由软凝胶作动元件组成的分布式作动装置的研制

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.680640

S. Tadokoro, S. Fuji, M. Fushimi, R. Kanno, Tetsuya Kimura, T. Takamori, K. Oguro

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引用次数: 56

摘要

人们希望像器官这样的软物体能被软致动装置操纵。本文介绍了一种新研制的装置，该装置采用软凝胶材料制成的大量致动元件，对物体施加分布式驱动力。该装置使用的材料为离子导电聚合物凝胶膜，元件的结构为椭圆摩擦驱动。实验结果表明，放置在该装置上的物体可以以0.62毫米/秒的速度移动。本文还提到了一个更有效的驱动的基本实验和概念。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of a distributed actuation device consisting of soft gel actuator elements

It is desirable that soft objects like organs are manipulated by soft actuation devices. This paper presents a newly developed device using a large number of actuator elements made of a soft gel material, which applies a distributed driving force on objects. The material used in the device is an ionic conducting polymer gel film and the structure of the elements is elliptical friction drive. Experimental results showed that an object placed on such a device could move at a speed of 0.62 mm/sec. This paper refers also to fundamental experiments and a concept for a more efficient drive.

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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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