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[141] Citation: Abstract
Drawing from the rich source of proven and often novel mechanisms
in the biological realm, biomimetic sensors are being successfully
developed for many different transduction tasks. This paper presents
such a sensor for transducing displacements. Our sensor is a robotic
analog of the biological muscle spindle, an actuated position sensor whichtransduces muscle displacement for kinesthetic awareness.
The mechanical filter exhibits the desired step response with Tr=26 msec,Ts=54 msec, P.O. = 3.7%, Ess=6.8x10-3 mm. The transducer possess thedesired linear re
sponse with a sensitivity of 34nm/Hz. Finally, the
encoder circuitry successfully maps the millivolt output to a pulse
frequency range of 1150Hz to 12.5kHz. Results from an integrated system
test show that the sensor can successfully detect errors in trajectory
tracking introducted by both phase lag and perturbations. By physically
realizing the hypothesized core features of a biological muscle spindle
in engineering hardware, we evoked the type of actuated sensor output
seen in the biological muscle spindle, a widely utilized tool of
biological motor control.
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Updated: Tue Aug 19 09:16:09 2008
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