Multi-DOF device for soft micromanipulation consisting of soft gel actuator elements

Author

Tadokoro, Satoshi ; Yamagami, Shinji ; Ozawa, Masahiro ; Kimura, Tetsuya ; Takamori, Toshi ; Oguro, Keisuke

Author_Institution

Dept. of Comput. & Syst. Eng., Kobe Univ., Japan

Volume

3

fYear

1999

fDate

1999

Firstpage

2177

Abstract

Presents a multi-degree-of-freedom (DOF) micro motion device developed using a soft gel actuator, ICPF. It is superior to conventional micromanipulators in softness and compactness. 3-DOF motion was realized by a parallel mechanism with 4 ICPF actuators, and 6-DOF motion was created by a 3-actuator mechanism. The 3-DOF device had a maximum displacement of 2 mm and a fast response up to 13 Hz. Experiments of teleoperation using a joystick proved that the device had enough ability for micromanipulation in which dynamic condition was important

Keywords

force control; gels; microactuators; micromanipulators; motion control; position control; telerobotics; 3-DOF motion; 3-actuator mechanism; 6-DOF motion; ICPF actuators; compactness; multi-degree-of-freedom micro motion device; parallel mechanism; soft gel actuator; soft micromanipulation; Actuators; Displacement control; Force control; Force feedback; Force sensors; Frequency; Micromanipulators; Polymer films; Resonance; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770429

Filename

770429