Omnidirectional soft robot platform with flexible actuators for medical assistive device

Mohamed Najib Ribuan, Shuichi Wakimoto, Koichi Suzumori, Takefumi Kanda

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This manuscript explains the employment of flexible actuators to act as a soft robot and transporting agent to assist medical X-ray examinations. Although soft robots from silicone material can be transparence and a human compliance used as medical assistive devices, soft robots have some problems: they tend to be sluggish, have long and imprecise gait trajectories, and need their control parameters to be adjusted for motion diversion. A soft robot with omnidirectional locomotion has been created, one that has a combination of pneumatic rubber legs that form a soft robot platform and an associated hardware setup. Tests have confirmed its omnidirectional locomotion ability; it has a maximum speed of 6.90 mm/s in forward locomotion and a maximum payload of 70 g. These features indicate that the robot can be used as a medical assistive device for fluoroscopy examinations.

Original languageEnglish
Pages (from-to)494-502
Number of pages9
JournalInternational Journal of Automation Technology
Volume10
Issue number4
Publication statusPublished - 2016

Fingerprint

Actuators
Robots
Silicones
Pneumatics
Rubber
Trajectories
Hardware
X rays

Keywords

  • Flexible actuator
  • Fluoroscopy
  • Medical assistive device
  • Pneumatic pillow
  • Soft robot
  • X-ray examination

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this

Omnidirectional soft robot platform with flexible actuators for medical assistive device. / Ribuan, Mohamed Najib; Wakimoto, Shuichi; Suzumori, Koichi; Kanda, Takefumi.

In: International Journal of Automation Technology, Vol. 10, No. 4, 2016, p. 494-502.

Research output: Contribution to journalArticle

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