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Prototyping pneumatic group actuators composed of multiple single-motion elastic tubes

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3 Author(s)
Hirai, S. ; Dept. of Robotics, Ritsumeikan Univ., Kyoto, Japan ; Masui, T. ; Kawamur, S.

We develop pneumatic actuators composed of multiple elastic tubes. Elastic tubes with mechanical constraints have the capability of performing a single various motion while multiple motions cannot be performed. Actuators composed of single-motion tubes can realize multiple motions by controlling air pressure imposed on individual tubes. We present the concept of group actuators and develop their prototypes.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference:

2001