Integrated curvature sensing of soft bending actuators using inertial measurement units

Publikationstyp
Conference Paper
Date Issued
2018
Sprache
English
Author(s)
Seibel, Arthur  
Schiller, Lars  orcid-logo
Institut
Laser- und Anlagensystemtechnik G-2  
TORE-URI
http://hdl.handle.net/11420/2137
Citation
ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE) (9): (2018)
Contribution to Conference
ASME 2018 International Mechanical Engineering Congress and Exposition, IMECE 2018  
Publisher DOI
10.1115/IMECE2018-87104
Scopus ID
2-s2.0-85060391668
Publisher
The American Society of Mechanical Engineers
We introduce a sensor concept for an integrated measurement of the curvature angle of soft bending actuators using inertial measurement units (IMUs). In particular, IMUs are placed at both ends of the soft bending actuator, and the integrated magnetic sensors are used for small and the integrated acceleration sensors for medium and large inclination angles of the soft actuator’s bending plane. The experimental results show absolute measurement errors of up to 20◦ for small and less than 5◦ for medium and large inclination angles. Furthermore, we investigate experimentally whether the assumption of a constant curvature in our sensor concept is still fulfilled when the soft bending actuator is loaded by an external force at its free end. The results indicate that this is the case for loading masses of up to 30 g at large inclination angles.
DDC Class
600: Technik