Control of a flexible finger using electro-conjugate fluid

Kento Mori, Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a powerful flow when subjected to high DC voltage. It is known that a strong ECF flow is generated under non-uniform electric field, for example, the field with a pair of needle and ring electrodes. The ECF flow could be used as a micro fluid pressure source (an ECF pump) for actuators including an artificial muscle and a flexible finger etc. However, previous studies on ECF soft actuators only focused on confirmation of the driving principle. This means, an improvement of performance of ECF pumps and a control scheme for ECF soft actuators have yet to be studied in detail. Hence, this study improves the performance of the ECF pump, and proposes a novel control system for an ECF flexible finger. The ECF pump developed in this study generates maximum pressure of 92.6 kPa and maximum flow rate of 103.0 ml/min with 200.3 mm 3. The flexible finger (φ5 mm x 30 mm), driven by the ECF pump, bends 150 deg with a rise time of 1000 ms. In addition, we construct a master-slave system using the ECF flexible finger and confirm its performance.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages709-714
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: 2011 Dec 72011 Dec 11

Other

Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CountryThailand
CityPhuket
Period11/12/711/12/11

Fingerprint

Fluids
Pumps
Actuators
Flow of fluids
Needles
Muscle
Electric fields
Flow rate
Control systems
Electrodes
Electric potential

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

Cite this

Mori, K., Yamaguchi, A., Takemura, K., Yokota, S., & Edamura, K. (2011). Control of a flexible finger using electro-conjugate fluid. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 709-714). [6181369] https://doi.org/10.1109/ROBIO.2011.6181369

Control of a flexible finger using electro-conjugate fluid. / Mori, Kento; Yamaguchi, Akihiro; Takemura, Kenjiro; Yokota, Shinichi; Edamura, Kazuya.

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 709-714 6181369.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mori, K, Yamaguchi, A, Takemura, K, Yokota, S & Edamura, K 2011, Control of a flexible finger using electro-conjugate fluid. in 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181369, pp. 709-714, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, Thailand, 11/12/7. https://doi.org/10.1109/ROBIO.2011.6181369
Mori K, Yamaguchi A, Takemura K, Yokota S, Edamura K. Control of a flexible finger using electro-conjugate fluid. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 709-714. 6181369 https://doi.org/10.1109/ROBIO.2011.6181369
Mori, Kento ; Yamaguchi, Akihiro ; Takemura, Kenjiro ; Yokota, Shinichi ; Edamura, Kazuya. / Control of a flexible finger using electro-conjugate fluid. 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. pp. 709-714
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