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Development of 3-DOF Soft Manipulator with ER Fluid Clutches

Faculty of Science and Engineering, Chuo University, Tokyo, Japan

^* To whom correspondence should be addressed. E-mail: k_boku{at}bio.mech.chuo-u.ac.jp.

	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.

First published on November 5, 2009
Journal of Intelligent Material Systems and Structures 2009, doi:10.1177/1045389X09351758


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