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
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.
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Copyright© 1999 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.