1A1-C04 Development of Low-Pressure Driven Pneumatic Actuator and Its Application to Multi-Finger Robot Hand

Abstract

This paper presents a nonmetallic and light robot hand using balloon type pneumatic actuators developed by us. The drive system of our proposed robot hand uses balloon type pneumatic actuators originally developed in consideration of safety for human contact. The characteristics of the pneumatic actuator proved that it is possible to drive a robot hand and get enough generated force to grasp objects by lower inner pressure and air volume. Therefore, a model the same size as a human hand can be made without a big air compressor.