3D-Printed Balloon Type Pneumatic Actuator for Hybrid Force Display Glove*

The balloon actuator is a type of pneumatic actuator developed by the authors for an original virtual-reality-based hand rehabilitation device, which is a hybrid force display glove that combines an actuator and a passive element. The balloon actuator can generate a strong force and is safe for hand rehabilitation. However, it has slow response characteristics for force display applications that use virtual reality techniques. We developed an improved actuator that features a new 3D-printed inner construction using new material. The basic characteristics of the 3D-printed balloon actuator were measured by experiment.