Integrated Actuation and Self-Sensing for Twisted-and-Coiled Actuators with Applications to Innervated Soft Robots
Jiefeng Sun,Jianguo Zhao,Jiefeng Sun,Jianguo Zhao
Traditional soft robots require separate sensors and actuators to precisely control their motion. A twisted-and-coiled actuator (TCA) is a new artificial muscle with both actuation and self-sensing capability that can simultaneously serve both as a sensor and an actuator allowing to control the motion of TCAs without external sensors. This paper investigates the integrated sensing and actuation fo...
