Miniaturized unconstrained valves with pressure control for driving a robot finger

Pneumatic actuators in robot hands and walking robots are being re-evaluated. Human sized robots are especially able to make use of the characteristics of McKibben actuators. However, there is a need for compact control valves to drive the actuators. Miniaturized unconstrained valves are novel types of pneumatic control valves that, together with valves and their driver circuits (PZT drivers), may drive actuators. We have developed small valves, PZT drivers and McKibben actuators applicable to pressure control, for human sized fingers. These robot fingers had one degree of freedom and could be stretched by the actuator. Experiments were performed to validate the developed system.