Abstract
This study aims at development of a soft intelligent rubber actuator of McKibben style. McKibben rubber actuator is an artificial muscle, which is pneumatically driven. At present, almost servo systems with this rubber actuator are driven with external sensors, which cause lowering the compliance and growing the size. In this report, we developed the soft pressure sensor using rubber and conductive film and embed the sensor in the actuator. The characteristics of the sensor had creep behavior, therefore we proposed the new idea of applying the mechanical model to the sensor model. Using the model, we realized servo pressure control successfully.
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