Artificial Rubber Muscle Research Articles

2P1-G19 空気圧人工筋肉を用いた大腸内視鏡搭載型蠕動運動ロボットの開発 : 並列空気チューブを用いた蠕動運動ロボット

The number of large intestine cancer patients has been continually increasing. An endoscope is used in diagnosis and also in treatment of a diseased part of an intestine. A large intestine endoscope is used mainly for the inspection of large intestine cancers. However, many doctors are having difficulty in handling an endoscope and remove slack of an intestine. Thus it is anticipated that robotic applications would assist those operations. We propose a robot that mimics the peristaltic crawling of earthworms uses artificial rubber muscle as an actuator. In this paper, we first carry out forward and pulling movement experiments in an acrylic pipe, then forward and pulling movement experiments in a large intestine model. We finally evaluate flexibility of the robot. Satisfactory performances were obtained from the experiments.

1009 長変位型ゴム人工筋を用いた下肢パワーアシスト装置の試作(ロボティクス・メカトロニクスV)

1009 長変位型ゴム人工筋を用いた下肢パワーアシスト装置の試作(ロボティクス・メカトロニクスV)

1A1-F08 ラバーレス人工筋の開発

This paper reports development of the pneumatic rubber-less artificial muscle. The pneumatic rubber-less artificial muscle is one end fixation of the McKibben artificial muscle type. By comparing characteristics of the pneumatic rubber-less artificial muscle and rubber artificial muscle, it was able to be confirmed that the pneumatic rubber-less artificial muscle is superior to rubber artificial muscle in power and contraction ratio.

空気圧ゴム人工筋を用いた介助アシスト装置の開発

空気圧ゴム人工筋を用いた介助アシスト装置の開発

11902 気液相変化駆動式ゴム人工筋アクチュエータの基礎特性(OS7 ロボティックス・メカトロニクス(1),オーガナイズドセッション)

11902 気液相変化駆動式ゴム人工筋アクチュエータの基礎特性(OS7 ロボティックス・メカトロニクス(1),オーガナイズドセッション)

Development of High Contractile Pneumatic Artificial Rubber Muscle for Power Assist Device

Development of High Contractile Pneumatic Artificial Rubber Muscle for Power Assist Device

1001 長変位型ゴム人工筋を用いた伸縮湾曲機構の試作(ロボティクス・メカトロニクスIV)

1001 長変位型ゴム人工筋を用いた伸縮湾曲機構の試作(ロボティクス・メカトロニクスIV)

有限要素法によるMcKibben型空気圧ゴム人工筋の発生力特性の解析 : 繊維コード間の摩擦を考慮しないモデル(機械力学,計測,自動制御)

有限要素法によるMcKibben型空気圧ゴム人工筋の発生力特性の解析 : 繊維コード間の摩擦を考慮しないモデル(機械力学,計測,自動制御)

913 パッシブダイナミック制御による空気圧ゴム人工筋の位置決め(GS ロボティクスI)

913 パッシブダイナミック制御による空気圧ゴム人工筋の位置決め(GS ロボティクスI)

1212 空気圧ゴム人工筋を用いた肘・手首部ソフトパワーアシストウェア(触覚センサ・触覚ディスプレイ,一般講演)

1212 空気圧ゴム人工筋を用いた肘・手首部ソフトパワーアシストウェア(触覚センサ・触覚ディスプレイ,一般講演)

Development of Power Assist Wear Using Pneumatic Rubber Artificial Muscles

In the future, when the average age of the members of society becomes advanced, an innovative technology to assist the activities of daily living of elderly and disabled people and to assist in the heavy work in nursing will be desired. To develop such a technology, an actuator that is safe and user-friendly is required. It should be small, lightweight, and sufficiently soft. Such an actuator is available in artificial muscle made of pneumatic rubber. We have developed some types of pneumatic rubber artificial muscles and applied them to wearable power assist devices. A wearable power assist device is fitted to the human body to assist the power of muscles that support the activities of daily living, rehabilitation, training, and so on. In this paper, some types of pneumatic rubber artificial muscles developed and manufactured in our laboratory are presented. Furthermore, two kinds of wearable power assist devices driven by the rubber artificial muscles are described. Finally, some evaluations clarify the effectiveness of pneumatic rubber artificial muscle for innovative human assistance technologies.

2A1-L14 空気圧人工筋肉を用いた大腸内視鏡搭載型蠕動運動ロボットの開発

The number of large intestine cancer patients has been increasing continually. An endoscope is used in diagnosis and also in treatment of the diseased part of the intestine. A large intestine endoscope is used mainly for the inspection of large intestine cancers. However, many doctors are experiencing issues in handling the endoscope. Thus robotic application is anticipated that would assist in inserting the endoscope and remove slack of the intestine. We propose a robot that mimics the peristaltic crawling of earthworms and uses artificial rubber muscle as an actuator. In this paper, we perform four experiments: 1) Determining the relationship between contraction/expansion rate and inner pressure of the artificial muscle; 2) forward movement test in an acrylic tube; 3) determining the robot's ability to pull an acrylic tube and 4) forward and pulling movement test in a large intestine model. Satisfactory performances were obtained from the experiments.

1P1-J10 ゴム人工筋を用いた介助用上肢運動アシスト装置の開発

1P1-J10 ゴム人工筋を用いた介助用上肢運動アシスト装置の開発

1P1-E15 空気圧ゴム人工筋を用いた外骨格型握力増幅グローブの開発

Recently, many power-assist robots have been developed to support and amplify human muscle strength. These robots are expected to use in various fields such as medical welfare, rescue, agriculture, physical labor in the factory and so on. In these activities, one hand is always in active to accomplish the task. Therefore, the hand assist device is useful. There are several researches to assist the hand. Pneumatic actuators are used because of high power weight ratio and light in weight. However, the degree of freedom (Dof) is yet to be enough. In this paper, a grip amplified glove using bi-articular driving mechanism is proposed and developed. Pneumatic artificial rubber muscles (PARM) are used as the actuator. The glove has totally 10 Dofs. The glove has the feature that the electrical sensors are away from the wearable part. Therefore, the glove is environmentally-resistant. The effectiveness of the glove is demonstrated experimentally.

Chatter Attenuation for Pneumatic Artificial Rubber Muscles

Abstract Pneumatic artificial rubber muscles (Parms) are similar to biological muscles as both act as springs. Stiffness varies with pressure for the Parm and with neural impulse for the biological muscle. As a Parm system is highly non linear, its classical control does not reveal to be totally indicated. Robust control techniques such as variable structure controls generating sliding modes are quite indicated. However, sliding mode control although robust generates chattering as the control switches across the sliding manifold. In this work, two controls are applied onto a robot driven by Parms in order to reduce this undesirable chatter. The first law is a generalised variable structure algorithm while the second one is a 2-sliding law, the “twisting” algorithm. Experimental results are presented and discussed.

2P1-A15 超細型空気圧ゴム人工筋肉の開発とロボットハンドへの応用

2P1-A15 超細型空気圧ゴム人工筋肉の開発とロボットハンドへの応用

McKibben型空気圧ゴム人工筋の有限要素法による動作解析 : 繊維コード間の摩擦を考慮しないモデル(機械力学,計測,自動制御)

In order to establish quantitatively a design method for the McKibben type rubber artificial muscle with the optimal characteristics, analysis of operation is performed by means of the three-dimensional finite element method. First, the three-dimensional finite element method model which does not take into consideration friction between plastics fiber codes is proposed as a simple model for acquiring the design manual of the McKibben type rubber artificial muscle, the compatibility, the experimental values, and the usefulness of a model are examined. Moreover various parameter study (crossed axes angle of a fiber code etc.) of the McKibben type rubber artificial muscle is carried out, and the characteristics of the McKibben type rubber artificial muscle can be predicted. The proposed analysis can be applied to the useful design method.

Wearable Master-Slave Training Device for Lower Limb Constructed with Pneumatic Rubber Artificial Muscles

A robot technology is exceedingly expected to solve a problem of a lack of a physical therapist. In this study, the bilateral type pneumatic wearable master-slave training device used by a trainer and a trainee is developed to feed back a force information to the trainer. In the case of the rehabilitation when separated human attaches the separated device, it has a threat of applying the excessive torque to a patient. To prevent the trainer from increasing excessive torque at the movable angle limit of the trainee, a reaction torque of the slave user is transmitted to the master user.In this paper, the structure of the developed device is discussed, and then the validity of the proposed device is evaluated from the experiments that assume knee rehabilitation.

CHATTER REDUCTION IN AN ARTIFICIAL MUSCLES ROBOT APPLICATION

We are concerned with the control of a 3-DOF robot actuated by pneumatic rubber muscles. The system is highly non-linear and somehow difficult to model; variable structure system control imposes itself as a very relevant type of control. This paper presents two types of robust controls. One uses a classical variable structure (CVS) control associated to a PID control; the other is a derivative control. Both controllers are implemented on a robot driven by artificial rubber muscles. The goal is the comparison of the two controllers in their ability to reduce chatter. Experimental results are presented and discussed.

High-Order Sliding Modes for a Robot Driven by Pneumatic Artificial Rubber Muscles

It is known that classical sliding mode control generates chatter which is undesirable. One way to reduce this chatter is the use of high-order sliding mode (HOSM) control. The HOSM control techniques are applied to the first 2 d.o.f. of a robot actuated by pneumatic artificial rubber muscles (PARMs). The PARMs are arranged in opposite pairs (antagonistic configuration). The objective is to show that without the use of the equivalent control, it is still possible to control the robot by the use of HOSM and at the same time reduce the chatter. Experimental results are presented and comparison between two second-order sliding controls established.