Control of a flexible finger using electro-conjugate fluid

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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
ページ709-714
ページ数6
DOI
出版ステータスPublished - 2011 12月 1
イベント2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
継続期間: 2011 12月 72011 12月 11

出版物シリーズ

名前2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Other

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

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識

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