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
Received:April 14, 1999Accepted:June 4, 1999Published:August 20, 1999
Keywords: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:
Copyright© 1999 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.