Print Email Facebook Twitter Self-sensing of deflection, force, and temperature for joule-heated twisted and coiled polymer muscles via electrical impedance Title Self-sensing of deflection, force, and temperature for joule-heated twisted and coiled polymer muscles via electrical impedance Author van der Weijde, J.O. (TU Delft Biomechatronics & Human-Machine Control) Smit (student), B. Fritschi, M. (TU Delft Learning & Autonomous Control) van de Kamp, C. (TU Delft Learning & Autonomous Control) Vallery, H. (TU Delft Biomechatronics & Human-Machine Control) Date 2017 Abstract The recently introduced twisted and coiled polymer muscle is an inexpensive and lightweight compliant actuator. Incorporation of themuscle in applications that rely on feedback creates the need for deflection and force sensing. In this paper, we explore a sensing principle that does not require any bulky or expensive additional hardware: Self-sensing via electrical impedance. To this end, we characterize the relation between electrical impedance on the one hand, and deflection, force, and temperature on the other hand for the Joule-heated version of this muscle. Investigation of the theoretical relations provides potential fit functions that are verified experimentally. Using these fit functions results in an average estimation error of 0.8%, 7.6%, and 0.5%, respectively, for estimating deflection, force, and temperature. This indicates the suitability of this self-sensing principle in the Joule-heated twisted and coiled polymer muscle. Subject Artificial musclecompliant actuatordeflectionimpedanceinductanceintegrated sensingselfsensing To reference this document use: http://resolver.tudelft.nl/uuid:d09afa8c-0d6a-42c0-8e0f-6d2326aea03b DOI https://doi.org/10.1109/TMECH.2016.2642588 ISSN 1083-4435 Source IEEE - ASME Transactions on Mechatronics, 22 (3), 1268-1275 Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type journal article Rights © 2017 J.O. van der Weijde, B. Smit (student), M. Fritschi, C. van de Kamp, H. Vallery Files PDF self_sensing_authors_version.pdf 1.39 MB Close viewer /islandora/object/uuid:d09afa8c-0d6a-42c0-8e0f-6d2326aea03b/datastream/OBJ/view