Flow rate measurement system for humanoid robot artificial soft muscles using rotameter-LVDT sensor integration

This paper presents a novel approach for measuring flow rates in the artificial soft muscle of the humanoid robot leg, specifically focusing on GUCnoid 1.0. We integrate a rotameter and Linear Variable Differential Transformer (LVDT) sensor to accurately quantify airflow rates within the muscle. The experimental setup, calibration procedures, and data acquisition methods are comprehensively described. Our results demonstrate that this combined approach offers exceptional precision and reliability in measuring flow rates, with the LVDT exhibiting a sensitivity of 0.0634 V/cm and a standard deviation of 0.2502 V. The rotameter displays a sensitivity of -12.859 V/(L/s) and a resolution of 0.0184 L/s for flow rates from 0 to 0.036 L/s, while achieving a sensitivity of -0.1409 V/(L/s) and a resolution of 0.0248 L/s for flow rates from 0.036 to 0.079 L/s. These findings advance flow rate measurement systems for artificial soft muscles in humanoid robotics.