带有嵌入式应变传感的3D打印软机器人执行器用于位置估计

2022 IEEE Sensors Pub Date : 2022-10-30 DOI:10.1109/SENSORS52175.2022.9967233

G. Wolterink, Stijn Kolkman, G. Krijnen

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引用次数: 0

摘要

这项工作展示了全3D打印气动软机器人执行器的开发和特性，该执行器带有嵌入式应变片，用于估计执行器的弯曲角度。使用多材料熔丝制造(FFF)打印机一次打印驱动器。采用掺杂碳TPU印刷的两种集成应变片的读数差，得到弯曲角与传感器输出之间的强线性关系$(R^{2}=0.97)$。

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3D Printed Soft Robotic Actuator With Embedded Strain Sensing For Position Estimation

This work shows the development and characterization of a fully 3D printed pneumatic soft robotic actuator with embedded strain gauges to estimate the bending angle of the actuator. The actuator was printed in one go using a multi material Fused Filament Fabrication (FFF) printer. By taking the difference of the reading of two integrated strain gauges, printed using carbon doped TPU, a strong linear relation $(R^{2}=0.97)$ between the bending angle and sensor output is achieved.

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2022 IEEE Sensors

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