ID | 48952 |
FullText URL | |
Author |
Ogura, Keiko
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Abstract | Soft actuators driven by pneumatic pressure are promising actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, because they can ensure high safety for fragile objects from their low mechanical impedance. In this study, a new rubber pneumatic actuator made from silicone rubber was developed. Composed of one chamber and one air-supply tube, it can generate curling motion in two directions by using positive and negative pneumatic pressure. The rubber actuator, for generating bidirectional motion, was designed to achieve an efficient shape by nonlinear finite element method analysis, and was fabricated by a molding and rubber bonding process using excimer light. The fabricated actuator was able to generate curling motion in two directions successfully. The displacement and force characteristics of the actuator were measured by using a motion capture system and a load cell. As an example application of the actuator, a robotic soft hand with three actuators was constructed and its effectiveness was confirmed by experiments.
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Keywords | Soft actuator
pneumatic actuator
bidirectional motion
nonlinear analysis
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Published Date | 2011
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Publication Title |
Advanced Robotics
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Volume | volume25
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Issue | issue9-10
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Start Page | 1311
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End Page | 1330
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ISSN | 0169-1864
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Content Type |
Journal Article
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Project |
Research Core for Interdisciplinary Sciences
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Official Url | http://www.tandfonline.com/doi/abs/10.1163/016918611X574731
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language |
English
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Copyright Holders | © Koninklijke Brill NV, Leiden, 2011
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File Version | publisher
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Refereed |
True
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DOI | |
Web of Science KeyUT |