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DTSTART;TZID=America/New_York:20241212T120000
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DTSTAMP:20260602T194654
CREATED:20241206T143536Z
LAST-MODIFIED:20241206T143536Z
UID:12732-1734004800-1734008400@seasevents.nmsdev7.com
SUMMARY:MEAM Seminar: "Leveraging Impedance Properties for Free Self-Sensing in Actuators for Compact Robots"
DESCRIPTION:Self-sensing actuators provide a compelling approach to designing compact robotic systems by integrating sensing capabilities directly into the actuator\, eliminating the need for external sensors. This presentation\, titled “Leveraging Impedance Properties for Free Self-Sensing in Actuators for Compact Robots\,” highlights how the intrinsic impedance properties of actuators—resistance\, inductance\, and induced EMF—can be harnessed to achieve low-volume solutions of self-sensing actuators. Evidence for this approach is demonstrated through three projects: a self-sensing I-cord knitted SMA actuator that uses resistance measurements to monitor its state\, applied in an inchworm robot and a gripper; a custom PET solenoid actuator that utilizes induced EMF to sense movement and velocity\, enabling applications such as an origami-inspired bistable gripper and a facial reanimation device acting as an artificial muscle; and a custom acrylic linear solenoid actuator that leverages inductance to self-sense plunger position\, demonstrated as an active valve in underwater swimming robots. These examples illustrate the potential of impedance-based self-sensing to streamline actuator design\, enhance functionality\, and enable new possibilities in robotics across domains.
URL:https://seasevents.nmsdev7.com/event/meam-seminar-leveraging-impedance-properties-for-free-self-sensing-in-actuators-for-compact-robots/
LOCATION:Towne 319\, 220 S. 33rd Street\, Philadelphia\, 19104\, United States
CATEGORIES:Seminar,Doctoral
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
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