6軸力覚センサを用いた布状アクチュエータの発揮力計測

抄録

In a previous study, we developed a fabric actuator with thin McKibben artificial muscles placed on the surface of the fabric. By changing the applied air pressure pattern to the artificial muscles, three-dimensional deformation such as forward/backward bending, right/left bending, and right/left twisting can be achieved. However, although the deformation characteristics have been investigated, the force contributing to the deformation has not yet been investigated because the measurement method has not been established. In this study, we will measure the force and moment exerted with a 6-axis force/torque sensor in order to clarify the force that contributes to the deformation of the fabric actuator.