Control of a novel flexible finger using electro-conjugate fluid with built-in angle sensor

Kento Mori, Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

An electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a powerful flow when subjected to high DC voltage. It is known that a strong ECF flow is generated under non-uniform electric field, for example, the field with a pair of needle and ring electrodes. The ECF flow could be used as a micro fluid pressure source (an ECF pump) for actuators including an artificial muscle and a flexible finger. However, previous studies on ECF soft actuators only focused on confirmation of the driving principle. This means, an improvement of performance of ECF pumps and a control scheme for ECF soft actuators have yet to be studied in detail. Hence, this study improves the performance of the ECF pump, and proposes a novel control system for an ECF flexible finger. The ECF pump developed in this study, 200.3 mm 3, generates maximum pressure of 92.6 kPa and maximum flow rate of 103.0 ml/min. The flexible finger (Ø 5 mm ×30mm), driven by the ECF pump, bends 150° with a rise time of 1 s. In addition, we construct a master-slave system using the ECF flexible finger and confirm its performance.

Original languageEnglish
Pages (from-to)75-83
Number of pages9
JournalSensors and Actuators, A: Physical
Volume183
DOIs
Publication statusPublished - 2012 Aug

Fingerprint

Fluids
fluids
sensors
Sensors
Pumps
pumps
Actuators
actuators
fluid flow
Flow of fluids
fluid pressure
muscles
needles
Needles
Muscle
flow velocity
direct current
Electric fields
Flow rate
Control systems

Keywords

  • Electro-conjugate fluid
  • Flexible finger
  • Soft actuator

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Condensed Matter Physics
  • Electronic, Optical and Magnetic Materials
  • Metals and Alloys
  • Surfaces, Coatings and Films
  • Instrumentation

Cite this

Control of a novel flexible finger using electro-conjugate fluid with built-in angle sensor. / Mori, Kento; Yamaguchi, Akihiro; Takemura, Kenjiro; Yokota, Shinichi; Edamura, Kazuya.

In: Sensors and Actuators, A: Physical, Vol. 183, 08.2012, p. 75-83.

Research output: Contribution to journalArticle

Mori, Kento ; Yamaguchi, Akihiro ; Takemura, Kenjiro ; Yokota, Shinichi ; Edamura, Kazuya. / Control of a novel flexible finger using electro-conjugate fluid with built-in angle sensor. In: Sensors and Actuators, A: Physical. 2012 ; Vol. 183. pp. 75-83.
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