Fluidic Driven Digital Clay

Abstract

Digital Clay is a tactile array of linear fluidic actuators which provide distributed sensing and position control through the use of an embedded position sensor. The actuator implementation is achieved by two-way hydraulically-driven pistons which are integrated with computer controlled valves. Each actuator is connected to an underlying base plate which is in fluidic communication with high and low pressure reservoirs. The research focuses on the aspects of the fluidics necessary to operate the actuators and control actuation of Digital Clay. The main objectives of this work are the characterization of the fluid flow through the system and the design and implementation of an embedded inductance-based position sensor. Each actuator in Digital Clay is individually addressable and is controlled through the use of a closed-loop proportional integral controller with position feedback from the embedded inductance-based sensor. Also presented in this work is the characterization of an individual fluidic actuator and the realization of a 5x5 tactile array of actuators.