Design of the reactive Peano muscle
In this chapter we first explore how sensors are embedded into biological muscles and how researchers have mimicked this principle in various contractile fluid powered muscles. Next, we propose a method for sensing the physical state of the Peano muscle and describe how to fabricate these sensors and embed them into a Peano muscle. Finally, we characterise the resulting Peano muscle's actuation and sensing performance and demonstrate that embedded DE sensors do not compromise its capabilities as a soft actuator for rehabilitation.
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