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 Dec 1
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: 2011 Dec 72011 Dec 11

Publication series

Name2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Other

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

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

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  • 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] (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011). https://doi.org/10.1109/ROBIO.2011.6181369