Development of intelligent McKibben actuator

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Citations (Scopus)

Abstract

The aim of this study is to develop an Intelligent McKibben actuator with an integrated soft displacement sensor inside, so that displacement of this actuator can be controlled without having any extra devices attached. In addition, the high compliance which is a positive feature of the McKibben actuator is still conserved. This paper consists of four main parts. First of all, different types of soft displacement sensors made out of rubber were composed, and tested for their functional characteristics. Secondly, the Intelligent McKibben actuator was developed with the soft displacement sensor incorporated within. Then, experiments of the position servo control with a single Intelligent McKibben actuator were carried out. At last a robot arm mechanism was designed with two Intelligent McKibben actuators, and those experimental results showed a great potential for its future applications.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2271-2276
Number of pages6
DOIs
Publication statusPublished - 2005
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: Aug 2 2005Aug 6 2005

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period8/2/058/6/05

Fingerprint

Actuators
Sensors
Rubber
Robots
Experiments

Keywords

  • Intelligent actuator
  • McKibben actuator
  • Soft mechanism
  • Soft sensor

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Wakimoto, S., Suzumori, K., & Kanda, T. (2005). Development of intelligent McKibben actuator. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2271-2276). [1545315] https://doi.org/10.1109/IROS.2005.1545315

Development of intelligent McKibben actuator. / Wakimoto, Shuichi; Suzumori, Koichi; Kanda, Takefumi.

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 2271-2276 1545315.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Wakimoto, S, Suzumori, K & Kanda, T 2005, Development of intelligent McKibben actuator. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545315, pp. 2271-2276, IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, AB, Canada, 8/2/05. https://doi.org/10.1109/IROS.2005.1545315
Wakimoto S, Suzumori K, Kanda T. Development of intelligent McKibben actuator. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 2271-2276. 1545315 https://doi.org/10.1109/IROS.2005.1545315
Wakimoto, Shuichi ; Suzumori, Koichi ; Kanda, Takefumi. / Development of intelligent McKibben actuator. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. pp. 2271-2276
@inproceedings{bab4d38a998d4061ad7f6da071e96fea,
title = "Development of intelligent McKibben actuator",
abstract = "The aim of this study is to develop an Intelligent McKibben actuator with an integrated soft displacement sensor inside, so that displacement of this actuator can be controlled without having any extra devices attached. In addition, the high compliance which is a positive feature of the McKibben actuator is still conserved. This paper consists of four main parts. First of all, different types of soft displacement sensors made out of rubber were composed, and tested for their functional characteristics. Secondly, the Intelligent McKibben actuator was developed with the soft displacement sensor incorporated within. Then, experiments of the position servo control with a single Intelligent McKibben actuator were carried out. At last a robot arm mechanism was designed with two Intelligent McKibben actuators, and those experimental results showed a great potential for its future applications.",
keywords = "Intelligent actuator, McKibben actuator, Soft mechanism, Soft sensor",
author = "Shuichi Wakimoto and Koichi Suzumori and Takefumi Kanda",
year = "2005",
doi = "10.1109/IROS.2005.1545315",
language = "English",
isbn = "0780389123",
pages = "2271--2276",
booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

}

TY - GEN

T1 - Development of intelligent McKibben actuator

AU - Wakimoto, Shuichi

AU - Suzumori, Koichi

AU - Kanda, Takefumi

PY - 2005

Y1 - 2005

N2 - The aim of this study is to develop an Intelligent McKibben actuator with an integrated soft displacement sensor inside, so that displacement of this actuator can be controlled without having any extra devices attached. In addition, the high compliance which is a positive feature of the McKibben actuator is still conserved. This paper consists of four main parts. First of all, different types of soft displacement sensors made out of rubber were composed, and tested for their functional characteristics. Secondly, the Intelligent McKibben actuator was developed with the soft displacement sensor incorporated within. Then, experiments of the position servo control with a single Intelligent McKibben actuator were carried out. At last a robot arm mechanism was designed with two Intelligent McKibben actuators, and those experimental results showed a great potential for its future applications.

AB - The aim of this study is to develop an Intelligent McKibben actuator with an integrated soft displacement sensor inside, so that displacement of this actuator can be controlled without having any extra devices attached. In addition, the high compliance which is a positive feature of the McKibben actuator is still conserved. This paper consists of four main parts. First of all, different types of soft displacement sensors made out of rubber were composed, and tested for their functional characteristics. Secondly, the Intelligent McKibben actuator was developed with the soft displacement sensor incorporated within. Then, experiments of the position servo control with a single Intelligent McKibben actuator were carried out. At last a robot arm mechanism was designed with two Intelligent McKibben actuators, and those experimental results showed a great potential for its future applications.

KW - Intelligent actuator

KW - McKibben actuator

KW - Soft mechanism

KW - Soft sensor

UR - http://www.scopus.com/inward/record.url?scp=48649091656&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=48649091656&partnerID=8YFLogxK

U2 - 10.1109/IROS.2005.1545315

DO - 10.1109/IROS.2005.1545315

M3 - Conference contribution

SN - 0780389123

SN - 9780780389120

SP - 2271

EP - 2276

BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ER -