Development of a Tendon-Driven System Using a Pneumatic Balloon

Norihiko Saga; Jun-ya Nagase; Yasumasa Kondo

doi:10.20965/jrm.2006.p0139

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JRM Vol.18 No.2 pp. 139-145

doi: 10.20965/jrm.2006.p0139

(2006)

Paper:

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Development of a Tendon-Driven System Using a Pneumatic Balloon

Norihiko Saga, Jun-ya Nagase, and Yasumasa Kondo

Dept. of Machine Intelligence and System Engineering, Akita Prefectural University, 84-4 Tsuchiya, Yurihonjo, Akita 015-0055, Japan

Received:

November 2, 2005

Accepted:

February 14, 2006

Published:

April 20, 2006

Keywords:

robot hand, soft actuator, tendon-driven system, pneumatic balloon, biological characteristic

Abstract

Due to the dwindling birthrate and population aging and the resulting shortage in the labor pool of young workers in Japan today, there are increased demands for the use of robots in nursing care and welfare services. Safety is an absolute requirement in robot hands for use in environments in which they coexist with humans. Targeting a light-weight robot hand soft as a human hand, we developed a tendon-driven system similar to the human hand using a pneumatic balloon as a soft actuator. We report on the design, basic configuration, and characteristics of the actuator, and study its biomechanical characteristics for comparison with the muscles, thus demonstrating its effectiveness as an actuator for robot hands for use in welfare services and nursing care.

Cite this article as:

Norihiko Saga, Jun-ya Nagase, and Yasumasa Kondo, “Development of a Tendon-Driven System Using a Pneumatic Balloon,” J. Robot. Mechatron., Vol.18, No.2, pp. 139-145, 2006.

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References

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[1] [1] H. Liu, P. Meusel, J. Butterfass, and G. Hirzinger, “DLR’s Multi sensory Articulated Hand Part I: Hard- and Software Architecture,” IEEE Conference on Robotics and Automation, Leuven, Belgium, Vol.16, No.20, pp. 2087-2093, 1998.

[2] [2] I. Yamano, K. Takemura, and T. Maeno, “Development of a Robot Finger for Five-fingered Hand using Ultrasonic Motors,” Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Las Vegas, Nevada, pp. 2648-2653, 2003.

[3] [3] H. Kawasaki, H. Shimomura, and Y. Shimizu, “Educationalindustrial complex development of an anthropomorphic robot hand ‘Gifu hand’,” VSP and Robotics Society of Japan 2001, Advanced Robotics, Vol.15, No.3, pp. 357-363, 2001.

[4] [4] T. Noritsugu, M. Kubota, and S. Yoshimatsu, “Development of Pneumatic Rotary Soft Actuator Made of Siliconee Rubber,” Journal of Robotics and Mechatronics, Vol.13, No.1, pp. 17-22, 2001.

[5] [5] T. Yanagisawa, S. Yagi, T. Ide, and H. Miura, “Application of Pneumatic Siliconee Rubber Pipe Actuator to Robotics,” Research reports of the Kogakuin University, 91, pp. 17-24, 2001.

[6] [6] A. V. Hill, “The heat of shortening and the dynamic constants of muscle,” Proceedings of Royal Society of London, B.126, pp. 136-195, 1938.

[7] [7] D. R. Wilkie, “The relation between force and velocity in human muscle,” Journal of Physiology, Vol.110, No.2, pp. 249-280, 1950.

[8] [8] G. Klute et al., “Artificial Muscles: Actuators for Biorobotic systems,” The International Journal of Robotics Research, 21, pp. 295-309, 2002.