Abstract
In order to develop human friendly elements, we developed a sponge core soft rubber actuator which is constructed with a silicone and a sponge rubber. With respect to the structure of the actuator, a sponge rubber is covered with a silicon rubber. Therefore, air can be changed into the sponge chamber. Further since the actuator has no sliding parts, there is no influence of friction force. Therefore, the actuator can estimate external force by making use of the inner pressure. In this study, we investigate force control performance of the actuator. Furthermore the force sensing ability of the actuator is clarified through some experimental results.
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