Omnidirectional Soft Robot Platform with Flexible Actuators for Medical Assistive Device
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- Ribuan Mohamed Najib
- Graduate School of Natural Science and Technology, Okayama University
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- Wakimoto Shuichi
- Graduate School of Natural Science and Technology, Okayama University
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- Suzumori Koichi
- Department of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology
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- Kanda Takefumi
- Graduate School of Natural Science and Technology, Okayama University
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抄録
<p>This manuscript explains the employment of flexible actuators to act as a soft robot and transporting agent to assist medical X-ray examinations. Although soft robots from silicone material can be transparence and a human compliance used as medical assistive devices, soft robots have some problems: they tend to be sluggish, have long and imprecise gait trajectories, and need their control parameters to be adjusted for motion diversion. A soft robot with omnidirectional locomotion has been created, one that has a combination of pneumatic rubber legs that form a soft robot platform and an associated hardware setup. Tests have confirmed its omnidirectional locomotion ability; it has a maximum speed of 6.90 mm/s in forward locomotion and a maximum payload of 70 g. These features indicate that the robot can be used as a medical assistive device for fluoroscopy examinations.</p>
収録刊行物
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- International Journal of Automation Technology
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International Journal of Automation Technology 10 (4), 494-502, 2016-07-05
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