Compliant Bi-bellows actuator with PVDF force-shape sensing

Author

Shapiro, Yoel ; Wolf, Alon ; Kósa, Gábor

Author_Institution

Technion - Israel Inst. of Technol., Haifa, Israel

fYear

2012

fDate

24-27 June 2012

Firstpage

1602

Lastpage

1606

Abstract

Soft actuators are a key-stone for safe humanrobots interaction, but deformation of compliant manipulators complicates their control. We propose using feedback from a deflection sensor consisting of a thin piezoelectric polymer. A Bi-bellows actuator was used as test-bed for demonstrating shape-tracking during free actuation, and also detection of contact with an obstacle. This sensor will enable accurate kinematic control of compliant manipulators and introduce in conjunction force sensing capabilities.

Keywords

bellows; force sensors; human-robot interaction; manipulator kinematics; pneumatic actuators; polymers; PVDF force-shape sensing; compliant Bi-bellows actuator; compliant manipulator kinematic control; conjunction force sensing capabilities; contact detection; deflection sensor; huma-robots interaction; polyvinylidene fluoride; shape-tracking; soft bending pneumatic actuator; thin piezoelectric polymer; Actuators; Catheters; Force; Pneumatic systems; Robot sensing systems; Strain;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on

Conference_Location

Rome

ISSN

2155-1774

Print_ISBN

978-1-4577-1199-2

Type

conf

DOI

10.1109/BioRob.2012.6290738

Filename

6290738