A Novel Inflatable Joint with Position Estimation Using Perturbed Magnetometers

In this paper, we present the concept of a new inflatable joint with continuous volume, driven by an antagonistic setup of original inflatable actuators, whose working principle is also developed. Then, we address the problem of position estimation between two inflatable links, proposing a lightweight and cheap solution based on a three-axis magnetometer perturbed by a permanent magnet. Experimental results of the sensor tested on a prototype of the inflatable joint are also presented.