Development of a distributed actuation device consisting of soft gel actuator elements

Satoshi Tadokoro, Satoshi Fuji, Mitsuaki Fushimi, Ryu Kanno, Tetsuya Kimura, Toshi Takamori, Keisuke Oguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

50 Citations (Scopus)

Abstract

It is desirable that soft objects like organs are manipulated by soft actuation devices. This paper presents a newly developed device using a large number of actuator elements made of a soft gel material, which applies a distributed driving force on objects. The material used in the device is an ionic conducting polymer gel film and the structure of the elements is elliptical friction drive. Experimental results showed that an object placed on such a device could move at a speed of 0.62 mm/sec. This paper refers also to fundamental experiments and a concept for a more efficient drive.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2155-2160
Number of pages6
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1998 Jan 1
Externally publishedYes
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Other

Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period98/5/1698/5/20

Keywords

  • Actuators
  • Conducting materials
  • Conductive films
  • Drives
  • Food technology
  • Polymer films
  • Polymer gels
  • Robots
  • Robustness
  • Systems engineering and theory

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Tadokoro, S., Fuji, S., Fushimi, M., Kanno, R., Kimura, T., Takamori, T., & Oguro, K. (1998). Development of a distributed actuation device consisting of soft gel actuator elements. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 2155-2160). [680640] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 3). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.680640