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Posture measurement of soft pneumatic bending actuator using optical fibre-based sensing membrane

Guangkai Sun (Beijing Information Science and Technology University, Beijing, China)
Yang Hu (Beijing Information Science and Technology University, Beijing, China)
Mingli Dong (Beijing Information Science and Technology University, Beijing, China)
Yanlin He (Beijing Information Science and Technology University, Beijing, China)
Mingxin Yu (Beijing Information Science and Technology University, Beijing, China)
Lianqing Zhu (Beijing Information Science and Technology University, Beijing, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 15 March 2019

Issue publication date: 12 April 2019

271

Abstract

Purpose

Soft robotics is a burgeoning field owing to its high adaptability and safety in human–machine interaction and unstructured environments. However, the feedback control of soft actuators with flexible sensors is still a challenge.

Design/methodology/approach

To address this issue, this study proposes an optical fibre-based sensing membrane for the posture measurement of soft pneumatic bending actuators. The major contribution is the development of a flexible sensing membrane with a high sensitivity and repeatability for the feedback control of soft actuators. The characteristics of sensing membrane were analysed. The relationship between wavelength shift and bending curvature was derived. The curvatures of soft actuator were measured at four bending status, and the postures were reconstructed.

Findings

The results indicate that the measurement error is less than 2.1% of the actual bending curvature. The sensitivity is up to 212.8 pm/m−1, and the signal fluctuation in repeated measurements is negligible. This approach has broad application prospects in soft robotics, because it makes the optical fibre achieve more strength and compatible with soft actuators, thus improving the sensing accuracy, sensitivity and reliability of fibre sensors.

Originality/value

Different from previous approaches, an optical fibre with FBGs is embedded into a multilayered polyimide film to form a flexible sensing membrane, and the membrane is embedded into a soft pneumatic bending actuator as the smart strain limited layer which is able to measure the posture in real time. This approach makes the optical fibre stronger and compatible with the soft pneumatic bending actuator, and the sensing accuracy, sensitivity and reliability are improved. The proposed sensing configuration is effective for the feedback control of the soft pneumatic bending actuators.

Keywords

Citation

Sun, G., Hu, Y., Dong, M., He, Y., Yu, M. and Zhu, L. (2019), "Posture measurement of soft pneumatic bending actuator using optical fibre-based sensing membrane", Industrial Robot, Vol. 46 No. 1, pp. 118-127. https://doi.org/10.1108/IR-08-2018-0159

Publisher

:

Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited

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