Soft robotics explores the use of conformable structures in robot design. These structures permit lightweight robots that are rugged enough to withstand abuse from the environment but gentle enough to work alongside humans. We have pioneered the use of conductive fibers to create self-sensing circuits for soft robotic actuators. The self-inductance of these circuits allows the motion of the actuator to be measured without bulky external encoders. The application of this technology to McKibben muscles was recently awarded the 2015 Soft Robotics Toolkit prize for contributions in soft robotics research (learn more at the Soft Robotics Toolkit ).
Felt, W., Chin, K.Y., and Remy, C.D., 2016, "Self-Sensing Pneumatic Artificial Muscles for Feedback Control using the Inductance of "Smart Braids"", Dynamic Walking [preprint]
Felt, W., Chin, K.Y., and Remy, C.D., 2015, "Contraction Sensing with Smart Braid McKibben Muscles", IEEE/ASME Transactions on Mechatronics, PP(99):1 [URL]
Felt, W., Chin, K.Y., and Remy, C.D., 2015, "Dynamic Tracking of Joint Motion with Antagonized Smart Braids", Fluid Power Innovation & Research Conference (FPIRC15) [preprint]
Felt, W. and Remy, C.D., 2014, "How to Create Self-Sensing Air Muscles from Conductive Fibers", Robotics: Science and Systems Conference, Workshop on Advances on Soft Robotics [preprint]
Felt, Wyatt and Remy, C.D., 2014, " Smart Braid: Air Muscles that Measure Force and Displacement", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Chicago, IL [preprint] [URL]
Felt, Wyatt and Remy, C.D., 2014, "How to Create Self-Sensing Air Muscles from Conductive Fibers", “Advances on Soft Robotics” at RSS