IJAT Vol.10 No.4 pp. 511-516
doi: 10.20965/ijat.2016.p0511


Development of a Hose-Free FMA Driven by a Built-In Gas/Liquid Chemical Reactor

Akira Wada*,†, Hidehiro Kametani**, Koichi Suzumori*, and Shuichi Wakimoto**

*Tokyo Institute of Technology
I1-60 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

Corresponding author,

**Okayama University, Okayama, Japan

January 6, 2016
May 24, 2016
July 5, 2016
actuator, pneumatic actuator, hose-free pneumatic actuator

Although pneumatic rubber actuators have unique advantages, (e.g., compliance, lightness, and cheapness) they require an air compressor, valves, and air supply hoses, limiting their use in portable devices. In our previous paper, we proposed the basic working principle of a novel pneumatic source for rubber actuators. This was based on the reversible chemical reaction of water electrolysis/synthesis, using a proton-exchange membrane fuel cell (PEMFC). In the current study, we developed a small PEMFC reactor based on this principle and applied it to a flexible micro actuator (FMA), which is a typical pneumatic rubber actuator, thereby realizing a hose-free pneumatic actuator without a compressor. The results of the driving experiments show that the proposed actuator can be successfully controlled by electric current control.

Cite this article as:
A. Wada, H. Kametani, K. Suzumori, and S. Wakimoto, “Development of a Hose-Free FMA Driven by a Built-In Gas/Liquid Chemical Reactor,” Int. J. Automation Technol., Vol.10, No.4, pp. 511-516, 2016.
Data files:
  1. [1] T. Noritsugu, “Pneumatic Actuators,” J. of the Robotics Society of Japan, Vol.15, No.3, pp. 355-359, 1997.
  2. [2] M. D. Volder and D. Reynaerts, “Pneumatic and hydraulic microactuators: a review,” J. of Micromechanics and Microengineering, Vol.20, No.4, 2010.
  3. [3] Y. Muramatsu and H. Kobayashi, “Assessment of local muscle fatigue by NIRS-development and evaluation of muscle suit,” ROBOMECH J., Vol.1, No.1, pp. 1-11, 2014.
  4. [4] K. Suzumori, “Next-generation Actuators Leading New Robotics,” J. of the Robotics Society of Japan, Vol.33, No.9, pp. 656-659, 2015.
  5. [5] A. A. Stokes et al., “A hybrid combining hard and soft robots,” Soft Robotics, Vol.1, No.1, pp. 70-74, 2014.
  6. [6] M. Zupan, M. F. Ashby, and N. A. Fleck, “Actuator classification and selection – The development of a database,” Adv. Eng. Mater., Vol.4, No.12, pp. 933-940, 2002.
  7. [7] C. P. Chou and B. Hannaford, “Measurement and modeling of McKibben pneumatic artificial muscles,” IEEE Trans. on Robotics and Automation, Vol.12, No.1, pp. 90-102, 1996.
  8. [8] M. Cai, T. Fujita, and T. Kagawa, “Energy Consumption and Assessment of Pneumatic Actuating Systems,” Trans. of The Japan Hydraulics & Pneumatics Society, Vol.32, No.5, pp. 118-123, 2001.
  9. [9] T. Noritsugu, J. Han, and M. Takaiwa, “Development of a Miniature Compressor Driven with a Linear Electromagnetic Actuator,” Trans. of The Japan Fluid Power System Society, Vol.33, No.4, pp. 83-90, 2002.
  10. [10] R. F. Shepherd, A. A. Stokes, J. Freake, J. Barber, P. W. Snyder, A. D. Mazzeo, L. Cademartiri, S. A. Morin, and G. M. Whitesides, “Using Explosions to Power a Soft Robot,” Angew. Chem., Vol.125, No.10, pp. 2964-2968, 2013.
  11. [11] K. Tadakuma and R. Tadakuma, “Gas source utilizing explosive chemical reaction,” Annual Conf. of the Robotics Society of Japan, 2011.
  12. [12] T. Yamamoto, K. Suzumori, Y. Yamada, S. Wakimoto, and A. Muto, “Development of portable chemical gas generator for pneumatic actuators,” Bioengineering Conf., p. 111, 2010.
  13. [13] H. Wu, A. Kitagawa, H. Tsukagoshi, and C. Liu, “Development of a novel pneumatic power assisted lower limb for outdoor walking by the use of a portable pneumatic power source,” IEEE Int. Conf. on Control Applications, 2007.
  14. [14] G. M. Lloyd and K. J. Kim, “Smart hydrogen/metal hydride actuator,” Int. Association for hydrogen Energy, Vol.32, No.2, pp. 247-255, 2007.
  15. [15] K. B. Fite et al., “A gas-actuated anthropomorphic prosthesis for transhumeral amputees,” IEEE Trans. on Robotics, Vol.24, No.1, pp. 159-169, 2008.
  16. [16] C. Onal, X. Chen, G. Whitesides, and D. Rus, “Soft mobile robots with on-board chemical pressure generation,” Int. Symposium on Robotics and Research, 2011.
  17. [17] S. Yokota, F. Yajima, K. Takemura, and K. Edamura, “Electro-Conjugate Fluid Jet-Driven Micro Artificial Antagonistic Muscle Actuators and their Integration,” Advanced Robotics, Vol.24, pp. 1929-1943, 2010.
  18. [18] K. Yoshida, N. Tsukamoto, J. Kim, and S. Yokota, “A study on a soft microgripper using MEMS-based divided electrode type flexible electro-rheological valves,” Mechatronics, Vol.29, pp. 103-109, 2015.
  19. [19] K. Suzumori, A. Wada, and S. Wakimoto, “New mobile pressure control system for pneumatic actuators, using reversible chemical reactions of water,” Sensors and Actuators A: Physical, Vol.A201, pp. 148-153, 2013.
  20. [20] K. Suzumori, S. Iikura, and H. Tanaka, “Applying a flexible microactuator to robotic mechanisms,” IEEE Control Systems, Vol.12, No.1, pp. 21-27, 1992.
  21. [21] K. Suzumori et al., “A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot,” 2007 IEEE Int. Conf. on Robotics and Automation, pp. 4975-4980, 2007.
  22. [22] S. S. Dihrab et al., “Review of the membrane and bipolar plates materials for conventional and unitized regenerative fuel cells,” Renewable and Sustainable Energy Reviews, Vol.13, No.6–7, pp. 1663-1668, 2009.
  23. [23] C. Neagu, J. G. E. Gardeniers, M. Elwenspoek, and J. J. Kelly, “An electrochemical microactuator: principle and first results,” J. of Microelectromechanical Systems, Vol.5, No.1, pp. 2-9, 1996.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Dec. 18, 2018