ソフトマテリアルを用いた空圧筋測長センサの開発

抄録

This paper proposes a new device for measuring the axial length of MPA(McKibben Pneumatic Actuator). The device consists of soft material, hall sensor, and magnet. As the input pressure of MPA increases, the radial length of MPA is more prolonged, and the axial length becomes shorter. By using the relationship, the proposal device measures the axial length of MPA from the radial length. The device is made of soft material and has a donut shape to measure the radial length of MPA. A hall sensor and magnet are mounted outside and inside the donut, respectively. The bigger the device transforms, the closer the distance between the hall sensor and magnet is. First, this paper introduces the recipe of the device. Next, the result of the verification experiments of the effectiveness of the device is described. This experiment was conducted while changing the pressure input and the length of MPA. As a result, it is confirmed that the device has enough performance to estimate the axial length of MPA.