Design of a Novel Sensing Method for a Pneumatic Artificial Muscle Actuator-Driven 2-Degrees of Freedom Parallel Joint
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Jamil, Babar | - |
dc.contributor.author | Rodrigue, Hugo | - |
dc.contributor.author | Choi, Youngjin | - |
dc.date.accessioned | 2022-12-20T05:51:34Z | - |
dc.date.available | 2022-12-20T05:51:34Z | - |
dc.date.issued | 2023-02 | - |
dc.identifier.issn | 2169-5172 | - |
dc.identifier.issn | 2169-5180 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/111324 | - |
dc.description.abstract | The development of soft actuators and robots has spurred interest in human-friendly robots and devices that can operate in proximity with living things. Researchers have used soft actuators to drive hybrid soft/rigid mechanical platforms with multiple degrees of freedom (DOFs) that are both compliant and produce precise motions. However, the addition of sensors on these systems for feedback control remains a critical issue as they require multiple sensors operating simultaneously while the system undergoes complex motions. This article introduces the use of two spring-tensioned tendons passing through angular encoders for yaw and pitch orientation measurement into a pneumatic artificial muscle-driven two DOFs platform. This system possesses several advantages such as having a large range of motion and enables feedback control of the joint for position control. The joint is shown to be able to follow diverse motion patterns and capable of operating through external disturbances and was implemented as the base joint of an inflatable member. | - |
dc.format.extent | 10 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | MARY ANN LIEBERT, INC | - |
dc.title | Design of a Novel Sensing Method for a Pneumatic Artificial Muscle Actuator-Driven 2-Degrees of Freedom Parallel Joint | - |
dc.type | Article | - |
dc.publisher.location | 미국 | - |
dc.identifier.doi | 10.1089/soro.2021.0097 | - |
dc.identifier.scopusid | 2-s2.0-85146788269 | - |
dc.identifier.wosid | 000804934000001 | - |
dc.identifier.bibliographicCitation | Soft Robotics, v.10, no.1, pp 187 - 196 | - |
dc.citation.title | Soft Robotics | - |
dc.citation.volume | 10 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 187 | - |
dc.citation.endPage | 196 | - |
dc.type.docType | Article | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | ROBUST POSTURE CONTROL | - |
dc.subject.keywordPlus | MANIPULATOR DRIVEN | - |
dc.subject.keywordPlus | ROBOT | - |
dc.subject.keywordPlus | CONTRACTION | - |
dc.subject.keywordAuthor | manipulators | - |
dc.subject.keywordAuthor | universal joint | - |
dc.subject.keywordAuthor | parallel mechanism | - |
dc.subject.keywordAuthor | parallel sensing | - |
dc.subject.keywordAuthor | pneumatic artificial muscle actuator | - |
dc.identifier.url | https://www.liebertpub.com/doi/10.1089/soro.2021.0097 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
55 Hanyangdeahak-ro, Sangnok-gu, Ansan, Gyeonggi-do, 15588, Korea+82-31-400-4269 sweetbrain@hanyang.ac.kr
COPYRIGHT © 2021 HANYANG UNIVERSITY. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.