Development of Compact Flexible Displacement Sensors Using Ultrasonic Sensor for Wearable Actuators

In position control of wearable actuator such as a rubber artificial muscle, a compact flexible displacement sensor is much attractive and required. In this paper, two types of flexible displacement sensor using the ultrasonic sensor were introduced. One is a built-in displacement sensor for rubber artificial muscle. Another is a sensor that can measure the sliding displacement on a flexible tube for flexible robot. Both sensors use ultrasonic displacement sensors. The construction, operating principle and measuring performance of two sensors were also described.