Development of simple attitude measuring sensor for tetrahedral-shaped soft actuator and control system
The introducing an expensive 3D attitude sensor to a tiny soft actuator with limited bending directions is over-spec and impractical. This paper presents the development of simple and inexpensive attitude measuring sensor for Tetrahedral-shaped Soft Actuator (TSA for short) using three Extension typ...
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| Format: | Article |
| Language: | English |
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The Japan Society of Mechanical Engineers
2025-02-01
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| Series: | Mechanical Engineering Journal |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/mej/12/2/12_24-00339/_pdf/-char/en |
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| author | Feifei CHO Yuma ADACHI Tetsuya AKAGI Shujiro DOHTA So SHIMOOKA Takashi SHINOHARA |
| author_facet | Feifei CHO Yuma ADACHI Tetsuya AKAGI Shujiro DOHTA So SHIMOOKA Takashi SHINOHARA |
| author_sort | Feifei CHO |
| collection | DOAJ |
| description | The introducing an expensive 3D attitude sensor to a tiny soft actuator with limited bending directions is over-spec and impractical. This paper presents the development of simple and inexpensive attitude measuring sensor for Tetrahedral-shaped Soft Actuator (TSA for short) using three Extension type Flexible Pneumatic Actuators (EFPA for short). The novel sensor consists of a Hall sensor and a ring-shaped magnet. The simple control system that can decrease number of valves is also proposed and tested. As a result, the attitude control of TSA toward six bending and longitudinal directions can be realized. In this paper, the construction and operating principle of the proposed sensor, applications to a posture control of TSA, a simplification of the system and experimental results are described. |
| format | Article |
| id | doaj-art-e1d99082795f482aa12f1ec38bbe8103 |
| institution | DOAJ |
| issn | 2187-9745 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Mechanical Engineering Journal |
| spelling | doaj-art-e1d99082795f482aa12f1ec38bbe81032025-08-20T03:06:44ZengThe Japan Society of Mechanical EngineersMechanical Engineering Journal2187-97452025-02-0112224-0033924-0033910.1299/mej.24-00339mejDevelopment of simple attitude measuring sensor for tetrahedral-shaped soft actuator and control systemFeifei CHO0Yuma ADACHI1Tetsuya AKAGI2Shujiro DOHTA3So SHIMOOKA4Takashi SHINOHARA5Department of Information Science and Engineering, Okayama University of ScienceDepartment of Information Science and Engineering, Okayama University of ScienceDepartment of Information Science and Engineering, Okayama University of ScienceDepartment of Information Science and Engineering, Okayama University of ScienceFaculty of Environmental, Life, Natural Science and Technology, Okayama UniversityDepartment of Information Science and Engineering, Okayama University of ScienceThe introducing an expensive 3D attitude sensor to a tiny soft actuator with limited bending directions is over-spec and impractical. This paper presents the development of simple and inexpensive attitude measuring sensor for Tetrahedral-shaped Soft Actuator (TSA for short) using three Extension type Flexible Pneumatic Actuators (EFPA for short). The novel sensor consists of a Hall sensor and a ring-shaped magnet. The simple control system that can decrease number of valves is also proposed and tested. As a result, the attitude control of TSA toward six bending and longitudinal directions can be realized. In this paper, the construction and operating principle of the proposed sensor, applications to a posture control of TSA, a simplification of the system and experimental results are described.https://www.jstage.jst.go.jp/article/mej/12/2/12_24-00339/_pdf/-char/ensimple attitude measuring sensorextension type flexible pneumatic actuator (efpa)tetrahedral-shaped soft actuator (tsa) |
| spellingShingle | Feifei CHO Yuma ADACHI Tetsuya AKAGI Shujiro DOHTA So SHIMOOKA Takashi SHINOHARA Development of simple attitude measuring sensor for tetrahedral-shaped soft actuator and control system Mechanical Engineering Journal simple attitude measuring sensor extension type flexible pneumatic actuator (efpa) tetrahedral-shaped soft actuator (tsa) |
| title | Development of simple attitude measuring sensor for tetrahedral-shaped soft actuator and control system |
| title_full | Development of simple attitude measuring sensor for tetrahedral-shaped soft actuator and control system |
| title_fullStr | Development of simple attitude measuring sensor for tetrahedral-shaped soft actuator and control system |
| title_full_unstemmed | Development of simple attitude measuring sensor for tetrahedral-shaped soft actuator and control system |
| title_short | Development of simple attitude measuring sensor for tetrahedral-shaped soft actuator and control system |
| title_sort | development of simple attitude measuring sensor for tetrahedral shaped soft actuator and control system |
| topic | simple attitude measuring sensor extension type flexible pneumatic actuator (efpa) tetrahedral-shaped soft actuator (tsa) |
| url | https://www.jstage.jst.go.jp/article/mej/12/2/12_24-00339/_pdf/-char/en |
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