Development of Pneumatic Valves and a Fiber Sensor for a Smart Artificial Muscle

Abstract:
A McKibben artificial muscle consists of a rubber tube and a sleeve with thin fibers, and is driven pneumatically. In order to control the artificial muscle, a sensor for measuring the driving state and a valve for controlling the pneumatic pressure are needed, however generally these devices are larger and more expensive than the artificial muscle. Therefore compact and cheap pneumatic control devices for the McKibben artificial muscles are required. In this study, we have developed a smart artificial muscle which has pressure detection and control functions. A conductive fiber as the sensor is knitted into the sleeve. Its electrical resistance depends on the inner pneumatic pressure of the artificial muscle. In addition small valves driven by the PWM signal are fabricated.From the fundamental experiments, the high possibility to realize a smart artificial muscle with pressure control function is indicated.