ソフトアクチュエータの力覚特性の評価を目的とした非接触シーソ型力センサ

抄録

Soft actuators are constrained in their deformation when subjected to loads, so their performance needs to be evaluated similarly to that of conventional motors. In this study, we propose a seesaw-type force sensor consisting of a beam with multiple load points having different spring constants and a laser displacement meter. The relationship between force and displacement is evaluated by applying force from a soft actuator and measuring the displacement. The load points of the fabricated seesaw-type beams had spring constants ranging from 1.2 N/m to 15.9 N/m. The soft actuators were ionic polymer-metal composite (IPMC) actuators with a size of 5 mm × 25 mm and a thickness of 190 μm. In the experiment with the IPMC actuator, the force was high and the displacement was small at 5.3 mN and 0.3 mm where the spring constant was large, and the opposite trend was observed at 2.3 mN and 1.9 mm where the spring constant was small.