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
Standard
ASME 2018 International Mechanical Engineering Congress and Exposition : Volume 9: Mechanics of Solids, Structures, and Fluids. The American Society of Mechanical Engineers (ASME), 2018. V009T12A034 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 9).
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Harvard
APA
Vancouver
Bibtex
}
RIS
TY - CHAP
T1 - Integrated curvature sensing of soft bending actuators using inertial measurement units
AU - Seibel, Arthur
AU - Schiller, Lars
N1 - Conference code: 4
PY - 2018/11/9
Y1 - 2018/11/9
N2 - 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.
AB - 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.
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85060391668&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/31e222d3-361d-387c-baf8-4388591b05bc/
U2 - 10.1115/IMECE2018-87104
DO - 10.1115/IMECE2018-87104
M3 - Article in conference proceedings
AN - SCOPUS:85060391668
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
BT - ASME 2018 International Mechanical Engineering Congress and Exposition
PB - The American Society of Mechanical Engineers (ASME)
T2 - ASME 2018 International Mechanical Engineering Congress and Exposition - IMECE 2018
Y2 - 9 November 2018 through 15 November 2018
ER -