TY - GEN
T1 - Flexible displacement sensor using piezoelectric polymer for intelligent FMA
AU - Yamamoto, Y.
AU - Kure, K.
AU - Iwa, T.
AU - Kanda, T.
AU - Suzumoru, K.
PY - 2007/12/1
Y1 - 2007/12/1
N2 - Recently, a variety of soft actuators have been developed. However, applicable sensors such as potentiometers and optical encoders generally have high stiffness. Therefore, a soft actuator loses its compliance when these sensors are used with the actuator. Thus, in this research, we have developed a flexible displacement sensor that can keep the compliance of a soft actuator. The fabricated flexible displacement sensor is composed of piezoelectric polymer, conductive paste and base rubber. Piezoelectric polymer: poly(vinylidene fluoridetrifluoroethylene) [P(VDF/TrFE)] was used for the detection of displacement and conductive paste was used for electrodes. An intelligent FMA (Flexible Microactuator) was developed by attaching these sensors. Displacement of the inteDigent FMA and the sensor output voltage were compared, and sensing features were evaluated. Furthermore, servo control of the intelligent FMA using the sensor was performed. As a result, high positioning accuracy was verified.
AB - Recently, a variety of soft actuators have been developed. However, applicable sensors such as potentiometers and optical encoders generally have high stiffness. Therefore, a soft actuator loses its compliance when these sensors are used with the actuator. Thus, in this research, we have developed a flexible displacement sensor that can keep the compliance of a soft actuator. The fabricated flexible displacement sensor is composed of piezoelectric polymer, conductive paste and base rubber. Piezoelectric polymer: poly(vinylidene fluoridetrifluoroethylene) [P(VDF/TrFE)] was used for the detection of displacement and conductive paste was used for electrodes. An intelligent FMA (Flexible Microactuator) was developed by attaching these sensors. Displacement of the inteDigent FMA and the sensor output voltage were compared, and sensing features were evaluated. Furthermore, servo control of the intelligent FMA using the sensor was performed. As a result, high positioning accuracy was verified.
UR - http://www.scopus.com/inward/record.url?scp=51349126852&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349126852&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399268
DO - 10.1109/IROS.2007.4399268
M3 - Conference contribution
AN - SCOPUS:51349126852
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 765
EP - 770
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -