The development of soft actuators and robots has spurred interest in human-friendly robots and devices that can operate in proximity with living things. Researchers have used soft actuators to drive hybrid soft/rigid mechanical platforms with multiple degrees of freedom (DOFs) that are both compliant and produce precise motions. However, the addition of sensors on these systems for feedback control remains a critical issue as they require multiple sensors operating simultaneously while the system undergoes complex motions. This article introduces the use of two spring-tensioned tendons passing through angular encoders for yaw and pitch orientation measurement into a pneumatic artificial muscle-driven two DOFs platform. This system possesses several advantages such as having a large range of motion and enables feedback control of the joint for position control. The joint is shown to be able to follow diverse motion patterns and capable of operating through external disturbances and was implemented as the base joint of an inflatable member.

中文翻译：

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气动人工肌肉执行器驱动的 2 自由度平行关节的新型传感方法设计

软执行器和机器人的发展激发了人们对可以在接近生物的地方操作的人性化机器人和设备的兴趣。研究人员使用软执行器来驱动具有多个自由度 (DOF) 的混合软/硬机械平台，这些平台既兼容又能产生精确的运动。然而，在这些系统上添加用于反馈控制的传感器仍然是一个关键问题，因为它们需要多个传感器在系统进行复杂运动时同时运行。本文介绍了在气动人工肌肉驱动的双自由度平台中使用两个弹簧张紧肌腱通过角度编码器进行偏航和俯仰方向测量。该系统具有运动范围大、能够对关节进行位置控制的反馈控制等优点。该关节被证明能够遵循不同的运动模式，并且能够通过外部干扰进行操作，并被用作充气构件的基础关节。