Durable Pneumatic Artificial Muscles with Electric Conductivity for Reliable Physical Reservoir Computing
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Published:2022-04-20
Issue:2
Volume:34
Page:240-248
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ISSN:1883-8049
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Container-title:Journal of Robotics and Mechatronics
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language:en
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Short-container-title:J. Robot. Mechatron.
Author:
Sakurai Ryo,Nishida Mitsuhiro,Jo Taketomo,Wakao Yasumichi,Nakajima Kohei, ,
Abstract
A McKibben-type pneumatic artificial muscle (PAM) is a soft actuator that is widely used in soft robotics, and it generally exhibits complex material dynamics with nonlinearity and hysteresis. In this letter, we propose an extremely durable PAM containing carbon black aggregates and show that its dynamics can be used as a computational resource based on the framework of physical reservoir computing (PRC). By monitoring the information processing capacity of our PAM, we verified that its computational performance will not degrade even if it is randomly actuated more than one million times, which indicates extreme durability. Furthermore, we demonstrate that the sensing function can be outsourced to the soft material dynamics itself without external sensors based on the framework of PRC. Our study paves the way toward reliable information processing powered by soft material dynamics.
Funder
Japan Society for the Promotion of Science Japan Science and Technology Agency New Energy and Industrial Technology Development Organization
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
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