Development of a Multi-Degree-of-Freedom Micromotion Device Consisting of Soft Gel Actuators | Zendy

Satoshı Tadokoro | Zendy; S. Yamagami | Zendy; Tetsuya Kimura | Zendy; T. Takamori | Zendy; Kesuke Oguro | Zendy

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Development of a Multi-Degree-of-Freedom Micromotion Device Consisting of Soft Gel Actuators

Author(s) -

Satoshı Tadokoro,

S. Yamagami,

Tetsuya Kimura,

T. Takamori,

Kesuke Oguro

Publication year - 1999

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1999.p0244

Subject(s) - micromanipulator , joystick , actuator , computer science , materials science , mechanical engineering , control theory (sociology) , simulation , engineering , artificial intelligence , control (management)

A multi-degree-of-freedom micromotion device was developed using a soft high polymer gel actuator to realize softness in a micromanipulator. This paper describes why an ICPF actuator is suitable and introduces device structure and manufacturing. Experiments showed that this device can provide 2-dimensional dynamic micromanipulation at high speed. Joystick control by an operator demonstrated its applicability to micromanipulation.

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