Integrated self-monitoring soft actuator and self-monitoring method of soft actuator

An integral self-monitoring soft actuator, comprising:

• a body portion configured to be driven by deformation due to stimulation;
• a first limiter integrally formed with respect to a longitudinal direction of the body portion to limit deformation of the body portion in the longitudinal direction;
• a second limiter that limits deformation of the body portion in a radial direction by comprising at least a pair of electrodes in a spiral shape integrally provided on an outer surface of the body portion;
• and
• a controller for controlling motion of the body portion,
• wherein the second limiter comprises a first electrode provided in a spiral direction along an outer surface of the body portion, and
• a second electrode provided in a spiral direction along the outer surface of the body portion,
• wherein the first and second electrodes are alternately disposed adjacent to each other and are made of conductive fiber,
• wherein the controller detects a change in capacitance in real time according to changes in intervals between the first and second electrodes, and performs feedback control by distinguishing motion by intentional stimulation or unintentional stimulation applied to the body portion, and
• wherein the controller self-monitors deformation of the body portion by self-sensing changes in intervals between the electrodes according to deformation of the body portion.