Sensorized, Flat, Pneumatic Artificial Muscle Embedded with Biomimetic Microfluidic Sensors for Proprioceptive Feedback.

Jackson Wirekoh,Nishant Pol,Yong-Lae Park,Luis Valle

doi:10.1089/soro.2018.0110

Jackson Wirekoh, Nishant Pol + Show 2 more

Open Access

https://doi.org/10.1089/soro.2018.0110

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Abstract

In recent years, soft components, such as pneumatic artificial muscles (PAMs), have been increasingly employed to design safer wearable devices. Despite the inherent compliance of the materials used to fabricate PAMs, the actuators are able to produce relatively large forces and work when compared to their weight. However, effective operation of these systems has traditionally required bulky external force and position sensors, which limit the maneuverability of users. To overcome these issues, inspiration was taken from organic muscles, which incorporate embedded sensors, such as Golgi tendon organs and muscle spindles, to provide real-time position and force feedback for muscles. As such, a sensorized, flat, pneumatic artificial muscle (sFPAM) with embedded force and position sensors was designed and fabricated. In addition, a hyperelastic model was developed and verified through comparison with the experimentally characterized mechanical and electrical performance of the sFPAM. Furthermore, a sliding mode controller was implemented to demonstrate the feasibility of embedded sensors to provide feedback during operation. Ultimately, a lightweight, compact actuation system was designed with the ability to be seamlessly incorporated into future wearable devices.

Highlights

Technological advances in robotic systems have led to development of cheaper more robust designs that are increasingly becoming everyday aspects of modern society
The experimental data collected for the sFPAM were utilized to characterize the mechanical performance of the actuator
An sFPAM capable of acting as a compact, readily deployable standalone system that can be incorporated into a wearable device was developed

Summary

Introduction

Technological advances in robotic systems have led to development of cheaper more robust designs that are increasingly becoming everyday aspects of modern society. These systems encompass a plethora of applications, including autonomous vehicles, teleoperated medical devices, toys for children, personal robots, and wearable devices. Researchers have sought to produce safe and efficient systems through implementation of complex control algorithms and innovative system designs.[3,4,5,6,7,9] One such innovation, which is important to this study, can be found in the use of pneumatic artificial muscles (PAMs) in the design of wearable devices.[10,11,12,13,14]

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