Modeling and system integration for a thin pneumatic rubber 3-DOF actuator

Shuhei Kawamura, Mizuki Sudani, Mingcong Deng, Yuichi Noge, Shuichi Wakimoto

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Recently, soft actuators have been getting increased attention within various fields. The actuators are composed of flexible materials and driven by pneumatic pressure. A thin pneumatic rubber actuator generating 3 degrees of freedom motion, called 3-DOF micro-hand, has small diameter McKibben artificial muscles which generate a contraction force in the axial direction. By this structure, the micro-hand contracts in the longitudinal direction and bends in any direction by changing the applied air pressure pattern to the artificial muscles. The input-output relation of the micro-hand, however, is complicated and has not been modeled. In this paper, modeling for 3-DOF micro-hand is proposed. Moreover, the experimental system is built for the micro-hand and the proposed model is evaluated by using the experimental results.

Original languageEnglish
Article number32
JournalActuators
Volume8
Issue number2
DOIs
Publication statusPublished - Jun 1 2019

Fingerprint

System Integration
Rubber
Artificial muscle
Pneumatics
Actuator
Actuators
Muscle
Modeling
Degrees of freedom (mechanics)
Contraction
Degree of freedom
Motion
Output
Experimental Results
Air
Model

Keywords

  • 3-DOF micro-hand
  • Actuator
  • Experimental result
  • Experimental system
  • Model
  • Nonlinear

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization

Cite this

Modeling and system integration for a thin pneumatic rubber 3-DOF actuator. / Kawamura, Shuhei; Sudani, Mizuki; Deng, Mingcong; Noge, Yuichi; Wakimoto, Shuichi.

In: Actuators, Vol. 8, No. 2, 32, 01.06.2019.

Research output: Contribution to journalArticle

Kawamura, Shuhei ; Sudani, Mizuki ; Deng, Mingcong ; Noge, Yuichi ; Wakimoto, Shuichi. / Modeling and system integration for a thin pneumatic rubber 3-DOF actuator. In: Actuators. 2019 ; Vol. 8, No. 2.
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