TY - CHAP
T1 - Modeling and Control of Fishing-Line/ Sewing-Thread Artificial Muscles (Twisted and Coiled Polymer Fibers, TCPFs)
AU - Takagi, Kentaro
AU - Kamamichi, Norihiro
AU - Masuya, Ken
AU - Tahara, Kenji
AU - Irisawa, Toshihira
AU - Asaka, Kinji
N1 - Publisher Copyright:
© Springer Nature Singapore Pte Ltd. 2019.
PY - 2019/1/1
Y1 - 2019/1/1
N2 - This chapter introduces a study on modeling and control of a fishing-line/ sewing-thread artificial muscle, which is named as a twisted and coiled polymer fiber (TCPF). The beginning part of this chapter briefly introduces outline of fishing-line artificial muscle actuators, and the following part describes modeling and control. Observing the result of system identification of a TCPF driven by Joule heating, we clarify that the response from the applied power to the temperature is particularly dominant in the system dynamics. By controlling heating wire, contraction of a fishing-line artificial muscle can be converged to a reference position. Moreover, by controlling a cooling fan, it is also possible to improve response of the expansion of an actuator.
AB - This chapter introduces a study on modeling and control of a fishing-line/ sewing-thread artificial muscle, which is named as a twisted and coiled polymer fiber (TCPF). The beginning part of this chapter briefly introduces outline of fishing-line artificial muscle actuators, and the following part describes modeling and control. Observing the result of system identification of a TCPF driven by Joule heating, we clarify that the response from the applied power to the temperature is particularly dominant in the system dynamics. By controlling heating wire, contraction of a fishing-line artificial muscle can be converged to a reference position. Moreover, by controlling a cooling fan, it is also possible to improve response of the expansion of an actuator.
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U2 - 10.1007/978-981-13-6850-9_32
DO - 10.1007/978-981-13-6850-9_32
M3 - Chapter
AN - SCOPUS:85138998988
SN - 9789811368493
SP - 581
EP - 596
BT - Soft Actuators
PB - Springer Singapore
ER -