JRM Vol.24 No.3 pp. 472-479
doi: 10.20965/jrm.2012.p0472


Curved Type Pneumatic Artificial Rubber Muscle Using Shape-Memory Polymer

Kazuto Takashima*1,*2, Toshiro Noritsugu*3, Jonathan Rossiter*2,*4,
Shijie Guo*5, and Toshiharu Mukai*2

*1Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Japan

*2Advanced Science Institute, RIKEN, 2271-130 Anagahora, Shimoshidami, Moriyama-ku, Nagoya 463-0003, Japan

*3Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan

*4Department of Engineering Mathematics, University of Bristol, Bristol BS8 1TH, UK

*5SR Laboratory, Tokai Rubber Industries, Ltd., 1 Higashi 3-chome, Komaki 485-8550, Japan

September 30, 2011
April 17, 2012
June 20, 2012
pneumatic rubber muscle, shape-memory polymer, shape fixity, shape recovery, glass transition temperature

A novel pneumatic artificial muscle actuator is presented which is based on the design of a conventional curved type pneumatic bellows actuator. By inhibiting the extension of one side with fiber reinforcement, bending motion can be induced when air is supplied to the internal bladder. In this study, we developed a new actuator by replacing the fiber reinforcement with a Shape-Memory Polymer (SMP). The SMP can be deformed above its glass transition temperature (Tg) and maintains a rigid shape after it is cooled below Tg. When next heated above Tg, it returns to its initial shape. When only part of our actuator is warmed above Tg, only that portion of the SMP is soft and can actuate. Therefore, the direction of the motion can be controlled by heating. Moreover, our actuator can be deformed by an external force above Tg and fixed by cooling it below Tg.

Cite this article as:
Kazuto Takashima, Toshiro Noritsugu, Jonathan Rossiter,
Shijie Guo, and Toshiharu Mukai, “Curved Type Pneumatic Artificial Rubber Muscle Using Shape-Memory Polymer,” J. Robot. Mechatron., Vol.24, No.3, pp. 472-479, 2012.
Data files:
  1. [1] D. Sasaki, T. Noritsugu, and M. Takaiwa, “Development of Pneumatic Soft Robot Hand for Human Friendly Robot,” J. of Robotics and Mechatronics, Vol.15, No.2, pp. 164-171, 2003.
  2. [2] D. Sasaki, T. Noritsugu, H. Yamamoto, and M. Takaiwa, “Development of Power Assist Glove using Pneumatic Artificial Rubber Muscle,” J. of the Robotics Society of Japan, Vol.24, No.5, pp. 640-646, 2006.
  3. [3] M. Aragane, T. Noritsugu, M. Takaiwa, D. Sasaki, and S. Naomoto, “Development of Sheet-like Curved Type Pneumatic Rubber Muscle and Application to Elbow Power AssistWear,” J. of the Robotics Society of Japan, Vol.26, No.6, pp. 674-682, 2008.
  4. [4] C. P. Chou and B. Hannaford, “Measurement and Modelling of McKibben Pneumatic Artificial Muscles,” IEEE Trans. on Robotics and Automation, Vol.12, No.1, pp. 90-102, 1996.
  5. [5] H. Kobayashi and K. Hiramatsu, “Development of Muscle Suit for Upper Limb,” Proc. of the IEEE Int. Conf. on Robotics and Automation, Vol.3, pp. 2480-2485, 2004.
  6. [6] Japan Institute of Invention and Innovation, “Patent Distribution Support Chart: Shape-Memory Polymers,” National Center for Industrial Property Information and Training, 2006.
  7. [7] K. Takashima, N. Zhang, T. Mukai, and S. Guo, “Fundamental Study of a Position-keeping Module Using a Shape-memory Polymer,” J. of the Robotics Society of Japan, Vol.28, No.7, pp. 905-912, 2010.
  8. [8] K. Takashima, J. Rossiter, and T. Mukai, “McKibben Artificial Muscle Using Shape-memory Polymer,” Sensors & Actuators: A. Physical, Vol.164, pp. 116-124, 2010.
  9. [9] E. Yamamoto, “Norsorex,” Plastics, Vol.38, No.12, pp. 107-111, 1987.
  10. [10] K. Sakurai, A. Sayanagi, T. Naito, and T. Takahashi, “Shapememorizable Polymer: Polynorbornene,” Bulletin of the Institute for Material Science and Engineering, Faculty of Engineering, Fukui University, Vol.26, pp. 23-33, 1988.
  11. [11] M. Irie, “Development of Shape-memory Polymers,” CMC Publishing, 2000.
  12. [12] H. Tobushi, K. Tanaka, H. Horikawa, and M. Matsumoto, “Shape Memory Materials and their Applications,” Corona Publishing, 2004.
  13. [13] Z. Yu, W. Yuan, P. Brochu, B. Chen, Z. Liu, and Q. Pei, “Largestrain, Rigid-to-rigid Deformation of Bistable Electroactive Polymers,” Applied Physics Letters, Vol.95, 192904, 2009.
  14. [14] M. Inoue, “Research on the Mechanics of Fibrous Materials,” Sen’i gakkaishi, Vol.64, No.8, pp. 246-251, 2008.

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

Last updated on Feb. 25, 2021