Title :
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
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;
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
Conference_Location :
Rome
Print_ISBN :
978-1-4577-1199-2
DOI :
10.1109/BioRob.2012.6290738
