TY - GEN
T1 - Driving performance and control of a micro artificial muscle cell using electro-conjugate fluid
AU - Takemura, Kenjiro
AU - Yokota, Shinichi
AU - Edamura, Kazuya
PY - 2006/12/27
Y1 - 2006/12/27
N2 - As a man-machine interaction increases its importance in robotics and mechatronics fields, a soft robot inspired from natural systems becomes one of the research trends. There are several research topics related to soft robots such as soft structures or artificial skins, compliance control, soft actuators or artificial muscles, and so on. For the natural muscle potentially has great flexibility, the authors believe the artificial muscle actuator must have a great potential in soft robots. Hence in this study we develop a new type of micro artificial muscle cell, which is an element of an integrated artificial muscle, using electro-conjugate fluid and measure its driving performances. In addition, position control characteristics are also clarified by experiments. As a result, the micro artificial muscle cell using electro-conjugate fluid shows quite good control performances.
AB - As a man-machine interaction increases its importance in robotics and mechatronics fields, a soft robot inspired from natural systems becomes one of the research trends. There are several research topics related to soft robots such as soft structures or artificial skins, compliance control, soft actuators or artificial muscles, and so on. For the natural muscle potentially has great flexibility, the authors believe the artificial muscle actuator must have a great potential in soft robots. Hence in this study we develop a new type of micro artificial muscle cell, which is an element of an integrated artificial muscle, using electro-conjugate fluid and measure its driving performances. In addition, position control characteristics are also clarified by experiments. As a result, the micro artificial muscle cell using electro-conjugate fluid shows quite good control performances.
KW - Artificial muscle
KW - Electroconjugate fluid
KW - Functional fluid
KW - Micro actuator
UR - http://www.scopus.com/inward/record.url?scp=33845604697&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845604697&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641843
DO - 10.1109/ROBOT.2006.1641843
M3 - Conference contribution
AN - SCOPUS:33845604697
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1018
EP - 1023
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -