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.
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|Publication status||Published - 1999|
|Event||Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA|
Duration: 1999 May 10 → 1999 May 15