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

3 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 - 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

ASJC Scopus subject areas

Hardware and Architecture
Artificial Intelligence
Control and Systems Engineering

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Cite this

Toyama, Y., & Wakimoto, S. (2017). 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] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866491

Toyama, Y & Wakimoto, S 2017, Development of a thin pneumatic rubber actuator generating 3-DOF motion. in 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016., 7866491, 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

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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.",

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