Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Estimation of the State of Folding Structures using a Novel Sensor

종이접기 구조의 자세 파악을 위한 폴딩 센서 개발

  • Chae, Su-Bin (Department of Mechanical and Automotive Engineering, Seoul National Unversity of Science and Technology) ;
  • Jung, Gwang-Pil (Department of Mechanical and Automotive Engineering, Seoul National Unversity of Science and Technology)
  • 채수빈 (서울과학기술대학교 기계.자동차공학과) ;
  • 정광필 (서울과학기술대학교 기계.자동차공학과)
  • Received : 2021.01.25
  • Accepted : 2021.03.20
  • Published : 2021.03.31
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Abstract

In this paper, a folding sensor based on capacitance is proposed. The sensor was developed to sense the length and angle data for the milli-scale actuators without causing any interference to the actuating joints. For the sensing and testing the robotic joint with reducing the cost and complexity aspects of manufacturing, a simple composition was adopted. The sensor comprises a pair of copper tapes, papers, and wires. The complete sensing unit is constructed by bonding the tapes with the papers and soldering the wire to the copper parts. For accuracy, a teensy 4.0 board, which has a 12-bit ADC resolution, is employed. Furthermore, the sensed analog data is not translated into the unit of capacitance for accuracy; however, it is filtered using a low-pass filter and subsequently, a Butter-worth filter. The data obtained demonstrate a periodic waveform, which implies that the data are in good agreement with the hypothesis set prior to the experiments. Compared to other milli-scale sensors, this could be a better option for sensing the length and angle data for milliscale actuators.

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References

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