Integrated curvature sensing of soft bending actuators using inertial measurement units

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

Standard

Integrated curvature sensing of soft bending actuators using inertial measurement units. / Seibel, Arthur; Schiller, Lars.
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/worksArticle in conference proceedingsResearchpeer-review

Harvard

Seibel, A & Schiller, L 2018, Integrated curvature sensing of soft bending actuators using inertial measurement units. in ASME 2018 International Mechanical Engineering Congress and Exposition : Volume 9: Mechanics of Solids, Structures, and Fluids., V009T12A034, ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 9, The American Society of Mechanical Engineers (ASME), ASME 2018 International Mechanical Engineering Congress and Exposition - IMECE 2018, Pittsburgh, Pennsylvania, United States, 09.11.18. https://doi.org/10.1115/IMECE2018-87104

APA

Seibel, A., & Schiller, L. (2018). Integrated curvature sensing of soft bending actuators using inertial measurement units. In ASME 2018 International Mechanical Engineering Congress and Exposition : Volume 9: Mechanics of Solids, Structures, and Fluids Article V009T12A034 (ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE); Vol. 9). The American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/IMECE2018-87104

Vancouver

Seibel A, Schiller L. Integrated curvature sensing of soft bending actuators using inertial measurement units. In 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)). doi: 10.1115/IMECE2018-87104

Bibtex

@inbook{10dcba5c548f40898d4b7ac4e8ae064d,
title = "Integrated curvature sensing of soft bending actuators using inertial measurement units",
abstract = " 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{\textquoteright}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.",
keywords = "Engineering",
author = "Arthur Seibel and Lars Schiller",
note = "Publisher Copyright: Copyright {\textcopyright} 2018 ASME.; ASME 2018 International Mechanical Engineering Congress and Exposition - IMECE 2018, IMECE18 ; Conference date: 09-11-2018 Through 15-11-2018",
year = "2018",
month = nov,
day = "9",
doi = "10.1115/IMECE2018-87104",
language = "English",
series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)",
publisher = "The American Society of Mechanical Engineers (ASME)",
booktitle = "ASME 2018 International Mechanical Engineering Congress and Exposition",
address = "United States",

}

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 -

DOI

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