Abstract
We have developed the probe scan mechanism for Echography using artificial muscle actuators. First we established a driving system of the actuator by driving an electro-pneumatic control valve to examine the relationship between force and pressure. Then we constructed the mechanism to realize the probe rotation and reduce the total weight less than 650g. Next we established feedback control method of both of position and pressure in the probe. Because the contact force on body surface cannot be measured directly, we have applied a prediction control in contact force from inner pressures of actuators to realize maximum error of 100gf in the contact force.
