The Science of Soft Robots
Design, Materials and Information Processing
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Chapter
Soft Actuators
We will discuss typical soft actuators in this chapter. In the overview, we showed that actuators are generally divided into equilibrium and non-equilibrium types in terms of energy dissipation and efficiency....
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Chapter
Introduction
The first section examines soft robots from five perspectives: (1) How does their configuration differ from conventional robots? (2) What tasks can soft robots perform that conventional robots cannot? (3) Wher...
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Book
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Article
Open AccessStability analysis of multi-serial-link mechanism driven by antagonistic multiarticular artificial muscles
Artificial multiarticular musculoskeletal systems consisting of serially connected links driven by monoarticular and multiarticular muscles, which are often inspired by vertebrates, enable robots to elicit dyn...
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Article
Open AccessSafety-enhanced control strategy of a power soft robot driven by hydraulic artificial muscles
Power soft robots—defined as novel robots driven by powerful soft actuators, achieving both powerfulness and softness—are potentially suitable for complex collaborative tasks, and an approach to actuating a po...
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Article
Open AccessStudy of a robotic system to detect water leakage and fuel debris-System proposal and feasibility study of visual odometry providing intuitive bird’s eye view-
To obtain the necessary information on fuel debris and water leakages during the decommissioning task of the Fukushima Daiichi Nuclear Power Plant, an ultrasonic-based method was proposed for future internal i...
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Article
Open AccessDesign of knee support device based on four-bar linkage and hydraulic artificial muscle
One of the main challenges for the elderly is insufficient lower limb strength during sit-to-stand movement, which may be improved by supporting the joint externally. Existing lower extremity exoskeletons use ...
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Chapter
New Hydraulic Components for Tough Robots
Hydraulic components have tremendous potential for realizing “tough robots” owing to their “tough features,” including high power density and shock resistance, although their practical robotic usage faces some...
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Article
Open AccessOptimization of orifice position in particle-excitation valve for proportional flow control
This paper reports an improvement of the particle-excitation flow control valve. The valve that we have designed in previous reports can control air flow, using particle excitation by piezoelectric resonance, ...
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Article
Microdroplet generation using an ultrasonic torsional transducer which has a micropore with a tapered nozzle
A generation of monodisperse droplets in various liquids is an important subject. In this study, we have generated droplets by using an ultrasonic torsional transducer and the micropore plate. Firstly, we have...
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Article
Open AccessMusculoskeletal lower-limb robot driven by multifilament muscles
This paper presents a redundant musculoskeletal robot using thin McKibben muscles that is based on human anatomy. The purpose of this robot is to achieve motions and characteristics that are very similar to a ...
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Article
Open AccessDevelopment of a gas/liquid phase change actuator for high temperatures
Gas/liquid phase changes produce large volume changes in working fluids. These volume changes are used as the driving power sources in actuators such as micro-pumps and valves. Most of these actuators are uti...
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Article
Predictive Functional Control with Observer (PFC-O) Design and Loading Effects Performance for a Pneumatic System
Demand for higher accuracy and control systems is growing rapidly and becoming more important in high-tech industries. However, precise position control of a pneumatic cylinder is very difficult to achieve due...
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Chapter and Conference Paper
Predictive Functional Control System for Stroke Control of a Pneumatic Tendon-driven Balloon Actuator
In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to be useful to perform tasks such as day-to-day work support for elderly people. ...
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Chapter and Conference Paper
PD-Fuzzy Logic Controller Design for Position Control of Intelligent Pneumatic Actuator System
Intelligent Pneumatic Actuator is a system that has been developed for application that requires better control and accuracy. The purpose of this paper is to present a controller design for position control of...
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Book
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Article
Fabrication and evaluation of various types of micro one-way valves through micro rubber molding process
In recent years, research and development on micro fluid systems has become active in the fields of chemical technology and biotechnology. For the realization of these micro fluid systems, micro fluid devices ...
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Chapter
Intelligent Actuators for Mechatronics with Multi-Degrees of Freedom
This chapter details intelligent servo actuators for mechatronic systems with multi-degrees of freedom. The intelligent actuators are equipped with micro sensors and a micro controller, realizing local control...
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Article
Development of nutation motors (improvement of pneumatic nutation motor by optimizing diaphragm design)
This article describes the improvement of a pneumatic nutation motor. Pneumatic nutation motors that are driven by diaphragm are expected to have bigger torque. In this report, refined design of the diaphragm ...
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Chapter
Demonstration Experiments on Rescue Search Robots and On-Scenario Training in Practical Field with First Responders
This chapter presents a process of making connections between researchers who develop rescue search devices and first responders, and presents scenario training experiments utilizing the devices operated by th...
