拮抗配置された回転型釣糸人工筋肉アクチュエータのセンサレストルク制御

抄録

A rotational-type Twisted Polymeric Fiber Actuator (TPFA) has attracted attention because it is silent, inexpensive, and lightweight. Although the TPFA has many advantages, it also has some disadvantages in that there is a gap of control performance between the heating phase and cooling phase and that it is difficult to implement sensors due to the softness and compactness. In this paper, to reduce the above drawbacks, a sensorless torque control method for an antagonistically arranged TPFAs module is proposed. The usefulness of the proposed method is demonstrated through some experiments using a prototype of the module.