Pneumatic micro hand and miniaturized parallel link robot for micro manipulation robot system

Konishi, Satoshi; Nokata, Makoto; Jeong, Ok Chan; Kusuda, Shinya; Sakakibara, T.; Kuwayama, M.; Tsutsumi, Hidetoshi

doi:10.1109/robot.2006.1641846

Cited by 49 publications

(25 citation statements)

References 5 publications

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“…neumatic soft actuators of small size have been developed and expected to be applied to medical and biotechnology fields because they have some advantages, high compliance, low production cost and simple structure [1][2][3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Development of pneumatic rubber actuator of 400μm in diameter generating bi-directional bending motion

Yoshioka

Wakimoto

Suzumori

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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Recently micro soft actuators have been developed actively, because they have possibility to be applied to micro hands, catheters, and so on. Especially pneumatic rubber actuators have high potential because of simple structure and non-electrical drive leading high safety.In our previous research, the pneumatic rubber actuator that can bend into two directions by positive and negative pneumatic pressures have been developed. This paper reports miniaturization of the bending rubber actuator. The actuator is downsized from 2.0mm to 400μm in diameter.By nonlinear FEM, the actuator design is optimized, then by molding method, the actuator is fabricated. Using developed actuator of 400μm in diameter, experimentally the bi-directional bending motion by positive and negative pneumatic pressures have been confirmed.

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Section: Introductionmentioning

confidence: 99%

Development of pneumatic rubber actuator of 400μm in diameter generating bi-directional bending motion

Yoshioka

Wakimoto

Suzumori

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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“…Minimally invasive surgery is expected to reduce the suffering of patients in medical fields [7,8]. We proposed using a pneumatic balloon actuator for small and flexible surgical tools.…”

Section: Introductionmentioning

confidence: 99%

Pantograph mechanism for conversion from swelling into contraction motion of pneumatic balloon actuator

Chishiro

Ono

Konishi

2013

2013 IEEE 26th International Conference on Micro Electro Mechanical Systems (MEMS)

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“…Kang et al also used stereolithography to make a soft micro bellows actuator, which they applied in a micro gripper [14]. Konishi et al developed a micro rubber pneumatic finger [15]. This finger consists of two PDMS sheets with an air chamber between them.…”

Section: Introductionmentioning

confidence: 99%

Miniature Pneumatic Curling Rubber Actuator Generating Bidirectional Motion with One Air-Supply Tube

2011

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Soft actuators driven by pneumatic pressure are promising actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, because they can ensure high safety for fragile objects from their low mechanical impedance. In this study, a new rubber pneumatic actuator made from silicone rubber was developed. Composed of one chamber and one air-supply tube, it can generate curling motion in two directions by using positive and negative pneumatic pressure. The rubber actuator, for generating bidirectional motion, was designed to achieve an efficient shape by nonlinear finite element method analysis, and was fabricated by a molding and rubber bonding process using excimer light. The fabricated actuator was able to generate curling motion in two directions successfully. The displacement and force characteristics of the actuator were measured by using a motion capture system and a load cell. As an example application of the actuator, a robotic soft hand with three actuators was constructed and its effectiveness was confirmed by experiments.

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Pneumatic micro hand and miniaturized parallel link robot for micro manipulation robot system

Cited by 49 publications

References 5 publications

Development of pneumatic rubber actuator of 400μm in diameter generating bi-directional bending motion

Development of pneumatic rubber actuator of 400μm in diameter generating bi-directional bending motion

Pantograph mechanism for conversion from swelling into contraction motion of pneumatic balloon actuator

Miniature Pneumatic Curling Rubber Actuator Generating Bidirectional Motion with One Air-Supply Tube

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Pneumatic micro hand and miniaturized parallel link robot for micro manipulation robot system

Cited by 49 publications

References 5 publications

Development of pneumatic rubber actuator of 400&#x03BC;m in diameter generating bi-directional bending motion

Development of pneumatic rubber actuator of 400&#x03BC;m in diameter generating bi-directional bending motion

Pantograph mechanism for conversion from swelling into contraction motion of pneumatic balloon actuator

Miniature Pneumatic Curling Rubber Actuator Generating Bidirectional Motion with One Air-Supply Tube

Contact Info

Product

Resources

About

Development of pneumatic rubber actuator of 400μm in diameter generating bi-directional bending motion

Development of pneumatic rubber actuator of 400μm in diameter generating bi-directional bending motion