1A1-C04 Axial Displacement Estimation of McKibben Actuator using Flexible Sensor

Abstract

For measuring the length of a Mckibben actuator, we have developed a flexible sensor by using conductive rubber. By measuring the change of electric resistance, the change of the expansion and contraction of the rubber is estimated. Higher accuracy is obtained by measuring the circumference displacement than measuring the axial displacement using this flexible sensor. We also propose a method to avoid the pretension since a flexible sensor may be damaged by the pretension in an initial state. The accuracy of the flexible sensor is confirmed by comparing the estimate values with true values.