Integrated curvature sensing of soft bending actuators using inertial measurement units

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Authors

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.

Original languageEnglish
Title of host publicationASME 2018 International Mechanical Engineering Congress and Exposition : Volume 9: Mechanics of Solids, Structures, and Fluids
Number of pages6
PublisherThe American Society of Mechanical Engineers (ASME)
Publication date09.11.2018
Article numberV009T12A034
ISBN (electronic)978-0-7918-5214-9
DOIs
Publication statusPublished - 09.11.2018
Externally publishedYes
EventASME 2018 International Mechanical Engineering Congress and Exposition - IMECE 2018 - David L. Lawrence Convention Center, Pittsburgh, United States
Duration: 09.11.201815.11.2018
Conference number: 4

Bibliographical note

Publisher Copyright:
Copyright © 2018 ASME.

DOI