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ID 33046
FullText URL
Author
Wakimoto, Shuichi
Abstract

The aim of this study is to develop an intelligent McKibben actuator with an integrated soft displacement sensor inside, so that displacement of this actuator can be controlled without having any extra devices attached. In addition, the high compliance which is a positive feature of the McKibben actuator is still conserved. This paper consists of four main parts. First of all, different types of soft displacement sensors made out of rubber were composed, and tested for their functional characteristics. Secondly, the intelligent McKibben actuator was developed with the soft displacement sensor incorporated within. Then, experiments of the position servo control with a single intelligent McKibben actuator were carried out. At last a robot arm mechanism was designed with two intelligent McKibben actuators, and those experimental results showed a great potential for its future applications.

Keywords
Soft sensor
soft mechanism
McKibben actuator
Intelligent actuator
Note
Digital Object Identifier: 10.1109/IROS.2005.1545315
Published with permission from the copyright holder. This is the institute's copy, as published in Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on, 2-6 Aug. 2005, Pages 487-492.
Publisher URL:http://dx.doi.org/10.1109/IROS.2005.1545315
Copyright © 2005 IEEE. All rights reserved.
Published Date
2005-8
Publication Title
Intelligent Robots and Systems
Start Page
487
End Page
492
Content Type
Journal Article
language
英語
Refereed
True
DOI
Submission Path
mechanical_engineering/25