Experimental Investigation into the Dynamics of a Radially Contracting Actuator with Embedded Sensing Capability

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dc.contributor.author Dang, Y en
dc.contributor.author Devaraj, H en
dc.contributor.author Stommel, M en
dc.contributor.author Cheng, L en
dc.contributor.author McDaid, Andrew en
dc.contributor.author Xu, Weiliang en
dc.date.accessioned 2020-02-11T03:34:52Z en
dc.date.issued 2019 en
dc.identifier.issn 2169-5172 en
dc.identifier.uri http://hdl.handle.net/2292/49879 en
dc.description.abstract Dynamics, control, and sensing are still challenges for pneumatically actuated soft actuators. We consider feasible solutions based on a radially contracting actuator to overcome these challenges. The radially contracting actuator was inspired by the movement of the stomach wall. It was capable of achieving radial contraction by inflating its circular air chamber. A quasi-static model that relates the pressure with the deformed wall of the air chamber was proposed and validated. In this article, we conduct a thorough experimental investigation into the contracting dynamics of the actuator with embedded sensing capability. We analyze the kinematics of the actuator at its rest and pressurization states focusing on the midpoint of the deformed wall. The actuator dynamics is characterized under the square wave pressure input by two variables that are the pressure in the air chamber and the trajectories of the midpoint. To achieve the desired contraction, we construct a feed-forward control based on the quasi-static model. It proves that the actuator is capable of tracking a prescribed triangular wave displacement of the midpoint with small deviations. A custom-made soft sensor is integrated into the actuator, which brings in the embedded sensing capability without affecting the actuator compliance. The resistance changes of the sensor versus the controlled contraction are examined, which are used to indicate the amount of radial contraction. The experimental investigation provides a foundation for the closed-loop control and practical applications of the radially contracting actuator developed. en
dc.publisher Mary Ann Liebert en
dc.relation.ispartofseries Soft Robotics en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. en
dc.rights.uri https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm en
dc.title Experimental Investigation into the Dynamics of a Radially Contracting Actuator with Embedded Sensing Capability en
dc.type Journal Article en
dc.identifier.doi 10.1089/soro.2019.0064 en
dc.rights.holder Copyright: The author en
dc.rights.accessrights http://purl.org/eprint/accessRights/RestrictedAccess en
pubs.subtype Article en
pubs.elements-id 792658 en
pubs.org-id Engineering en
pubs.org-id Mechanical Engineering en
pubs.record-created-at-source-date 2020-01-22 en

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