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JRM Vol.9 No.1 pp. 7-13
doi: 10.20965/jrm.1997.p0007
(1997)

Paper:

Human Friendly Soft Pneumatic Actuator and Application to Rehabilitation Robot

Toshiro Noritsugu

Okayama University, 3-1-1 Tsushimanaka, Okayama 700, Japan

Received:
October 24, 1996
Accepted:
November 22, 1996
Published:
February 20, 1997
Keywords:
Actuator, Pneumatic actuator, Rubber artificial muscle, Human robot system, Impedance control
Abstract

A human-robot coexisting system requires the essential function such as safety and flexibility which are not common in general industrial robots. To build up such a robot system, an inherently flexible actuator must be effectively used rather than a conventional rigid actuator. A pneumatic actuator seems just available as such a human friendly actuator. In this paper, a property of the flexibility of pneumatic actuator is analyzed compared with a DC electric motor. Also the application of a pneumatic rubber artificial muscle actuator to a rehabilitation robot is discussed. The results show that a pneumatic actuator can well work as one of human friendly actuators with cooperation of a proper control strategy.

Cite this article as:
Toshiro Noritsugu, “Human Friendly Soft Pneumatic Actuator and Application to Rehabilitation Robot,” J. Robot. Mechatron., Vol.9, No.1, pp. 7-13, 1997.
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