TY - JOUR
T1 - Development of a Spiral Shaped Soft Holding Actuator Using Extension Type Flexible Pneumatic Actuators
AU - Shimooka, So
AU - Akagi, Tetsuya
AU - Dohta, Shujiro
AU - Shinohara, Takashi
AU - Kobayashi, Takumi
N1 - Funding Information:
1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan Brief Biographical History: 2022 Graduated from Graduate Program of Engineering, Okayama University of Science 2022-Doctoral Program of Engineering, Okayama University of Science 2022-JSPS Research Fellowship for Young Scientists (DC) Main Works: • T. Kobayashi et al., “Development of Small-Sized Servo Valve Using Gate Mechanism and Diaphragm,” JFPS Int. J. Fluid Power System, Vol.14, No.1, pp. 1-9, 2021. • T. Kobayashi et al., “Development of low-cost pressure control type valves using buckled tubes and gate-mechanism,” JFPS Int. J. Fluid Power System, Vol.14, No.1, pp. 28-34, 2021. • T. Kobayashi et al., “Development of Tetrahedral-type Soft Actuators Driven by Low-Cost Servo Valves Using RC Servo Motors,” JFPS Int. J. Fluid Power System, Vol.14, No.2, pp. 35-42, 2021. Membership in Academic Societies: • The Japan Fluid Power System Society (JFPS)
Publisher Copyright:
© Fuji Technology Press Ltd.
PY - 2022/4
Y1 - 2022/4
N2 - Recently, several pneumatic soft actuators have been applied to wearable and welfare devices to provide nursing care and physical support for the elderly and disabled. In this study, as a wearable soft actuator for holding body, a spiral shaped soft holding actuator that can wrap a user according to their body shape was proposed and tested. The construction and operating principle of the tested soft actuator with circumferential restraint mechanism using three extension type flexible pneumatic actuators (EFPAs) has been discussed. As a result, it was found that the tested actuator could hold elbows and knees when the joint is in motion. An analytical model of the spiral actuator was also proposed to achieve an optimal design. It can be confirmed that the proposed analytical model can predict the shape of the actuator when various EFPAs are pressurized.
AB - Recently, several pneumatic soft actuators have been applied to wearable and welfare devices to provide nursing care and physical support for the elderly and disabled. In this study, as a wearable soft actuator for holding body, a spiral shaped soft holding actuator that can wrap a user according to their body shape was proposed and tested. The construction and operating principle of the tested soft actuator with circumferential restraint mechanism using three extension type flexible pneumatic actuators (EFPAs) has been discussed. As a result, it was found that the tested actuator could hold elbows and knees when the joint is in motion. An analytical model of the spiral actuator was also proposed to achieve an optimal design. It can be confirmed that the proposed analytical model can predict the shape of the actuator when various EFPAs are pressurized.
KW - analytical model
KW - circumference restraint mechanism
KW - extension type flexible pneumatic actuator
KW - spiral shaped soft holding actuator
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U2 - 10.20965/jrm.2022.p0373
DO - 10.20965/jrm.2022.p0373
M3 - Article
AN - SCOPUS:85129067258
SN - 0915-3942
VL - 34
SP - 373
EP - 381
JO - Journal of Robotics and Mechatronics
JF - Journal of Robotics and Mechatronics
IS - 2
ER -