The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2022
Session ID : 2A1-M06
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Hyperboloidal Pneumatic Artificial Muscle
*Masahiro WATANABEKazuki ABEKenjiro TADAKUMAMasashi KONYOSatoshi TADOKORO
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Abstract

This paper proposes a hyperboloidal pneumatic artificial muscle. The actuator has a unique hourglass shape that has a potential to achieve low bending stiffness, high contraction force, and contraction ratio even if the actuator is short. Thus, it is suitable for soft articulated robots that require flexible short actuators. This paper presents characteristics of the focused actuator, fabrication methods, basic performance, and remaining technical problems.

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© 2022 The Japan Society of Mechanical Engineers
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