Bio-Inspired Artificial Muscle-Tendon Complex with Embedded Proprioception
발표자
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초록
내용
Muscle-tendon complex (MTC), a collection of muscle and tendon fibers, is a representative actuating mechanism of biological systems. The proprioceptors of the MTC, such as muscle spindles and Golgi tendon organs (GTOs), transduce information on the changes in length and tensile load of the muscle, respectively, enabling low-level feedback control at a central nervous system. This concept of integrated sensing is useful in development of artificial muscles. We propose various types of soft actuators, including pnematic artificial muscles and soft electromagnetic artificial muscles, with integrated proprioceptive sensors made of liquid-metal microfulidic channels embedded in highly stretchable elastomer structures. The integrated soft sensors for proprioception enables for direct control of both position and force of the actuators. Novel fabrication methods for building stretchable circuits and electronics will be also discussed.