高いコンプライアンス性を示す多重チューブ直動ソフトアクチュエータ

抄録

This paper presents a novel linear actuator. The proposed actuator consists of four inflatable silicone tubes, which are twisted and glued, and an output pipe. The tubes deform into a helical shape and actuate the pipe with periodic pressurization. A helical shape and elasticity of the tubes can provide back-drivability in an extension and high compliance in a compression respectively. We described and experimentally confirmed a principle of the actuator.