Miniature soft hand with curling rubber pneumatic actuators

Shuichi Wakimoto, Keiko Ogura, Koichi Suzumori, Yasutaka Nishioka

研究成果

99 被引用数 (Scopus)

抄録

In medical and biotechnology fields, soft devices are required because of their high safety from low mechanical impedance. FMA (Flexible Microactuator) is one of the typical soft actuators. It consists of fiber-reinforced rubber structure with multi air chambers and realizes bending motion pneumatically. It has been applied to robot hands, robot legs and so on. High potential of FMA has been confirmed by many experiments reported in several papers. However in fabrication process of the actuator, it is difficult to embed the reinforced fiber in the rubber structure. In this study, we aim at development of a fiber less FMA realizing quite large motion, which can be said curling motion, and a soft hand using the actuators. We design the actuator without fiber using nonlinear FEM (Finite Element Method) and derived efficient shape. The actuator is fabricated through micro rubber casting process including micro machining process for molds, micro vacuum rubber molding process and rubber bonding process with surface improvement by excimer light. Basic driving experiments of the actuator showed that it realized curling motion which agreed well with FEM results. and the actuator could grasp a fish egg without breaking. Additionally, we made a soft hand consisting of three curling actuators. This hand also could be manufactured by simple casting process. The developed hand works opening and closing motions well.

本文言語English
ホスト出版物のタイトル2009 IEEE International Conference on Robotics and Automation, ICRA '09
ページ556-561
ページ数6
DOI
出版ステータスPublished - 11月 2 2009
イベント2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe
継続期間: 5月 12 20095月 17 2009

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
国/地域Japan
CityKobe
Period5/12/095/17/09

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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