TY - JOUR
T1 - Multi-DOF device for soft micromanipulation consisting of soft gel actuator elements
AU - Tadokoro, Satoshi
AU - Yamagami, Shinji
AU - Ozawa, Masahiro
AU - Kimura, Tetsuya
AU - Takamori, Toshi
AU - Oguro, Keisuke
PY - 1999
Y1 - 1999
N2 - This paper presents multi-degree-of-freedom (DOF) micro motion devices which was developed using a soft gel actuator, ICPF. They are superior to conventional micromanipulators in softness and compactness. 3-DOF motion was realized by a parallel mechanism with 4 ICPF actuators, and 6-DOF motion was created by an 8-actuator mechanism. The 3-DOF device had a maximum displacement 2 mm and a fast response up to 13 Hz. Experiments of teleoperation using a joystick proved that the device had enough ability for micromanipulation in which dynamic condition was important.
AB - This paper presents multi-degree-of-freedom (DOF) micro motion devices which was developed using a soft gel actuator, ICPF. They are superior to conventional micromanipulators in softness and compactness. 3-DOF motion was realized by a parallel mechanism with 4 ICPF actuators, and 6-DOF motion was created by an 8-actuator mechanism. The 3-DOF device had a maximum displacement 2 mm and a fast response up to 13 Hz. Experiments of teleoperation using a joystick proved that the device had enough ability for micromanipulation in which dynamic condition was important.
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M3 - Conference article
AN - SCOPUS:0032643713
SN - 1050-4729
VL - 3
SP - 2177
EP - 2182
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
T2 - Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99
Y2 - 10 May 1999 through 15 May 1999
ER -