Modeling and Design of “Smart Braid” Inductance Sensors for Fiber-Reinforced Elastomeric Enclosures

Felt, Wyatt; Lu, Shihan; Remy, C. David

doi:10.1109/jsen.2018.2802640

Cited by 15 publications

(8 citation statements)

References 24 publications

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“…A metal spring can be used as a sensor since the spring's inductance varies directly with its length [52]. Therefore this property can be used to measure the displacement of a spring.…”

Section: B Sensor Working Principlementioning

confidence: 99%

A Low-Profile Vacuum Actuator (LPVAc) With Integrated Inductive Displacement Sensing for a Novel Sit-to-Stand Assist Exosuit

et al. 2021

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Stroke, spinal cord injuries, or aging can lead to muscle weakness that can make a person's life sedentary, either temporarily or permanently. Such persons need to be motivated to break their sedentary postures and attempt independent motion. A key motivator in this aspect is the ability to easily transition from seated to standing posture. If this sit-to-stand transition (STSt) is easy, it will encourage further mobility. A soft wearable device that can assist the STSt, would fill this need perfectly. The device would need to be able to seamlessly assist during STSt while being unobtrusive during being seated. A key limitation that is currently holding back the development of soft exosuits in STSt-assist is the lack of low-profile soft actuators with high strain rate and force-to-weight ratio. Hence, we propose a novel lowprofile vacuum actuator (LPVAc) with an integrated inductive displacement sensor that, can be rapidly fabricated, is lightweight (14 g), and can provide high strain (65%) and a high force-to-weight ratio (285 times self-weight). The proposed actuator comprises a low-profile spring encased within a low-density polyethylene film with rapid vacuum actuation and passive quick return. The proposed inductive sensor has a sensitivity of 0.0022 µH/mm and the hysteresis is below 1.5% with an overall absolute average error percentage of 5.24%. The performance of the proposed integrated sensor in displacement control of the LPVAc is experimentally evaluated. The proposed actuator is integrated into a novel mono-articular STStassist exosuit for preliminary testing. Surface electromyography measurements of the gluteus maximus muscles during STSt indicate a mean muscle activity reduction of 45%. This supports the potential use of the proposed actuator in STSt-assist.

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“…A metal spring can be used as a sensor since the spring's inductance varies directly with its length [52]. Therefore this property can be used to measure the displacement of a spring.…”

Section: B Sensor Working Principlementioning

confidence: 99%

A Low-Profile Vacuum Actuator (LPVAc) With Integrated Inductive Displacement Sensing for a Novel Sit-to-Stand Assist Exosuit

et al. 2021

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“…Sensors Fiber-Reinforced Actuators [12] Egain Sensors [21] Pneumatic Artificial Muscles [13] TakkTile Sensors [22] SDM Fingers [14] Smart Braids Sensors [23] Dielectric Elastomer Actuators [15] TacTip Sensors [24] Combustion-Driven Actuators [16] Pneumatic Sensor [25] Manipulator [17] Textile Silicone Hybrid Sensor [26] Soft-Bending Actuators [18] Soft Grippers [19] PneuNets Bending Actuators [20] Traditionally silicone soft robots are produced by the casting method. A mold is needed for each part.…”

Section: Actuatorsmentioning

confidence: 99%

Design and Production of Multi Material 3d Printer for Soft Robotic Structural Elements

Selvi

Yetim

Çirnik

et al. 2021

International Journal of 3D Printing Technologies and Digital Industry

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With the latest technology, the development and interest in soft robots have gained speed. Flexible robots are generally produced by the casting method. This traditional production method has difficulties in the production of complex geometries such as, sharp corners, thin structures, cavities, pipelines and use of multi-materials. Also a new mold is needed for each product in the casting method and the mold costs are quite high. In additive production method, no mold is needed. Design can be produced at any time. When it comes to the production of a small number of special parts, faster production is achieved compared to the casting method. Therefore, present study aims to design and produce a multi-material 3D printer capable of printing non-conductive and conductive rapidly curing silicone that can be used in soft robotics and medical simulators. The electrical conductivity was achieved by mixing silicone and graphite powder. The parts in the printer are also produced by the additive manufacturing. Test pieces were printed using the produced 3D printer. Specific tests on produced parts produced have been carried out to determine mechanical and electrical properties. Technical data such as strength, elasticity, electrical conductivity have been obtained.

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“…Other physical phenomenon used include capacitance (Yuen et al, 2017 , 2018 ; Bilodeau et al, 2018 ; Case et al, 2018 ), inductance (Felt et al, 2016 , 2018 , 2019 ), magnetism (Ozel et al, 2016 ), impedance (Avery et al, 2019 ), or a combination of gyroscope, accelerometer, and magnetometer in an inertial measurement unit (IMU) package (Hyatt et al, 2019 ).…”

Section: Introductionmentioning

confidence: 99%

Improved Continuum Joint Configuration Estimation Using a Linear Combination of Length Measurements and Optimization of Sensor Placement

2021

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This paper presents methods for placing length sensors on a soft continuum robot joint as well as a novel configuration estimation method that drastically minimizes configuration estimation error. The methods utilized for placing sensors along the length of the joint include a single joint length sensor, sensors lined end-to-end, sensors that overlap according to a heuristic, and sensors that are placed by an optimization that we describe in this paper. The methods of configuration estimation include directly relating sensor length to a segment of the joint's angle, using an equal weighting of overlapping sensors that cover a joint segment, and using a weighted linear combination of all sensors on the continuum joint. The weights for the linear combination method are determined using robust linear regression. Using a kinematic simulation we show that placing three or more overlapping sensors and estimating the configuration with a linear combination of sensors resulted in a median error of 0.026% of the max range of motion or less. This is over a 500 times improvement as compared to using a single sensor to estimate the joint configuration. This error was computed across 80 simulated robots of different lengths and ranges of motion. We also found that the fully optimized sensor placement performed only marginally better than the placement of sensors according to the heuristic. This suggests that the use of a linear combination of sensors, with weights found using linear regression is more important than the placement of the overlapping sensors. Further, using the heuristic significantly simplifies the application of these techniques when designing for hardware.

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Modeling and Design of “Smart Braid” Inductance Sensors for Fiber-Reinforced Elastomeric Enclosures

Cited by 15 publications

References 24 publications

A Low-Profile Vacuum Actuator (LPVAc) With Integrated Inductive Displacement Sensing for a Novel Sit-to-Stand Assist Exosuit

A Low-Profile Vacuum Actuator (LPVAc) With Integrated Inductive Displacement Sensing for a Novel Sit-to-Stand Assist Exosuit

Design and Production of Multi Material 3d Printer for Soft Robotic Structural Elements

Improved Continuum Joint Configuration Estimation Using a Linear Combination of Length Measurements and Optimization of Sensor Placement

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