バルーン型空気圧ソフトアクチュエータを用いた鉗子用グリッパの開発

抄録

In this paper, a gripper for the forceps using a soft actuator, which can estimate the gripping force, is proposed. The gripper consists of a small cylinder and a slider-crank mechanism embedded in the tip of the forceps. The developed soft actuator has a built-in strain gauge to measure the displacement of the actuator. By combing the measurements of the strain gauge and the internal pressure, it can estimate the external force. The experiment with the same protocol is conducted while the gripper grasps a force sensor. A master slave system is constructed using the girpper.