@inproceedings{8e4d59c4a3d349e9af39828777f886a7,
title = "Development of a distributed actuation device consisting of soft gel actuator elements",
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.",
keywords = "Actuators, Conducting materials, Conductive films, Drives, Food technology, Polymer films, Polymer gels, Robots, Robustness, Systems engineering and theory",
author = "Satoshi Tadokoro and Satoshi Fuji and Mitsuaki Fushimi and Ryu Kanno and Tetsuya Kimura and Toshi Takamori and Keisuke Oguro",
note = "Funding Information: This research was supported by the Scientific Research Fund of the Ministry of Education, Science and Culture (#07455113, #Of4555059 and #08750275). The authors appreciate Mr. Derek Ward for his contribution in preparing this manuscript. Publisher Copyright: {\textcopyright} 1998 IEEE.; 15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",
year = "1998",
doi = "10.1109/ROBOT.1998.680640",
language = "English",
isbn = "078034300X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2155--2160",
booktitle = "Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998",
}