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

doi:10.1109/ROBOT.1998.680640

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 proceeding › Conference 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 language	English
Title of host publication	Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2155-2160
Number of pages	6
ISBN (Print)	078034300X
DOIs	https://doi.org/10.1109/ROBOT.1998.680640
Publication status	Published - 1998 Jan 1
Externally published	Yes
Event	15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium Duration: 1998 May 16 → 1998 May 20

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
ISSN (Print)	1050-4729

Other

Other	15th IEEE International Conference on Robotics and Automation, ICRA 1998
Country	Belgium
City	Leuven
Period	98/5/16 → 98/5/20

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

Access to Document

10.1109/ROBOT.1998.680640

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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

Development of a distributed actuation device consisting of soft gel actuator elements. / Tadokoro, Satoshi; Fuji, Satoshi; Fushimi, Mitsuaki; Kanno, Ryu; Kimura, Tetsuya; Takamori, Toshi; Oguro, Keisuke.

Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc., 1998. p. 2155-2160 680640 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 680640, Proceedings - IEEE International Conference on Robotics and Automation, vol. 3, Institute of Electrical and Electronics Engineers Inc., pp. 2155-2160, 15th IEEE International Conference on Robotics and Automation, ICRA 1998, Leuven, Belgium, 98/5/16. https://doi.org/10.1109/ROBOT.1998.680640

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

Tadokoro, Satoshi ; Fuji, Satoshi ; Fushimi, Mitsuaki ; Kanno, Ryu ; Kimura, Tetsuya ; Takamori, Toshi ; Oguro, Keisuke. / Development of a distributed actuation device consisting of soft gel actuator elements. Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc., 1998. pp. 2155-2160 (Proceedings - IEEE International Conference on Robotics and Automation).

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