JRM Vol.11 No.4 pp. 244-250
doi: 10.20965/jrm.1999.p0244


Development of a Multi-Degree-of-Freedom Micromotion Device Consisting of Soft Gel Actuators

Satoshi Tadokoro*, Shinji Yamagami*, Tetsuya Kimura*, Toshi Takamori* and Kesuke Oguro**

*Department of Computer and Systems Engineering, Kobe University, 1-1 Rokkodai, Nada, Kobe 657 Japan

**Osaka National Research Institute, AIST, MITI

April 14, 1999
June 4, 1999
August 20, 1999
soft micromanipulator, ICPF actuator, EFD element, soft contact
A multi-degree-of-freedom micromotion device was developed using a soft high polymer gel actuator to realize softness in a micromanipulator. This paper describes why an ICPF actuator is suitable and introduces device structure and manufacturing. Experiments showed that this device can provide 2-dimensional dynamic micromanipulation at high speed. Joystick control by an operator demonstrated its applicability to micromanipulation.
Cite this article as:
S. Tadokoro, S. Yamagami, T. Kimura, T. Takamori, and K. Oguro, “Development of a Multi-Degree-of-Freedom Micromotion Device Consisting of Soft Gel Actuators,” J. Robot. Mechatron., Vol.11 No.4, pp. 244-250, 1999.
Data files:

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

Last updated on Jul. 12, 2024