A Self-sensing Inverse Pneumatic Artificial Muscle

In recent years, the inverse pneumatic artificial muscles attained great attention in soft robotics, especially for the wider motion range compared to traditional positive pneumatic actuators. Besides self-sensing is a recognized highly desirable property for soft actuators to enable proprioception and to facilitate the soft robots control, a self-sensing strategy for a soft inverse pneumatic muscle was still missing. In this paper, we present the first self-sensing inverse pneumatic artificial muscle in which the reinforcing but compliant element that guides the actuator motion during actuation has not only a mechanical function but, being also electrically conductive, it endows the actuator with self-sensing. Here, the actuator design and manufacturing are described, together with an electro- mechanical characterization. In addition, we demonstrate its self-sensing capability in a dynamic setting, by predicting the actuator strain from its electric resistance variation, through a calibration model.