An artificial muscle embedded with an optical sensor and its use and preparation method

Abstract

The invention discloses an artificial muscle embedded with an optical sensor and its use and preparation method. Current feedback control of pneumatic muscle drive systems mainly relies on the use of external pressure sensors and position sensors or encoders. The invention includes an optical pressure detection end cap, an artificial muscle matrix and an optical length detection end cap. The artificial muscle matrix includes an elastic cylinder body, an optical length detection diaphragm and an optical pressure detection diaphragm. The optical pressure detection diaphragm and the optical length detection diaphragm are respectively fixed on the pressure detection end and the length detection end of the inner cavity of the elastic cylinder body. Both sides of the optical pressure detection diaphragm are disconnected. The two sides of the optical length detection diaphragm communicate with each other through the air hole. The inner side of the elastic body absorbs light. The outer surfaces of the optical pressure detection diaphragm and the optical length detection diaphragm reflect light. The invention feedbacks the contraction length and contraction force of the artificial muscle by designing an optical sensor, and has the advantages of light weight, good compliance and the like.

Description

technical field [0001] The invention belongs to the technical field of soft robots, and in particular relates to a soft pneumatic artificial muscle embedded with an optical sensor. Background technique [0002] The field of soft robotics is well-positioned for wearable devices and human-robot interaction due to their light weight and compliance. For such applications, position and force perception are crucial to enhance human-computer interaction, and implementing these functions in soft-body systems is a challenge due to the nonlinear properties of soft-body materials. Current feedback control of pneumatic muscle drive systems mainly relies on the use of external pressure sensors and position sensors or encoders. While this works for some robotic systems, additional sensing hardware adds complexity to the design and negates the advantages of soft robots in terms of light weight, compliance, and more. Especially in the case of wearable devices, external sensing may add bul...

AI Technical Summary

Problems solved by technology

While this works for some robotic systems, additional sensing hardware adds complexity to the design and negates the advantages of soft robots in terms of light weight, compliance, etc.

Especially in the case of wearables, external sensing can add bulk and weight to the wearer and inhibit movement

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