Development of intelligent McKibben actuator

Shuichi Wakimoto; Koichi Suzumori; Takefumi Kanda

doi:10.1109/IROS.2005.1545315

Development of intelligent McKibben actuator

Shuichi Wakimoto, Koichi Suzumori, Takefumi Kanda

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

31 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 language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	487-492
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545315
Publication status	Published - 2005

Publication series

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

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

Access to Document

10.1109/IROS.2005.1545315

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

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 487-492 1545315 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

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

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