/ https://www.ncbi.nlm.nih.gov/pubmed/35057234 http://dx.doi.org/10.3390/ma15020520 |
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