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Sensing the motion of bellows through changes in mutual inductance | IEEE Conference Publication | IEEE Xplore

Sensing the motion of bellows through changes in mutual inductance


Abstract:

Bellows-like actuators are popular in soft robotic systems. Sensing the movement of these actuators with traditional sensors is challenging. This work proposes and tests ...Show More

Abstract:

Bellows-like actuators are popular in soft robotic systems. Sensing the movement of these actuators with traditional sensors is challenging. This work proposes and tests a sensing system based on the changing mutual inductance of wire coils on bellows. A method for modeling the changes in mutual inductance between coils of tightly-packed wires is introduced. Changes in mutual inductance are measured through the self-inductance of a circuit made up of the coils in series. The self-inductance of the circuit measures the bellows bend-angle. The experiments show an approximately quadratic relationship between the bend angle and the measured inductance. From a bend angle of 121 ° to −67 ° the inductance of the circuit increases by 19 %. The bias-inducing effects of shear strain, torsional strain, non-uniform bending, and nearby metal are also explored.
Date of Conference: 09-14 October 2016
Date Added to IEEE Xplore: 01 December 2016
ISBN Information:
Electronic ISSN: 2153-0866
Conference Location: Daejeon, Korea (South)

References

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