Self-sensing of coil springs and twisted and coiled polymer muscles

Van Der Weijde, Joost

doi:10.4233/f00eb0bb-6a04-44ba-a7ed-89127a4b3029

Self-sensing of coil springs and twisted and coiled polymer muscles

Doctoral thesis (2020)

Authors

Joost Van Der Weijde Biomechatronics & Human-Machine Control

Research Group

Biomechatronics & Human-Machine Control

DOI: https://doi.org/10.4233/uuid:f00eb0bb-6a04-44ba-a7ed-89127a4b3029

Self-Sensing Compliant Actuation Coil Springs Twisted and Coiled Polymer Muscles

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Published Date

2020

Language

English

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Research Group

Biomechatronics & Human-Machine Control

Abstract

The need to integrate robots in society grows, as several socioeconomic issues put pressure on our current level of productivity and prosperity. This requires robots to safely interact with unpredictable and fragile stakeholders, such as humans. Compliant actuation can facilitate such safe physical interaction.
The Series Elastic Actuator (SEA) and the Twisted and Coiled PolymerMuscle (TCPM) constitute two compliant actuators with favorable properties. However, both need sensors to be able to performclosed-loop control. This complicates design and integration of SEAs, and negates two major benefits of TCPMs. This problem can be solved by determining the state of the actuator via structures ormaterials that are already part of the actuator, i.e. self-sensing....

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