Deformable Pneumatic Actuators

Heads: Shinichi Hirai
Contact: Miwako Usui

Date: 1998 - 2004

Mailing address:
Dept. Robotics, Ritsumeikan Univ.
Kusatsu, Shiga 525-8577, Japan

Supported by:
JSPS Research for Figure Program: Arimoto-Kawamura, Tabata, Konishi, and Hirai Labs.

Associated lab/group:
Kawamura Lab.
Kawamura Lab. (Dept. Textile Eng., Shinshu Univ.)

Jump to: Project Description | Personnel | Publications | Notes | Related Sites

Project Description

We will develop deformable pneumatic actuators. Embedding linear constraints on an elastic rubber tube yields a single-motion actuator (SMA). We will then construct a pneumatic group actuator (PGA) composed of multiple SMA's.

Embedding linear constraints on an elastic rubber tube yields a single-motion actuator (SMA). Individual SMA's can perform a single-motion including bend, extension, shrinkage, and translation. We will then construct a pneumatic group actuator (PGA) composed of multiple SMA's. PGA's have the following properties:

Deformable pneumatic actuators can be applied to light-weighted object manipulation, entertainment, and human-motion support.

Pneumatic Group Actuator (PGA) Bend motion of PGA

Personnel

Name Title Degree
Miwako Usui Graduated Master of Eng.
Kiyoto Shimizu Graduated Master of Eng.
Tomohiro Masui Graduated Master of Eng.
Hiroki Tanigawa Graduated Master of Eng.
Masaki Morimoto Graduated
Takuma Miyake Graduated
Hirotaka Tanaka Graduated

Publications

Articles
Conferences
Oral Presentations

Notes


3-stage PGA circular motion (mpg 2.5MB)

1-stage PGA circular motion (mpg 1.9MB)

1-stage PGA bend motion (mpg 2.9MB)

2-stage PGA bend motion (mpg 4.4MB)

2-stage PGA vertical bend (mpg 4.5MB)
 

PGA bend motion

PGA translation

SMT bend motion

Related Sites