Multi-DOF device for soft micromanipulation consisting of soft gel actuator elements

Satoshi Tadokoro; Shinji Yamagami; Masahiro Ozawa; Tetsuya Kimura; Toshi Takamori; Keisuke Oguro

Multi-DOF device for soft micromanipulation consisting of soft gel actuator elements

Satoshi Tadokoro, Shinji Yamagami, Masahiro Ozawa, Tetsuya Kimura, Toshi Takamori, Keisuke Oguro

Research output: Contribution to journal › Conference article › peer-review

Abstract

This paper presents multi-degree-of-freedom (DOF) micro motion devices which was developed using a soft gel actuator, ICPF. They are superior to conventional micromanipulators in softness and compactness. 3-DOF motion was realized by a parallel mechanism with 4 ICPF actuators, and 6-DOF motion was created by an 8-actuator mechanism. The 3-DOF device had a maximum displacement 2 mm and a fast response up to 13 Hz. Experiments of teleoperation using a joystick proved that the device had enough ability for micromanipulation in which dynamic condition was important.

Original language	English
Pages (from-to)	2177-2182
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
Publication status	Published - 1999 Jan 1
Externally published	Yes
Event	Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: 1999 May 10 → 1999 May 15

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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Multi-DOF device for soft micromanipulation consisting of soft gel actuator elements. / Tadokoro, Satoshi; Yamagami, Shinji; Ozawa, Masahiro; Kimura, Tetsuya; Takamori, Toshi; Oguro, Keisuke.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 3, 01.01.1999, p. 2177-2182.

Research output: Contribution to journal › Conference article › peer-review

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abstract = "This paper presents multi-degree-of-freedom (DOF) micro motion devices which was developed using a soft gel actuator, ICPF. They are superior to conventional micromanipulators in softness and compactness. 3-DOF motion was realized by a parallel mechanism with 4 ICPF actuators, and 6-DOF motion was created by an 8-actuator mechanism. The 3-DOF device had a maximum displacement 2 mm and a fast response up to 13 Hz. Experiments of teleoperation using a joystick proved that the device had enough ability for micromanipulation in which dynamic condition was important.",

author = "Satoshi Tadokoro and Shinji Yamagami and Masahiro Ozawa and Tetsuya Kimura and Toshi Takamori and Keisuke Oguro",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

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note = "Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 ; Conference date: 10-05-1999 Through 15-05-1999",

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AU - Tadokoro, Satoshi

AU - Yamagami, Shinji

AU - Ozawa, Masahiro

AU - Kimura, Tetsuya

AU - Takamori, Toshi

AU - Oguro, Keisuke

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AB - This paper presents multi-degree-of-freedom (DOF) micro motion devices which was developed using a soft gel actuator, ICPF. They are superior to conventional micromanipulators in softness and compactness. 3-DOF motion was realized by a parallel mechanism with 4 ICPF actuators, and 6-DOF motion was created by an 8-actuator mechanism. The 3-DOF device had a maximum displacement 2 mm and a fast response up to 13 Hz. Experiments of teleoperation using a joystick proved that the device had enough ability for micromanipulation in which dynamic condition was important.

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