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 journalConference articlepeer-review

40 Citations (Scopus)

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 languageEnglish
Pages (from-to)2177-2182
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 1999 Jan 1
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: 1999 May 101999 May 15

ASJC Scopus subject areas

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

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