Proprioceptive Flexible Fluidic Actuators Using Conductive Working Fluids.

ABSTRACT: Soft robotic systems generally require both soft actuators and soft sensors to perform complex functions. Separate actuators and sensors are often combined into one composite device when proprioception (self-sensing) is required. In this article, we introduce the concept of using a conductive liquid to perform both the sensing and actuation functions of a proprioceptive soft actuator. The working fluid drives actuator deformation while simultaneously acting as a strain-sensing component for detecting actuator deformation. The concept is examined and demonstrated in two proprioceptive flexible fluidic actuators (FFAs) that use conductive liquids as their working fluids: a linear actuator and a bending actuator. In both cases, we show that resistance can be used to infer strain. Some hystere

SUBMITTER: Helps T 

PROVIDER: S-EPMC5905876 | biostudies-literature | 2018 Apr

REPOSITORIES: biostudies-literature