Pneumatic Soft Actuator for a Human-Friendly Actuation System

摘要

To drive a human-friendly mechanical system such as a human collaboration robo and a welfare machine, a soft actuator having a closer affinity with human is required. This paper describes the fundamental concept of a soft actuator and define its exibility by using a mechanical impedance. Next, the applications of McKibbentype rubber actuator to a rehabilitation robot and a power assist robot are discussed. Also two new types of pneumatic soft actuators being developed in our laboratory are introduced, which are a planar type actuator and a rotary type actuator. Using a pneumatic actuator made of rubber material is one of extremely effective approaches to realize a soft actuator. The study integrating both mechanism and control technology is necessary to build up a practical human-friendly actuation system.