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

Satoshi Tadokoro; Shinji Yamagami; Tetsuya Kimura; Toshi Takamori; Kesuke Oguro

doi:10.20965/jrm.1999.p0244

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JRM Vol.11 No.4 pp. 244-250

doi: 10.20965/jrm.1999.p0244

(1999)

Paper:

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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, 1999

Accepted:

June 4, 1999

Published:

August 20, 1999

Keywords:

soft micromanipulator, ICPF actuator, EFD element, soft contact

Abstract

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:

Satoshi Tadokoro, Shinji Yamagami, Tetsuya Kimura, Toshi Takamori, and Kesuke 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.

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.

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**

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