回転型釣糸人工筋肉アクチュエータのセンサレストルク制御

<p>A Twisted Polymeric Fiber Actuator (TPFA) has been attracting attention as a new actuator that is silent, inexpensive, and can directly extract a rotational motion. Until now, we have proposed a sensorless rotational angle controller using estimated temperature feedback in order to take advantage of the low cost of TPFA. In order to construct a sensorless torque control method as an expansion of the utility of the TPFA, the relationship between output torque and change in temperature is modeled and the sensorless torque controller is designed. The proposed method is eventually verified through experiments.</p>