How to Create Self-Sensing Air Muscles from Conductive Fibers
نویسندگان
چکیده
By constructing Mckibben Muscles out of conductive fibers, we are able to measure the contraction and force output of the muscle without external encoders. These selfsensing actuators can then be controlled in flexible structures, without the rigid, well-defined joints demanded by typical position encoders. The contraction is manifest in changes in the inductance of the braid. The force output is detected through changes in the braid resistance due to strain in the conductive individual fibers.
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