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 | |
| Publication status | Published - Feb 27 2017 |
| Event | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: Dec 3 2016 → Dec 7 2016 |
Other
| Other | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 |
|---|---|
| Country | China |
| City | Qingdao |
| Period | 12/3/16 → 12/7/16 |
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ASJC Scopus subject areas
- Hardware and Architecture
- Artificial Intelligence
- Control and Systems Engineering
Cite this
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., 2017. p. 1215-1220 7866491.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Development of a thin pneumatic rubber actuator generating 3-DOF motion
AU - Toyama, Yu
AU - Wakimoto, Shuichi
PY - 2017/2/27
Y1 - 2017/2/27
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
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U2 - 10.1109/ROBIO.2016.7866491
DO - 10.1109/ROBIO.2016.7866491
M3 - Conference contribution
AN - SCOPUS:85016792534
SP - 1215
EP - 1220
BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PB - Institute of Electrical and Electronics Engineers Inc.
ER -