Abstract
Recently, the requirement for development of soft actuator for the rehabilitation device and power assisting devices is increasing. However, development of a flexible actuator that has both larger force and longer stroke has not been carried out. In addition, it is also difficult to realize a flexible displacement sensor with long stroke while deforming its form according to the actuator’s shape. In this paper, development of the flexible actuator with larger force and longer stroke that can adjust its stroke by giving stepping motion using pneumatic balloons and brakes is described. The fundamental performance of tested actuator is also investigated.
Highlights
According to aging society and decreasing birth rate in Japan[1], the requirement using soft actuator for the rehabilitation device and power assisting devices is rapidly increasing[2-5]
Development of the flexible actuator with larger force and longer stroke that can adjust its stroke by giving stepping motion using pneumatic balloons and brakes is described
To satisfy such a greedy demand, a flexible linear stepping actuator driven by pneumatic balloons and brakes is proposed and tested
Summary
According to aging society and decreasing birth rate in Japan[1], the requirement using soft actuator for the rehabilitation device and power assisting devices is rapidly increasing[2-5]. The generated force decreases according to the increase of the displacement of the muscle. As a long stroke flexible actuator, a flexible pneumatic cylinder that can be used even if the cylinder bends was developed [7]. A flexible actuator that can generate both larger force and longer stroke has been strongly desired. It is difficult to realize a flexible displacement sensor with long stroke while deforming its form according to the actuator’s shape. The frictional force increases according to increasing the diameter of the cylinder because of the sliding mechanism between the inner ball and rollers. It is difficult to realize a displacement sensor that can measure a longer stroke and deform the shape of the sensor according to deformation of the cylinder
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