Development of a thin pneumatic rubber actuator generating 3-DOF motion

Yu Toyama; Shuichi Wakimoto

doi:10.1109/ROBIO.2016.7866491

Development of a thin pneumatic rubber actuator generating 3-DOF motion

Yu Toyama, Shuichi Wakimoto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

In this research, a flat-type pneumatic actuator aimed to be applied to mobile robots working in narrow spaces or wearable devices has been developed. The actuator is configured with small diameter McKibben Artificial Muscles which show high flexibility and generate contraction force in axial direction. By integrating the artificial muscles parallelly, the actuator can contract in the longitudinal direction and bend in any direction by changing the applied air pressure pattern to the artificial muscles. In this paper, structure of the actuator is proposed and the fabrication process is established. The developed prototype actuator is configured with three artificial muscles of length 50[mm], width 5[mm] and thickness 2.6[mm]. The bending motion with the minimum radius of curvature of 21.3[mm] and contraction motion with the maximum displacement of 9.3 [mm] in the longitudinal direction are performed.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1215-1220
Number of pages	6
ISBN (Electronic)	9781509043644
DOIs	https://doi.org/10.1109/ROBIO.2016.7866491
Publication status	Published - 2016
Event	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: Dec 3 2016 → Dec 7 2016

Publication series

Name	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Other

Other	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Country	China
City	Qingdao
Period	12/3/16 → 12/7/16

ASJC Scopus subject areas

Hardware and Architecture
Artificial Intelligence
Control and Systems Engineering

Access to Document

10.1109/ROBIO.2016.7866491

Fingerprint Dive into the research topics of 'Development of a thin pneumatic rubber actuator generating 3-DOF motion'. Together they form a unique fingerprint.

Cite this

Toyama, Y., & Wakimoto, S. (2016). Development of a thin pneumatic rubber actuator generating 3-DOF motion. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 1215-1220). [7866491] (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866491

Development of a thin pneumatic rubber actuator generating 3-DOF motion. / Toyama, Yu; Wakimoto, Shuichi.

2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1215-1220 7866491 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Toyama, Y & Wakimoto, S 2016, Development of a thin pneumatic rubber actuator generating 3-DOF motion. in 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016., 7866491, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Institute of Electrical and Electronics Engineers Inc., pp. 1215-1220, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, 12/3/16. https://doi.org/10.1109/ROBIO.2016.7866491

Toyama Y, Wakimoto S. Development of a thin pneumatic rubber actuator generating 3-DOF motion. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1215-1220. 7866491. (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). https://doi.org/10.1109/ROBIO.2016.7866491

@inproceedings{ad335e5b655e4602bb10c242fa93594d,

title = "Development of a thin pneumatic rubber actuator generating 3-DOF motion",

abstract = "In this research, a flat-type pneumatic actuator aimed to be applied to mobile robots working in narrow spaces or wearable devices has been developed. The actuator is configured with small diameter McKibben Artificial Muscles which show high flexibility and generate contraction force in axial direction. By integrating the artificial muscles parallelly, the actuator can contract in the longitudinal direction and bend in any direction by changing the applied air pressure pattern to the artificial muscles. In this paper, structure of the actuator is proposed and the fabrication process is established. The developed prototype actuator is configured with three artificial muscles of length 50[mm], width 5[mm] and thickness 2.6[mm]. The bending motion with the minimum radius of curvature of 21.3[mm] and contraction motion with the maximum displacement of 9.3 [mm] in the longitudinal direction are performed.",

author = "Yu Toyama and Shuichi Wakimoto",

note = "Funding Information: This work was supported in part by Japan Society for the Promotion of Science(JSPS), KAKENHI Grant Number 26420199; 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 ; Conference date: 03-12-2016 Through 07-12-2016",

year = "2016",

doi = "10.1109/ROBIO.2016.7866491",

language = "English",

series = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1215--1220",

booktitle = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

}

TY - GEN

T1 - Development of a thin pneumatic rubber actuator generating 3-DOF motion

AU - Toyama, Yu

AU - Wakimoto, Shuichi

N1 - Funding Information: This work was supported in part by Japan Society for the Promotion of Science(JSPS), KAKENHI Grant Number 26420199

PY - 2016

Y1 - 2016

N2 - In this research, a flat-type pneumatic actuator aimed to be applied to mobile robots working in narrow spaces or wearable devices has been developed. The actuator is configured with small diameter McKibben Artificial Muscles which show high flexibility and generate contraction force in axial direction. By integrating the artificial muscles parallelly, the actuator can contract in the longitudinal direction and bend in any direction by changing the applied air pressure pattern to the artificial muscles. In this paper, structure of the actuator is proposed and the fabrication process is established. The developed prototype actuator is configured with three artificial muscles of length 50[mm], width 5[mm] and thickness 2.6[mm]. The bending motion with the minimum radius of curvature of 21.3[mm] and contraction motion with the maximum displacement of 9.3 [mm] in the longitudinal direction are performed.

AB - In this research, a flat-type pneumatic actuator aimed to be applied to mobile robots working in narrow spaces or wearable devices has been developed. The actuator is configured with small diameter McKibben Artificial Muscles which show high flexibility and generate contraction force in axial direction. By integrating the artificial muscles parallelly, the actuator can contract in the longitudinal direction and bend in any direction by changing the applied air pressure pattern to the artificial muscles. In this paper, structure of the actuator is proposed and the fabrication process is established. The developed prototype actuator is configured with three artificial muscles of length 50[mm], width 5[mm] and thickness 2.6[mm]. The bending motion with the minimum radius of curvature of 21.3[mm] and contraction motion with the maximum displacement of 9.3 [mm] in the longitudinal direction are performed.

UR - http://www.scopus.com/inward/record.url?scp=85016792534&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85016792534&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2016.7866491

DO - 10.1109/ROBIO.2016.7866491

M3 - Conference contribution

AN - SCOPUS:85016792534

T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

SP - 1215

EP - 1220

BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Y2 - 3 December 2016 through 7 December 2016

ER -