Title :
Development of miniature cybernetic actuator driven by piezoelectric device
Author :
Ikuta, Koji ; Kawahara, Atsushi ; Tsutsui, Yukio
Author_Institution :
Dept. of Mech. Syst. Eng., Kyushu Inst. of Technol., Fukuoka, Japan
Abstract :
New types of miniature actuators so called cybernetic actuator for biomedical robotics are developed. The cybernetic actuator has four driving states: free, increasing, decreasing and lock. The state of free and lock provides safety characteristics for both human and mechanism by avoiding damage from overload. The rotary type and linear type of cybernetic actuators are designed and developed. Feasibility of both actuators is verified by experiments. Four driving states are confirmed and unique driving principle is verified successfully
Keywords :
biomedical equipment; cybernetics; electric actuators; piezoelectric transducers; robots; biomedical robotics; driving states; linear type; miniature cybernetic actuator; piezoelectric device; rotary type; safety characteristics; Cybernetics; Humans; Hydraulic actuators; Mechanical systems; Muscles; Piezoelectric actuators; Piezoelectric devices; Pneumatic actuators; Safety; Systems engineering and theory;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174653
