Omnidirectional Soft Robot Platform with Flexible Actuators for Medical Assistive Device
Mohamed Najib Ribuan*,†, Shuichi Wakimoto*, Koichi Suzumori**, and Takefumi Kanda*
*Graduate School of Natural Science and Technology, Okayama University
3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan
**Department of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology
2-12-1I1-60 Ookayama, Meguro-ku, Tokyo 152-8550, Japan
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.
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