TY - GEN
T1 - Design of a Soft Rat Robot Based on Pneumatic Actuator
AU - Yuanzhong, Li
AU - Takanishi, Atsuo
AU - Ishii, Hiroyuki
N1 - Funding Information:
ACKNOWLEDGMENT The authors thank the support from SolidWorks Japan K.K. and STMicroelectronics K.K.
Funding Information:
This work was supported in part by JST, JSPS KAKENHI under Grants 15K00366, and 21H05055, and in part by the Waseda University Grant for Special Research Projects under Project 2020C-246.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Currently, progress in soft robotics is contributing to advancements in the field of robotics. A soft robot has several advantages over a traditional robot including portability, durability, and increased flexibility. A suitable design of the actuators in a robot is crucial for increasing the robot's flexibility. A suitable design of the actuators present in a robot is crucial for increasing the robot's flexibility. This study aims to develop a soft rat robot based on pneumatic actuators that can interact with real rats. The pneumatic actuator design developed by Suzumori et al. in 2017, the flexible micro actuator (FMA), is chosen as the main actuator to drive the robot. This actuator is rodlike, made using silicone fiber, and driven by filling high-pressure air into a specially designed container. An actuator based on the FMA design with a diameter of 25 mm is fabricated to form a soft rat robot that can simulate the motions of a real rat - rearing and rotating left and right. Finally, the properties of the pneumatic actuator are tested and analyzed to optimize the structure of the robot.
AB - Currently, progress in soft robotics is contributing to advancements in the field of robotics. A soft robot has several advantages over a traditional robot including portability, durability, and increased flexibility. A suitable design of the actuators in a robot is crucial for increasing the robot's flexibility. A suitable design of the actuators present in a robot is crucial for increasing the robot's flexibility. This study aims to develop a soft rat robot based on pneumatic actuators that can interact with real rats. The pneumatic actuator design developed by Suzumori et al. in 2017, the flexible micro actuator (FMA), is chosen as the main actuator to drive the robot. This actuator is rodlike, made using silicone fiber, and driven by filling high-pressure air into a specially designed container. An actuator based on the FMA design with a diameter of 25 mm is fabricated to form a soft rat robot that can simulate the motions of a real rat - rearing and rotating left and right. Finally, the properties of the pneumatic actuator are tested and analyzed to optimize the structure of the robot.
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U2 - 10.1109/AIM52237.2022.9863370
DO - 10.1109/AIM52237.2022.9863370
M3 - Conference contribution
AN - SCOPUS:85137703505
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 926
EP - 931
BT - 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
Y2 - 11 July 2022 through 15 July 2022
ER -