Experimental investigation of conductive fibers for a smart pneumatic artificial muscle

Misumi, Jumpei; Wakimoto, Shuichi; Suzumori, Koichi

doi:10.1109/robio.2015.7419123

Cited by 8 publications

(2 citation statements)

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“…Additionally, the filters already suggested in this paper that make noises should be removed when measuring actuator contractions. Conductive fibers used with these actuators [15], were shown to be only slightly effective, but the results presented in the related study were somewhat unstable due to the presence of noise. Also note that noise can degrade the performance in the long term, potentially even breaking down, as the actuator tension is directly transferred to these conductive fibers producing friction over these fibers.…”

Section: Discussionmentioning

confidence: 87%

“…In a similar context, there have been other works that measure the contraction directly from these actuators. Some of these include conductive fiber applications to create variable resistors, and ultimately, to measure the resistance changes due to contractions of these PAM actuators in [14], [15]. These have shown very promising results in handling large forces when compared to braided PAM actuators, however, further works have not been carried out.…”

Section: Introductionmentioning

confidence: 99%

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Fabrication, Characterization and Control of Knit-Covered Pneumatic Artificial Muscle

2019

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This paper presents the design, fabrication, characterization, and validation of three kinds of knit-covered pneumatic artificial muscle (called k-PAM) actuators, in which three different knits are made by braiding silver-plated (conductive) yarn and non-conductive yarns with different stitch methods. After a successful characterization process, these k-PAM actuators are able to provide feedback information on actuator length corresponding to the applied pressure. A complete fabrication method is proposed to make the actuator work for higher pressures (up to 300 kPa or more). Furthermore, since the force generated by the actuator is decoupled from the external force, ultimately, it can be directly used to measure both the length and the force. This paper contains the detailed characterization processes, the experimental validations of the sensing ability, and the several characteristics of the k-PAM actuators. It is expected that the k-PAM actuator can be used directly for robotic applications in higher pressure conditions, while the semi-permanent conductive knit cover provides the actuator with durability in highly repetitive situations.INDEX TERMS Conductive knit cover, pneumatic artificial muscle, sensing, control.

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Section: Discussionmentioning

confidence: 87%

Section: Introductionmentioning

confidence: 99%