Self-Sensing Pneumatic Artificial Muscles for Feedback Control using the Inductance of “Smart Braids”
نویسندگان
چکیده
Measuring and controlling Pneumatic Artificial Muscles (PAMs) without instrumented, mechanical structures can be challenging. This is the case, for example, when the actuators are used in soft, human exosuits [5]. “Smart Braids” measure the length of PAMs through the inductance of a conductive braid. The inductance increases linearly with the contraction of the actuator. We have modeled and tested these self-sensing actuators. We have also tested the performance of Smart Braid sensors as feedback for the control of antagonized actuators.
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