The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2016
Session ID : 2A1-04a2
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Development of Flexible Pneumatic Cylinder with Built-in Wire Type Linear Potentiometer
Yasuko MATSUITetsuya AKAGIShujiro DOHTAHiroaki TAMAKI
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Abstract

The rehabilitation devices help to recover physical ability of patients for keeping Quality of Life. This study aims at developing a potable rehabilitation device which can be safe to use while holding it. In the previous study, the flexible spherical actuator using two ring-shaped flexible pneumatic cylinders was proposed and tested. In this paper, to measure attitude of the device, a flexible pneumatic cylinder with built-in wire-type linear potentiometer was proposed and tested. In addition, to decrease consumed air of the cylinder for portability, a hybrid flexible actuator that combined the cylinder with DC motor was proposed and tested. Position control systems using both actuators were proposed and tested. As a result, it was confirmed that the tested sensor could measure the displacement of cylinders and the position control using both actuators could be realized. The relatively long-period driving test using small-sized tank and tested hybrid actuator was also executed.

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© 2016 The Japan Society of Mechanical Engineers
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