Soft micromanipulation device with multiple degrees of freedom consisting of high polymer gel actuators

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

Research output: Contribution to conferencePaperpeer-review

23 Citations (Scopus)

Abstract

Dexterity and softness of micromanipulators are important issues in assembly of fragile complex microstructures. This paper presents micromanipulator devices with 3 and 6 degrees of freedom intended for soft dextrous motion. The 3-DOF device moved 2 mm at the maximum with a response of 13 Hz. Experiments of microscopic teleoperation proved that the device was suitable for dynamic micromotion. The 6-DOF device could control 3 translation and 3 rotation independently. The practical frequency range was up to 3 Hz, the maximum displacement was 0.4 mm, and the maximum rotation angle was 2 deg.

Original languageEnglish
Pages37-42
Number of pages6
DOIs
Publication statusPublished - 1999 Jan 1
Externally publishedYes
EventProceedings of the 1999 12th IEEE International Conference on Micro Electro Mechanical Systems, MEMS - Orlando, FL, USA
Duration: 1999 Jan 171999 Jan 21

Other

OtherProceedings of the 1999 12th IEEE International Conference on Micro Electro Mechanical Systems, MEMS
CityOrlando, FL, USA
Period99/1/1799/1/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Electrical and Electronic Engineering

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