Development of 3-DOF Soft Manipulator with ER Fluid Clutches
Source abstract
Abstract
With robots and users more commonly sharing space such as in the fields of medicine and home automation, the possibility of a physical collision has increased, even though many robots use actuators with high-ratio gear trains to minimize the effects of impact. We developed a 3-DOF manipulator having a smart flexible joint using an ER fluid and a sensor-equipped pneumatic cushion. Results of position control and collision experiments using the manipulator demonstrated its effectiveness.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Vibration Control and Rheological Fluids · Soft Robotics and Applications · Hydraulic and Pneumatic Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan,
Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan
References (14)
Show source-provided references
1. Eguchi, Y.
2. Kitagaki, K.
3. Li, Z.
4. Mills, J.K.
5. 10.9746/sicetr1965.40.106010.9746/sicetr1965.40.1060 ↗
6. 10.20965/jrm.2008.p063410.20965/jrm.2008.p0634 ↗
7. Norihiko, S. · ’’ Journal of Robotics and Mechatronics · 2001 · 13 · 534
8. 10.1109/ROBOT.2000.84478510.1109/ROBOT.2000.844785 ↗
9. 10.7210/jrsj.18.14210.7210/jrsj.18.142 ↗
10. Volpe, R.
11. Walker, I.D.
12. 10.1063/1.169828510.1063/1.1698285 ↗
13. 10.1109/3516.65304710.1109/3516.653047 ↗
14. Youcef-Toumi, K.