Development of a 'Calf Muscle Pump' Inspired Reconfigurable Soft Pump Module Using Permanent Magnetic Elastomer

Peizhi Zhang, Qichen Wang, Mitsuhiro Kamezaki, Zhuoyi He, Yuhiro Iwamoto, Yasushi Ido, Hiroyuki Sakamoto, Shigeki Sugano

研究成果: Conference contribution

抄録

Soft robots with intrinsic softness are expected to be used for delicate object manipulation and/or human-collaborative applications. However, fluidic-driven soft actuators need a pump system with a pump, compressor, tube, and valves, which makes the system bulky and rigid. Some researchers developed built-in centralized fluidic pumps for soft robots, but the output performance is limited since their specifications and carried energy are fixed. To enable the pump system to be soft and increase the output performance, we propose a decentralized reconfigurable soft pump module using permanent magnetic elastomers (PME). With this soft smart material, the system can be fully soft. Inspired by the 'calf muscle pump,' our soft pump module can be freely reconfigured to squeeze the working fluid and increase the flowrate as an additional power source. We designed the structure of the module, built the modelling, and conducted various experiments to verify its feasibility. We confirmed that the module can generate force up to 12.76 N and flowrate about 3.74 ml/s, which shows its capability to convey working fluid. After being attached to the soft tube, with sequence control, the reconfigured pump can generate peristaltic motion and convey the working fluid. The success of the pump module indicates its possibility used for increasing the output performance of the soft robots.

本文言語English
ホスト出版物のタイトル2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1115-1120
ページ数6
ISBN(電子版)9781665413084
DOI
出版ステータスPublished - 2022
イベント2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022 - Sapporo, Japan
継続期間: 2022 7月 112022 7月 15

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2022-July

Conference

Conference2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
国/地域Japan
CitySapporo
Period22/7/1122/7/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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