Integrated curvature sensing of soft bending actuators using inertial measurement units
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-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 language | English |
|---|---|
| Title of host publication | ASME 2018 International Mechanical Engineering Congress and Exposition : Volume 9: Mechanics of Solids, Structures, and Fluids |
| Number of pages | 6 |
| Publisher | The American Society of Mechanical Engineers (ASME) |
| Publication date | 09.11.2018 |
| Article number | V009T12A034 |
| ISBN (electronic) | 978-0-7918-5214-9 |
| DOIs | |
| Publication status | Published - 09.11.2018 |
| Externally published | Yes |
| Event | ASME 2018 International Mechanical Engineering Congress and Exposition - IMECE 2018 - David L. Lawrence Convention Center, Pittsburgh, United States Duration: 09.11.2018 → 15.11.2018 Conference number: 4 |
Bibliographical note
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