研究目的
To design a pneumatic artificial muscle with integrated soft optical sensing for estimation of muscle contraction length and contraction force, and to evaluate its performance in a robotic system.
研究成果
The study demonstrated the feasibility of using optical sensor-embedded pneumatic artificial muscles for estimating muscle contraction length and force in a robotic system. The sensorized muscles provided a plug-and-play solution for soft robotic systems, with acceptable accuracy for many applications despite some limitations.
研究不足
The optical sensors are susceptible to physical disturbances, especially at the diaphragm locations, which can reduce estimation accuracy. Hysteretic behavior was observed in the pressure sensor, and the design requires maintaining muscle tension for accurate measurements.
1：Experimental Design and Method Selection:
The study involved the design of a pneumatic artificial muscle with integrated optical sensors for estimating muscle contraction length and force. The methodology included the use of LED-photodiode pairs to measure light reflected by silicone diaphragms embedded in the muscle.
2：Sample Selection and Data Sources:
Four different sensorized muscles were characterized under no load and blocked force conditions to calibrate the optical sensors.
3：List of Experimental Equipment and Materials:
Equipment included infrared LEDs, photodiodes, silicone diaphragms, Kevlar threads, and a 2-DOF arm for testing. Materials included platinum cure silicone rubber and black and white silicone pigments.
4：Experimental Procedures and Operational Workflow:
The muscles were pressurized and vented to characterize sensor responses. Blocked force testing was performed to map sensor voltages to muscle contraction length and force. The sensorized muscles were then used to actuate a 2-DOF arm, with end-effector positions and forces estimated from optical sensor measurements.
5：Data Analysis Methods:
Muscle contraction length and force were estimated from optical sensor measurements using polynomial surface fits. End-effector positions and forces were calculated from joint angles and torques estimated by the sensors.
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