Development of Flexible Displacement Measuring System Using Wire-type Linear Encoder for Flexible Spherical Actuator

This study aims at developing a potable rehabilitation device which can be safe to use while holding it with human hands. In the previous study, the novel flexible pneumatic cylinder that can be used even if it is deformed has been developed. The flexible spherical actuator using two ring-shaped flexible pneumatic cylinders was proposed and tested as a portable rehabilitation device. The attitude control system using a tiny embedded controller, four small-sized quasi-servo valves and two accelerometers was also proposed and constructed. In the next step, it is necessary to recognize the relative position between both stages to prevent both hands to contact each other. In this paper, a flexible pneumatic cylinder with wire-type linear encoder is proposed and tested. The compact sealing mechanism in the cylinder is also proposed. In addition, the measuring system using embedded controller is proposed and tested. As a result, it is confirmed that the tested sensor can measure the displacement of the cylinder.