カーボンブラックを用いた導電性伸長センサによる円錐台型アクチュエータの半径推定

抄録

Soft robots with high degrees of freedom are expected to work differently from rigid robots. Their control requires sensors to estimate their state, and the sensor must be soft. We focus on soft conductive sensors whose resistance change with their elongation. We have developed surface robots and truncated conical actuators for the robot. A soft conductive sensor is mounted on the side of a truncated conical actuator. To estimate the actuator’s radius, we investigated the relationship between the actuator’s radius and the conductive sensor’s resistance. The sensor elongates as the actuator radius increases, and the relationship is linear. We then estimated the actuator’s radius using the relationship.