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Toward a New Force Sensor for Twisted String Actuator: A Study about the Force on Separator
KTH. Korea Adv Inst Sci & Technol, Daejeon, South Korea.
KTH. Bioservo Technol AB, Stockholm, Sweden..
2017 (English)In: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Bicchi, A Okamura, A, IEEE , 2017, p. 1207-1212Conference paper, Published paper (Refereed)
Abstract [en]

The twisted string actuator (TSA) shows promise as a good substitution for biological muscle in robotics. In this paper, a new force sensing mechanism is suggested utilizing the separator which exists in some kind of TSAs. We have identified a relation between the force acting on the separator and the load on the actuator and propose a mathematical model based on this original phenomenon. We also propose an estimation method of the load acting on the TSA using the mathematical model. This relationship has been verified in experiment. A contribution of this research is that the actuation load can be estimated by use of internal structure in TSA which in some circumstances can result in a simpler system compared to direct measurement of load in line.

Place, publisher, year, edition, pages
IEEE , 2017. p. 1207-1212
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-225799ISI: 000426978201083ISBN: 978-1-5386-2682-5 OAI: oai:DiVA.org:kth-225799DiVA, id: diva2:1196093
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), SEP 24-28, 2017, Vancouver, CANADA
Note

QC 20180409

Available from: 2018-04-09 Created: 2018-04-09 Last updated: 2018-04-09Bibliographically approved

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Wikander, Jan

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