Title :
Control performance of a pneumatic silicon outer fence mold actuator
Author :
Hayakawa, Y. ; Morishita, K. ; Aichi, M.
Author_Institution :
Dept. of Electr. & Control Eng., Nara Nat. Coll. of Technol., Japan
Abstract :
In this paper, we propose a new type of soft actuator (pneumatic silicon outer fence mold actuator) whose sponge is covered with silicon rubber. Since the stiffness of the actuator is controlled by pressure in the sponge chamber, it is possible to realize a soft mechanism by using pressure compressibility. From some experimental results, the basic characteristics of the actuator are cleared.
Keywords :
feedback; haptic interfaces; hierarchical systems; pneumatic actuators; position control; pressure control; actuator stiffness; hierarchical feedback control; pneumatic silicon outer fence mold actuator; pressure compressibility; sponge chamber;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
