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Open AccessArticle

Modeling and System Integration for a Thin Pneumatic Rubber 3-DOF Actuator

1
Department of Electrical and Electronic Engineering, Graduate School of Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei-shi, Tokyo 184-8588, Japan
2
Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan
*
Author to whom correspondence should be addressed.
Actuators 2019, 8(2), 32; https://doi.org/10.3390/act8020032
Received: 14 February 2019 / Revised: 10 April 2019 / Accepted: 11 April 2019 / Published: 16 April 2019
Recently, soft actuators have been getting increased attention within various fields. The actuators are composed of flexible materials and driven by pneumatic pressure. A thin pneumatic rubber actuator generating 3 degrees of freedom motion, called 3-DOF micro-hand, has small diameter McKibben artificial muscles which generate a contraction force in the axial direction. By this structure, the micro-hand contracts in the longitudinal direction and bends in any direction by changing the applied air pressure pattern to the artificial muscles. The input–output relation of the micro-hand, however, is complicated and has not been modeled. In this paper, modeling for 3-DOF micro-hand is proposed. Moreover, the experimental system is built for the micro-hand and the proposed model is evaluated by using the experimental results. View Full-Text
Keywords: model; 3-DOF micro-hand; experimental system; nonlinear; actuator; experimental result model; 3-DOF micro-hand; experimental system; nonlinear; actuator; experimental result
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Kawamura, S.; Sudani, M.; Deng, M.; Noge, Y.; Wakimoto, S. Modeling and System Integration for a Thin Pneumatic Rubber 3-DOF Actuator. Actuators 2019, 8, 32.

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