Development of Vertical Compressible Cushion-type Soft Actuator Using Extension-type Flexible Pneumatic Actuators for Seat Simulator

Abstract

As a core training healthcare device while playing video games, the six-legged pneumatic drive mobile robot that can translate, rotate and give inclined angle and vibration for a rider like a movable cushion was developed. In this study, aiming to develop more suitable actuator for seat simulator, based on the analytical model, a Vertical Compressible Cushion-type Actuator (VCCA) that consists of six Extension type Flexible Pneumatic Actuator (EFPA) and three coil springs is proposed and tested. Furthermore, to increase the load capacity, an improved VCCA that consists of six EFPAs and six coil springs was proposed and tested. As a result, it could be confirmed that the improved VCCA can perform six directional translational motions, bending motions and lifting motion even if it has vertical compressibility.