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WO2006080088A1 - Actionneur, dispositif d’entraînement et dispositif manuel - Google Patents

Actionneur, dispositif d’entraînement et dispositif manuel Download PDF

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Publication number
WO2006080088A1
WO2006080088A1 PCT/JP2005/001362 JP2005001362W WO2006080088A1 WO 2006080088 A1 WO2006080088 A1 WO 2006080088A1 JP 2005001362 W JP2005001362 W JP 2005001362W WO 2006080088 A1 WO2006080088 A1 WO 2006080088A1
Authority
WO
WIPO (PCT)
Prior art keywords
covering
actuator
rotating member
accessory
expansion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2005/001362
Other languages
English (en)
Japanese (ja)
Inventor
Tatuwo Kudawara
Mikio Shimizu
Yasunori Ichikawa
Nobutaka Tsujiuchi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Doshisha Co Ltd
SQUSE Inc
Original Assignee
Doshisha Co Ltd
SQUSE Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Doshisha Co Ltd, SQUSE Inc filed Critical Doshisha Co Ltd
Priority to JP2007500399A priority Critical patent/JPWO2006080088A1/ja
Priority to PCT/JP2005/001362 priority patent/WO2006080088A1/fr
Publication of WO2006080088A1 publication Critical patent/WO2006080088A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies

Definitions

  • the present invention relates to an actuator that operates at a low pressure compared to the operating pressure of a conventional fluid pressure type actuator, and that secures a response proportional to the amount of fluid to be supplied, a drive device using this actuator,
  • the present invention relates to a hand device using this driving device.
  • a Matsukin Ben-type actuator is generally composed of a tubular inflating body and a covering for covering the inflating body.
  • the covering body can be expanded and contracted following expansion deformation of the expansion body, and hard fibers are used to suppress excessive expansion of the expansion body.
  • Such a McBenben-type actuator converts the expansion deformation of the expansion body into a contraction force in the longitudinal direction of the covering body so as to obtain a required operation force (operation amount).
  • Matsukin Ben type actuators are disclosed in the following Patent Documents 1-15 and Non-Patent Documents 1 and 2.
  • Patent Document 1 Japanese Patent Laid-Open No. 2003-301807
  • Patent Document 2 JP 2004-105262 A
  • Patent Document 3 JP-A-8-170604
  • Patent Document 4 Japanese Patent Laid-Open No. 2001-355608
  • Patent Document 5 Japanese Patent Laid-Open No. 3-24304
  • Non-Patent Document 1 Isao Shimoyama, 2 others, “MEMS Robot Hand”, Journal of the Robotics Society of Japan Vol. 19 No. 7, p. 26-29, October 2001
  • Non-Patent Document 2 S. SCHULZ, 2 others, "-New 'Ultralight' Anthropo Mohic'Nord (A New Ultralight Anthropomorphic Hand)", Producing 'Ob' 2001 Aitripnorei ⁇ ⁇ Internationale Nore 'Conference on Robotex & o ⁇ Tome ⁇ yeon-yeon (Proceedings of tne 200 ⁇ IEEE International conference on Robotics & Automation), Korea' Seoul, p. 1-5, 2001 May
  • the expandable body is made of a tubular material such as tolyl rubber, silicon rubber, butyl rubber, or styrene-butadiene rubber.
  • a rubber material having a required rigidity is used, and a hardened fiber having a strength capable of suppressing the expansion of the expansion body is used for the covering body.
  • the conventional Matsukin Ben type actuator has a problem that a desired operation cannot be obtained when the supplied pressure value is a low pressure of about 20 kPa or less.
  • the conventional McKinben type actuator requires a large hydraulic pressure generator when the supplied fluid is a liquid such as pressure oil in order to expand the rigid expansion body.
  • the fluid is a gas such as air, a large compressor or the like is required, and there is a problem that the overall required size including the surrounding fluid supply means becomes very large.
  • the conventional Matsukin Ben-type actuator uses a rigid expansion body that can withstand a predetermined pressure, the responsiveness to the operation is low during the initial drive when the fluid supply is started and after the initial drive. Unlike the initial driving range, the operating force generated is small and the force increases in a quadratic curve, and the relationship between the amount of fluid supplied and the operating force becomes nonlinear. There is a problem that it is difficult to control.
  • an object of the present invention is to provide a hand device that can realize the same size and movement as a human hand using such a driving device.
  • the actuator according to the first invention has a tubular shape, closes one end and opens the other end, and supplies the fluid from the opening at the other end to expand and deform it.
  • the covering body has a closed end corresponding to the one end of the expansion body, and the expansion body and the covering body are attached to the accessory member on the other end side of the expansion body.
  • the one end of the expansion body and the closed end of the covering body are separated from each other.
  • the expansion body is inflated and deformed and the one end and the closed end are separated. Is characterized by abutting.
  • the expansion body and the closed end of the covering body are separated from each other, while one end of the expansion body is closed when the fluid is supplied. Since the expansion body first contacts the end, the expansion body first expands mainly in the longitudinal direction, and after one end contacts the closed end of the covering body, the expansion body mainly expands in the radial direction perpendicular to the longitudinal direction. Therefore, the reason why the covering body covering the expanding body starts to contract in the longitudinal direction is that a certain amount of fluid is supplied to the expanding body and mainly expands in the radial direction to become a force.
  • the covering body does not change until the expanding body mainly expands in the radial direction, and after the expanding body mainly expands in the radial direction, the covering body contracts following the expanding body.
  • the contracting operating condition is sensitive to the fluid supply.
  • This surface becomes the point of action (fulcrum), and the expansion in the radial direction increases the degree of contraction in the axial direction, so that the amount of operation as an actuator can be increased.
  • at least a certain amount of operating force and amount of fluid can be secured, and operation with a small fluid supply source can also be realized.
  • the actuator according to the second invention is characterized by comprising proximity means for bringing the closed end side of the covering close to the accessory member.
  • the closing end side of the covering body is brought close to the accessory member without lifting up the auxiliary member force.
  • the point of contact of the covering member with the accessory member can be made to clearly function as an action point (fulcrum) for operation, and the expansion member is surely expanded to the side where the accessory member does not exist, so that the fluid supply state is affected. Therefore, efficient expansion and contraction of the covering can be performed stably.
  • An actuator according to a third aspect of the invention is characterized in that the expansion body is made of natural rubber or synthetic rubber, and the rubber thickness is 0.9 mm or less.
  • the expansion body is formed of natural rubber or synthetic rubber having a rubber thickness of 0.9 mm or less, and therefore, compared with a rigid expansion body used in a conventional Matsukin Ben type actuator. Even if the supply pressure of the soft fluid is lower than that of the conventional one, the operation can be sufficiently achieved, and the desired operation can be achieved even if the size of the actuator itself is reduced. In order to make the expansion body softer and to improve the operability at low pressure, it is preferable to use a rubber thickness of 0.6 mm or less. The rubber thickness is preferably 3 mm or less.
  • the actuator according to the fourth invention is characterized in that the covering is formed of an ester thread.
  • the covering is formed (knitted) with ester-based yarn as a yarn having difficulty in stretching, it becomes softer and stronger than the conventional Matsukin Ben-type actuator.
  • An actuator that can follow the expansion and deformation of the tension body sensitively and can operate reliably even when the fluid supply pressure is about 20 kPa can be obtained, contributing to the miniaturization of the actuator.
  • For forming (knitting) the covering use a combination of monofilament and multifilament yarns.
  • monofilaments and multifilament yarns that use only multifilament yarns are combined, it is easy to form a covering corresponding to the expansion and contraction form regulated by the accessory member. .
  • An actuator according to a fifth aspect of the invention is characterized in that the covering is formed of a thread of 330 dtex or less.
  • the covering is formed (knitted) with a thread of 330 decitex or less, it becomes softer and stronger than the hard fibers used in conventional actuators. Good operating condition can be obtained following subtle expansion and deformation.
  • the covering body is knitted by bagging, the stitches are rhombuses, and the longitudinal direction of the rhombuses coincides with the longitudinal direction of the covering body.
  • the covering is knitted by a knitting method called bagging, it is suitable for a form covering the expanding body, and is a soft covering that can flexibly follow the expansion of the expanding body. Can be formed.
  • the longitudinal direction of the rhombus (bias) stitches in a state where the covering does not expand and contract with the longitudinal direction of the covering, the amount of expansion and contraction in the radial direction of the expanding body can be increased. Contributes to increased operating amount.
  • a drive device is directed to the actuator, a rotating member that is rotatably connected to the attachment member, and the attachment member and the rotating device on a side opposite to the side that attaches to the cover.
  • the moving member is connected, and includes an elastic body that generates an urging force in a contracting direction when the moving member is extended, and a wire member that connects the closed end side of the covered body and the rotating member.
  • the rotating member that is rotatably connected to the attachment member of the actuator is urged by an elastic body to the side opposite to the operating direction of the actuator, and the closed end of the cover of the actuator is closed
  • the actuator is operated by connecting the side and the rotating member with a wire rod
  • the rotating member is rotated by urging the elastic body, and when the actuator is not operated, the rotating member is attached to the elastic body.
  • the posture follows the force, and the rotating member can be freely driven by the actuator.
  • the drive device according to the seventh aspect of the invention since the accessory member is used as a frame on the fixed side with respect to the rotating member, the configuration of the drive device can be simplified and the size can be easily reduced.
  • the drive device is just a human finger. It becomes a form corresponding to a part of.
  • a drive device includes a plurality of the actuators, and the attachment members of the plurality of actuators are connected in series and are rotatably connected, and end in the connecting direction.
  • a rotating member that is rotatably connected to a positioning member, a connecting member that is connected to each other, a connecting member that is an end, and the rotating member are connected to the side opposite to the side that covers the covering.
  • a plurality of elastic bodies that generate an urging force in the contraction direction when stretched, a closing end side of the covering body, an attachment member connected to the closing end side, and a closing end side of the covering body serving as the end and the rotation And a plurality of wires connecting each of the members.
  • a plurality of actuators are connected in series, and a rotating member is rotatably connected to an attachment member of the end actuator, and each member is elastically connected. Since separate wires are connected to the members that are connected by the body and rotated by each of the actuators, the rotating member and each additional member can be rotated, realizing a more complex movement equivalent to the actual finger movement Thus, it can be used for various purposes.
  • the drive device according to a ninth aspect of the invention is characterized in that the rotating member can be bent.
  • a hand device has a plurality of the drive devices, and the accessory members of the drive devices located at the ends in the longitudinal direction are combined with each other and integrated. It is characterized by that.
  • the integrated attachment member is exactly the portion corresponding to the human palm, and corresponds to the palm.
  • the operation part of each drive device protrudes in a finger shape from the part where it is formed.
  • the hand device that can be used is a humanoid robot It can be used as a hand part or a prosthetic hand.
  • the inflating body when the fluid is supplied, one end of the inflating body comes into contact with the closed end of the covering body and then expands mainly in the radial direction. It can respond sensitively to the required operating force even with a small amount of fluid supply, and can ensure linear response.
  • the closing end side of the covering body can be prevented from floating and the fluid supply can be prevented. Regardless of the state, the expansion direction of the expansion body is directed toward the side where the accessory member is not present, so that the efficient expansion / contraction state of the covering body can be maintained.
  • the expanded body is formed of natural rubber or synthetic rubber having a rubber thickness of 0.9 mm or less, the material characteristics of the expanded body are softened, and the fluid supply pressure has been conventionally increased. In comparison, it can operate satisfactorily even at low pressures, contributing to the downsizing of the actuator.
  • the covering is formed of ester-based yarn, the covering is soft and strong, and can respond sensitively to subtle expansion deformation of the expanding body, and can improve the response. .
  • the covering is formed of yarns of 330 decitex or less, so that the covering can be softened and the covering itself can be easily stretched in the radial direction.
  • the covering body has good flexibility and stretchability by knitting the covering body by bagging and matching the longitudinal direction of the rhombus (bias) stitches with the longitudinal direction of the expanding body. It can be a characteristic.
  • the rotating member rotatably connected to the attachment member of the actuator is urged by an elastic body to the side opposite to the operating direction of the actuator,
  • the rotating member can be pivoted by staking the elastic body biasing, and when the actuator is not operated, the rotating member is biased by the elastic body.
  • the rotating member can be driven freely.
  • a plurality of actuators are connected in series, a rotating member is rotatably connected to the attachment member on the end side, and each member is connected by an elastic body and is connected to each other.
  • the rotation range of the rotating member that is rotated by the actuator can be increased.
  • the accessory members on the end sides of the plurality of drive devices are fixed to each other, so that the integrated accessory member becomes a portion corresponding to a human palm and a partial force corresponding to the palm. It is possible to realize a hand device in which the operation part of each drive device protrudes like a finger and the part corresponding to the finger moves in a form equivalent to a human hand.
  • FIG. 1 is a perspective view showing an actuator, a drive device, and an air supply device according to a first embodiment of the present invention.
  • FIG. 2 (a) is an external view of the actuator, and (b) is a cross-sectional view of the actuator.
  • FIG. 3 (a) is a perspective view of an expanded body showing a state when air is not supplied
  • FIG. 3 (b) is a perspective view of the expanded body showing a state where air is supplied.
  • FIG. 4 (a) is a cross-sectional view of the actuator in a state where supply of air is started, and (b) is a cross-sectional view of the actuator in a state where air is supplied to some extent.
  • FIG. 5 is a chart showing experimental results of the actuator.
  • FIG. 6 is a graph showing the experimental results of the actuator.
  • FIG. 7 (a) is a front view of the drive device
  • FIG. 7 (b) is a rear view of the drive device.
  • FIG. 8 (a) is a side view of the drive device showing a state where the actuator is not operated
  • FIG. 8 (b) is a side view of the drive device showing a state where the actuator is operated.
  • FIG. 9 is an external view showing a modified example of the actuator.
  • FIG. 10 is a schematic exploded view showing a connection configuration of a modified example.
  • FIG. 11 is a drive device of a modified example, (a) is a side view of a state where the actuator is not operated, and (b) is a side view of the state where the actuator is operated.
  • FIG. 12 is a drive device of another modified example, (a) is a side view of the state where the actuator is not operated, and (b) is a side view of the state where the actuator is operated.
  • FIG. 13 A drive device according to another modification, in which (a) does not operate all the actuators.
  • the side view of a state, (b) is the side view of the state which operated all the actuators.
  • FIG. 14 A drive device according to a modification, wherein (a) is a side view of the first actuator activated, (b) is a side view of the second actuator activated, and (c) is the third actuator. It is a side view of the state which actuated the actuator.
  • FIG. 15 is a front view showing the structure of the hand device according to the second embodiment of the present invention.
  • FIG. 16 is a rear view showing the structure of the hand device of the second embodiment.
  • FIG. 17 (a) is a front view showing an example of the operating status of the hand device, and (b) is a side view showing an example of the operating status of the hand device.
  • FIG. 18 (a) is a rear view showing the structure of a hand device according to a modification
  • FIG. 18 (b) is a rear view showing the structure of a hand device according to another modification.
  • FIG. 19 is a schematic view showing a modified glove to be attached to the hand device.
  • FIG. 1 shows a drive device 1 using the actuator 10 according to the first embodiment of the present invention.
  • This drive device 1 is repeatedly supplied and sucked with air as a fluid, and is shown in the black in the figure.
  • the rotating member 2 is rotated in the direction of the arrow, and the rotating member 2 is linear even when a small amount of air is supplied. It is characterized by being able to rotate with responsiveness.
  • FIGS. 2 (a) and 2 (b) show the actuator 10 of the first embodiment.
  • the actuator 10 includes an expanding body 15, a covering body 12 covering the expanding body 15, and an accessory member attached to the covering body 12. 11 is provided.
  • the inflatable body 15 has a tube shape, with one end 15a closed and the other end 15b opened to insert the hose 14 for supplying air.
  • Soft synthetic rubber with a thickness of 0.3 mm is used.
  • the expansion body 15 has a flat shape.
  • the expansion body 15 initially expands mainly in the longitudinal direction (in the direction of the white arrow in the figure). Then, following the expansion in the longitudinal direction, it expands and deforms in the radial direction (black arrow direction in the figure), and the state shown in FIG. 3 (b) is obtained.
  • the covering body 12 shown in FIGS. 2 (a) and 2 (b) is knitted into a tubular shape so as to cover the expanding body 15, and is formed flexibly.
  • the covering body 12 of the first embodiment is Polyester multifilament yarn (275 decitex), which is an ester-based yarn, is knitted by bag making using a string making machine so that the cylindrical diameter is about 10 mm and the total length is about 40 mm.
  • the stitches 12e are diamond-shaped (bias), and the longitudinal direction of the diamond-shaped (bias) is knitted so as to coincide with the longitudinal direction of the cylindrical covering 12.
  • the stitches 12e are partially illustrated, and there are of course stitches where the illustration of the stitches 12e is omitted. Further, the overall length of the covering 12 is longer than that of the expanding body 15.
  • the hose 14 is inserted into the other end 15 b of the expansion body 15, and the expansion body 15 is covered with the cylindrical covering body 12. Then, the other end portion 12b side of the covering body 12 corresponding to the other end 15b side of the expanding body 15 is wound with a binding tool 13b, and the expanding body 15 and the covering body 12 are bound together with the hose 14 in a tightening manner. Fix it.
  • One end portion 12a of the covering body 12 on the opposite side in the longitudinal direction is a closed end 12c to which the locking member 16 of the wire 18 is attached.
  • the locking tool 16 is provided with a ring-shaped locking portion 16b at one end of a shaft 16a and a conical retaining portion 16c having an enlarged diameter at the other end (see FIG. 2 (b)).
  • the locking tool 16 is attached to the cover body 12 by attaching the locking tool 16 so that the retaining portion 16c fits into the one end portion 12a of the covering body 12 and the locking portion 16b protrudes from the end portion 12a. In this state, wrap the binding tool 13a around the outer periphery of the one end 12a to cover the locking tool 16. Tie and fix to body 12.
  • one end 12a of the cover 12 becomes a closed end 12c, and the inside 12d of the closed end 12c is longer than the expander 15 because the entire length of the cover 12 is longer than the expander 15. It is in a state separated from one end 15a.
  • the binding tool 13a a synthetic resin binding band, a binding bracket, a caulking tool, a string-like one, and a thread-like one can be used.
  • an elongated plate-like attachment member 11 is attached to one side of the covering body 12 covering the expandable body 15 along the longitudinal direction, and the covering body 12 is attached to the other end portion 12b side. It is fixed with the fixing tool 19 attached to the surface 1 la.
  • the fixture 19 has a structure in which a ring portion 19a is provided at the protruding end of a shaft portion 19b embedded in the accessory member 11, and the other end portion 12b of the cover 12 is inserted into the ring portion 19a. As a result, the other end 12 b side of the covering 12 is fixed to the accessory member 11.
  • the accessory member 11 is a member having a strength that can resist the expansion force of the expansion body 15, and synthetic resin, metal, wood, ceramics, or the like can be applied as the material.
  • a wire 18 is locked to the locking portion 16b of the locking tool 16 attached to the one end 12a of the covering body 12, and the wire 18 is fixed to the surface 11a of the accessory member 11. It is passed through a ring portion 17a provided at the end of the shaft 17b of the tool 17 (corresponding to the proximity device). Note that an end portion (not shown) of the wire 18 is attached to an operation target to be operated by the actuator 10 (in the present embodiment, the rotating member 2 shown in FIG. 1).
  • FIG. 4A shows a state where supply of air K as an example of fluid from the hose 14 to the actuator 10 having the above-described configuration is started.
  • the expansion body 15 mainly expands and deforms in the longitudinal direction (in the direction of the white arrow in the figure) according to its expansion characteristics, and one end 15a is the inside 12d of the closed end 12c of the covering body 12d. Abut. It should be noted that the inside 12d with which the one end 15a of the expansion body 15 abuts also includes the end face of the retaining portion 16c of the locking tool 16.
  • the expansion body 15 cannot expand in the longitudinal direction because the one end 15a replaces the inside 12d of the closed end 12c of the covering body 12. As shown in Fig. 4 (b), it expands in the radial direction. At this time, the side where the accessory member 15 is present is difficult to expand due to the interference of the accessory member 15, so the expanding body 15 mainly expands in the radial direction where the accessory member 15 does not exist. Zhang deforms. With the expansion and deformation in the radial direction, the dimension of the expansion body 15 in the longitudinal direction is conversely reduced.
  • the covering body 12 Following the expansion deformation of the expansion body 15, the covering body 12 also contracts in the longitudinal direction and extends in the radial direction.
  • the contraction and extension of the covering body 12 are accompanied by the above-described expansion deformation of the expanding body 15, and specifically, the covering body 12 expands mainly in the radial direction where the accessory member 11 does not exist, and the covering body 12
  • the extension of the central portion Lb of the body 12 is larger than the end portions La and Lc around which the tying members 13a and 13b are wound. Therefore, even if the amount of supplied air is small, the covering 12 extends intensively in the direction in which the diameter increases at the location without the addition member 11 of the central portion Lb, and accordingly the longitudinal direction of the covering 12 is increased. Dimensions also shrink easily.
  • the wire 18 connected to the locking tool 16 on the one end 12a side is the ring portion 17a of the guiding tool 17. Since it passes through the inside, the radial direction of the expansion body 15 restricts the expansion body 15 and the covering body 12 from separating from the accessory member 11, and the one end 12 a of the expansion body 15 and the covering body 12 moves to the attachment member 11. Can maintain close proximity. As a result, even when an amount of air is supplied to the extent that the expansion body 15 expands in the radial direction, the expansion member 15 expands and deforms only in the radial direction where the attachment member 11 of the expansion body 15 does not exist, and the actuator 10 operates efficiently. Striving for stability.
  • the actuator 10 when the air supplied to the expansion body 15 is sucked through the hose 14 from the state shown in FIG. 4 (b), the actuator 10 returns to the state shown in FIGS. 2 (a) and 2 (b).
  • the actuator 10 can be operated continuously between the state shown in FIGS. 2 (a) and 2 (b) and the state shown in FIG. 4 (b).
  • the actuator 10 starts to operate even at a low pressure compared to the conventional case, and the operating force after the start of operation is linearly generated compared to the conventional case. Since the rigidity of 15 and the covering 12 is also lower than that of the conventional one, it is possible to reduce the size. In addition, since the actuator 10 can be operated at a low pressure, a small compressor is sufficient to supply air. In addition to a small compressor, the actuator 10 can be operated with a small amount of air supply means such as a syringe. Can be operated.
  • the table shown in FIG. 5 shows the results of an experiment conducted to examine the characteristics of the actuator 10 having the above-described configuration.
  • the amount of air supplied to the actuator 10 was The working distance of the actuator 10 when the load is not attached to the tip of the wire 18 and when the load of the specified weight is attached (distance where the sheath 10 is retracted) in the case of lml, 3ml, 5ml , And the contraction rate of the actuator 10 was examined.
  • the working distance of the actuator 10 is the distance L1 between the ties 13a and 13b of the covering 12 in the state where air is not supplied as shown in FIG. 2 (a) and the air shown in FIG. 4 (b).
  • the air supply device 30 is an air supply means based on the syringe 32, and the hose 14 is connected to the tip nozzle 33a of the syringe 32 via the manual switching valve 35.
  • the cylinder tube portion 33 of the syringe 32 is fixed to the upper surface 31a on one end side of the elongated base plate 31 by a holder 36 in a horizontal posture, and the piston portion 34 that slides in the cylinder tube portion 33 in the longitudinal direction has a rod portion 34a.
  • the piston portion 34 and the rod portion 34a are slidable through the hole 36a formed in the holder 36 standing from the base plate 31.
  • a columnar motion converting member 37 is attached to the disc-shaped end portion 34 b of the piston portion 34.
  • the motion converting member 37 has a screw hole 37a formed along the central axis, and a screw rod 38 is screwed into the screw hole 37a.
  • the screw rod 38 is attached via an intermediate member 41 to a motor shaft 40a of a motor 40 attached to a motor holder 39 erected from the upper surface 3la on the other end side of the base plate 31.
  • the motor 40 is connected to a motor controller 42 by a lead wire d, and the rotation of the motor 40 is controlled by the motor controller 42.
  • the actuator 10 of the present invention can operate smoothly even with a very small amount of air.
  • the air supply rate is increased from 1 ml to 3 ml at a load of 50 g or less and the air supply rate is increased from 3 ml to 5 ml, the distance and contraction rate are compared. This is because the expansion rate of the expansion body 15 of the actuator 10 and the expansion / contraction ratio of the covering 12 are close to physical limits.
  • the graph shown in FIG. 6 shows the result of another experiment conducted for examining the characteristics of the actuator 10.
  • the amount of air supplied to the actuator 10 is increased sequentially from Oml.
  • the force (operating force) that pulls the wire 18 is measured. From the graph in Fig. 6, the air volume (ml) and the operating force (N) are almost linear, and the actuator 10 is good. It became clear that it showed the responsiveness.
  • the drive device 10 is connected to one end of the attachment member 11 of the actuator 10 so that the elongated plate-like rotation member 2 is rotatably connected.
  • the end 18a of the material 18 is attached to the surface 2a of the rotating member 2.
  • one end l ib of the accessory member 11 is formed with a rectangular recess 11c
  • the opposite end 2b of the rotating member 2 is formed with a protrusion 2c that enters the recess 11c.
  • the shaft 21 extending in the width direction of the rotating member 2 and the accessory member 11 is attached so as to penetrate the one end 1 lb and the convex portion 2c of the accessory member 11, and the rotating member 2 is centered on the shaft 21. Can be rotated.
  • the material of the rotating member 2 can be the same as that of the accessory member 11.
  • the driving device 10 includes the one end 1 lb side of the accessory member 11 and the end 2b side of the rotating member 2 on the back surface 11d side opposite to the surface 11a to which the covering 12 of the accessory member 11 is attached.
  • Elastic bodies 22 and 23 are attached so as to connect (see FIG. 7B).
  • Elastic bodies 22 and 23 shrink when stretched This is a belt-shaped rubber piece that generates an urging force on one end 22a, 23a and the other end 22b, 23b are attached to the back surface 2d of the rotating member 2 and the other end 22b, 23b is attached to the back surface of the accessory member 1 1 Is pasted.
  • FIG. 8 (a) when the air is supplied to the actuator 10, in this case, the rotating member 2 and the accessory member 11 are linearly moved by the urging force of the insulators 22 and 23.
  • the covering 12 contracts in the longitudinal direction and the wire 18 is pulled toward the covering 12 side.
  • the rotating member 2 rotates. Therefore, by repeatedly supplying and sucking air through the hose 14 to the actuator 10, the driving device 1 alternately takes the posture shown in FIG. 8 (a) and the posture shown in FIG. A driving form in which a human being without using a complicated configuration bends the fingertip can be realized with a small amount of air.
  • the rotation angle ⁇ of the rotation member 2 shown in Fig. 8 (b) is the total length of the covering 12 itself of the actuator 10, the distance X from the shaft 21 to the attachment position of the end 18a of the wire 18a (Fig. 8 (Refer to (a)), and the length and width of the elastic bodies 22 and 23 vary. By appropriately setting these, the desired rotation angle ⁇ can be obtained.
  • the rotating member 2 can be rotated at a desired angle within the rotatable range by adjusting the amount of air to be supplied, in addition to rotating within the entire rotatable angle range.
  • the driving device 1 and the actuator 10 according to the first embodiment can be applied to various modified examples that are not limited to the above-described embodiments.
  • natural rubber can be applied to the material of the expandable body 15, and the rotating member 2 and the accessory member 11 may be formed in a rod shape, a bone shape, or the like depending on the usage form other than the elongated plate shape.
  • a panel for example, a tension coil panel
  • the elastic body connecting the rotating member 2 and the accessory member 11 may be one instead of two. Place this elastic body so that it passes through the center in the longitudinal direction.
  • the yarn knitting the covering 12 may be a combination of multifilament and monofilament, and the number of decitex of each yarn is 330 dtex or less. Yes, the degree of expansion and contraction and softness can be changed appropriately by devising the yarn and knitting method used.
  • the guide 17 of the actuator 10 is the actuator 1 0 may be omitted according to the form to which the coating itself is applied and the longitudinal dimension of the covering 12, and the fluid supplied to the actuator 10 includes gases other than air, liquids such as water and oil. Applicable.
  • a member other than the above-described fixing device 19 may be applied.
  • the fixing device 19 may be used instead.
  • the other end 12b may be fixed to the accessory member 11 with an adhesive.
  • a fixing member may be provided so as to protrude from a separate fixing member or attachment member 11 so as to face the rotating member 2 in the posture described above, and an object may be sandwiched between the fixing member and the rotating member 2.
  • a fixing member can be provided so as to face the covering 12 that constitutes the actuator 10 of the driving device 10, and an object can be sandwiched between the covering 12 that expands in the radial direction and the fixing member. In the case where a plurality of the actuators 10 are provided, it is also possible to sandwich the object with the plurality of covering bodies 12.
  • FIG. 9 shows a modified example of the actuator 50, which covers the inflating body 55 with an elongated bag-like covering body 52 whose one end portion 52 a is closed in advance.
  • the wire rod 58 is attached to the actuator 50 of the modified example by attaching the plate member 57 having a predetermined size to the one end 58b of the wire rod 58 as a retaining member, and the other end of the wire rod 58 is one end portion 52a of the covering 52. It is suitable to carry out by letting pass.
  • the end of the covering 52 is fixed to the accessory member with an adhesive.
  • FIG. 10 shows a modification of the connection form of the rotating member 62 and the accessory member 61.
  • a rod-shaped retractable member 63 is projected from the end surface 61e of the accessory member 61, and the end surface 62e of the rotating member 62 is shown. Is formed with a hole 62f, and the projecting end of the retractable member 63 is fitted into the hole 62f so that the rotating member 62 can be rotated in the direction of the arrow in FIG. Can be linked.
  • the connection form is further facilitated, and the rotation range can be increased.
  • various coupling mechanisms such as hinges and ball joints may be applied.
  • FIGS. 11 (a) and 11 (b) show a drive device 80 according to a modified example.
  • the drive device 80 moves the cover 82 to a rotating portion.
  • a hinge portion 81c is projected from one end portion 8 lb of the accessory member 81, and a rotating member is connected to the protruding end of the hinge portion 81c via a shaft 83.
  • 84 is pivotally attached.
  • the radial dimension of the covering 82 increases, so that the rotating member 84 rotates about the shaft 83 in a direction away from the attachment member 82. Since this driving device 80 uses the increase in the radial direction of the covering 82, the rotating member 84 can be driven with a simpler configuration without using a wire or the like.
  • FIGS. 12 (a) and 12 (b) show a driving device 90 of another modified example.
  • the drive device 90 is characterized in that a rotating member 92 that is rotatably connected to the accessory member 11 of the actuator 10 is bendable, and the rotating member 92 is connected to the accessory member 11.
  • a first base 93 and a second base 94 attached to be bent with respect to the first base 93 are provided.
  • connection configuration of the first base 93 and the second base 94 is basically the same as the configuration shown in FIGS. 7 (a) and 7 (b), and the second base 94 is centered around the second shaft 95.
  • the first base 93 is bent (rotated), and the first base 93 is rotated with respect to the accessory member 11 about the first shaft 91.
  • elastic bodies 96 and 97 are attached to the back surface id of the attachment member 11 so as to continuously connect the attachment member 11 and the first base 93 to the second base 94 of the rotating member 92.
  • the end 18a of the wire 18 that also extends the force at one end 12a of the covering 12 is attached to the surface 94a of the second base 94.
  • the actuator 10 applied to the present modification is one in which the guide 17 is omitted, and the cover 12 is fixed to the accessory member 11 with an adhesive.
  • FIGS. 13 (a) and 13 (b) show a driving device 100 which is still another modified example.
  • the drive device 100 according to the modified example includes a first actuator 110, a second actuator 120, and a third actuator 130 that are connected in series so as to be rotatable, and the third actuator on the tip side is further connected.
  • the rotating member 102 is rotatably connected to the third accessory member 131 of 130.
  • first accessory member 111 of the first actuator 110 and the one end 112a of the first cover 112 of the first actuator 110 are connected to the other end 122b of the second cover 122 of the second actuator 120.
  • the second accessory member 121 of the second actuator 120 is connected, and the second and third actuators 130 are connected in the same manner as described above.
  • elastic bodies 118, 119, 128, 129, 138, and 139 are attached to connect the third accessory member 131 and the rotating member 102, respectively.
  • the elastic bodies 118, 128, and 138 may be integrally continuous, and the elastic bodies 119, 129, and 139 may be integrally continuous as well.
  • the first actuator 110 has the tip of the first wire 118 attached to the accessory member 121 of the second actuator 120, and the second actuator 110 has the tip of the second wire 128 attached to the third actuator 130.
  • the third actuator 130 has the tip of the third wire rod 138 attached to the rotating member 102.
  • the third accessory member 121 is rotated about the second shaft 127 with respect to the second accessory member 121, and the rotation member 102 is further rotated with respect to the third accessory member 131 with respect to the third shaft 137. , And the pivot locus of the tip 102a of the pivot member 102 can be further increased.
  • FIG. 14 (a) shows a case where air is supplied only to the first actuator 110, and the second accessory member 121 rotates about the first shaft 117 relative to the first accessory member 111.
  • the second accessory member 121 and the third accessory member 131, and the third accessory member 131 and the rotating member 102 are maintained in a linear posture by the biasing force of the elastic bodies 128, 129, 138, and 139.
  • FIG. 14 (b) shows the case where air is supplied only to the second actuator 120.
  • the third accessory member 131 rotates about the second shaft 127 with respect to the second accessory member 121, and the first accessory
  • the attachment member 111, the second attachment member 121, the third attachment member 131, and the rotating member 102 maintain a linear posture by the urging forces of the elastic bodies 118, 119, 138, and 139.
  • FIG. 14 (c) shows a case where air is supplied only to the third actuator 130, and the rotating member 102 rotates about the third shaft 137 with respect to the third accessory member 131, and the first The accessory member 111 and the second accessory member 121, and the second accessory member 121 and the third accessory member 131 maintain a linear posture by the urging force of the elastic bodies 118, 119, 128, and 129.
  • the driving device 100 of the modified example can operate any two of the actuators 110, 120, and 130 in addition to FIGS. 14 (a) to (c), and is equivalent to FIG. 13 (b). It is of course possible to operate all of them, and by connecting a total of three air supply devices 30, the driving device 100 can realize a complicated human finger movement.
  • any one of the actuators 110, 120, 130 is operated independently. It is possible to activate the other two at the same time. Further, the configuration of the bendable turning member 92 shown in FIGS. 12 (a) and 12 (b) is applied to the turning member 102 in the driving device 100 of the modified example to further increase the turning range. Also good.
  • FIG. 15 shows a hand device 200 according to the second embodiment of the present invention.
  • the hand device 200 of the second embodiment is exactly the same as the first drive device 300, the second drive device 400, the third drive device 500, and the fourth drive device 600 having the same configuration as the drive device 100 shown in FIGS.
  • a fifth driving device 700 is arranged in the human hand, with the first finger 110 being omitted from the driving device 100 shown in FIGS. Place it at the thumb position.
  • each of the portions 721 corresponding to the second accessory member 121 of the driving device 100 shown in FIGS. 13 and 14 is integrally combined with each other.
  • a palm member 201 which is an integral member as a palm of the hand device 200 is formed.
  • a portion 311-611 corresponding to the first accessory member 111 of the first to fourth driving devices 100-600 and a portion corresponding to the second accessory member 121 of the fifth driving device 700 are provided. 721 is modified so that the shape of the palm member 201 is not formed in the shape of an elongated plate.
  • the first driving device 300 corresponding to the index finger includes a second accessory member 321 and a third covering member with a second covering member 322 along the longitudinal direction of the first covering member 312 placed on the palm member 201.
  • Each of the third accessory member 331 and the rotating member 302 with the body 332 is rotatably connected.
  • the convex portion 321a at the end of the second member 321 is accommodated in the concave portion 201a formed on the periphery of the palm member 201, and the second member 321 is rotatably connected to the palm member 201! RU
  • the second driving device 400 corresponding to the middle finger, the third driving device 500 corresponding to the ring finger, and the fourth driving device 600 corresponding to the little finger are also the second accessory members 421, 521, 621.
  • the third accessory members 431, 531, 631 and the rotating members 402, 502, 602 are connected by force and have second covering bodies 422, 522, 622 and third covering bodies 432, 532, 632, respectively.
  • the convex portions 421a, 521a, 621a of the second accessory members 421, 521, 621 are also housed in the concave portions 201b, 201c, 201d of the palm member 201 and are rotatably connected.
  • the fifth driving device 700 corresponding to the thumb is connected to the third accessory member 731 and the rotating member 702 with the third covering body 732, and the convex portion 731a of the third auxiliary member 731 is the concave portion of the palm member 201. It is housed in 201e and is pivotally connected.
  • FIG. 16 shows the back side of the hand device 200.
  • Ten peripheral members of the palm member 201 are connected to the second accessory members 321, 421, 521, 621 of the first to fourth driving devices 300 to 600 and the third accessory member 731 of the fifth driving device in total.
  • Elastic bodies 318, 319-728, and 729 are attached, respectively.
  • a total of eight elastic bodies 328, 329-628, and 629 forces are attached to connect each of the second accessory members 321 to 621 and each of the third accessory members 331 to 631.
  • a total of ten elastic members 338, 339-738, and 739 are attached so as to connect each third accessory member 331-731 and each rotation member 302-702.
  • the hand device 200 of the second embodiment has a forefinger 211, a middle finger 212, a ring finger 213, a little finger 214, and a thumb 215 for protection of the drive devices 300-700 described above. Gloves 210 are put on. When the hand device 200 having such a configuration is operated for each actuator, 14 air supply devices 30 (see FIG. 1), which is the total number of the coverings 312 to 732, are required.
  • FIGS. 17 (a) and 17 (b) show a state in which the hand device 200 having the above-described configuration is operated and the sphere C having a breaking force is gripped.
  • a hose h for supplying air to each actuator is extended from the lower end 210a of the glove 210, and each hose h is separately connected to each of the 14 air supply devices 30 in total.
  • Yes. 17 (a) and 17 (b) supply air to all the actuators, drive the first to fifth driving devices 300-700, bend each finger 211-215, and hold the sphere C.
  • the hand device 200 can perform various movements similar to those of human hands by changing the air supply form of each air supply device 30, and the hand device 200 is used as a prosthetic hand. It is also possible.
  • the hand device 200 of the second embodiment there are various modified examples of the hand device 200 of the second embodiment.
  • a single air supply device 30 is shared by a plurality of actuators.
  • the hand device 200 in the state shown in FIG. 15 is covered with a stretchable synthetic resin. It is also possible to mold as described above.
  • the various modifications of the first embodiment can be applied, and the number of drive devices to be applied is two or more. If there is, you can grasp the object.
  • FIG. 18 (a) shows a modified hand device 220 that also shows the instep side force.
  • the modified hand device 220 is characterized in that an elastic body 222 formed integrally instead of the plurality of elastic bodies 318-739 shown in FIG. 16 is attached to the back side of the node device 220! /
  • the elastic body 222 has a form corresponding to the shape of the hand device 220. Specifically, from the upper portion 222a corresponding to the palm member 221 to the second accessory member of the first driving device 300 corresponding to the index finger. The index finger 222b that connects 321 to the rotating member 302 protrudes.
  • each finger part 222b-222f is made narrower as it goes to the fingertip.
  • By sticking such an elastic body 222 it is possible to secure good operability while simplifying the configuration of the hand device 220, and the force to maintain the posture in which each finger of the hand device 220 is stretched is also different. Adjustment is made easier by changing the width dimension of the fingers 222b-222f.
  • FIG. 18 (b) shows another modified hand device 230, which separates the elastic body 222 of the hand device 220 of FIG. 18 (a) described above for each finger.
  • the feature is the form.
  • the first elastic body 231 is attached so as to continuously connect the palm member 231 and the respective members 321 to 302 of the first drive device 300.
  • the palm member 231 and the second drive device 400 are bonded.
  • the second elastic body 232 is affixed so as to continuously connect the members 4 21 to 402, and the third elastic member 231 and the members 521 to 502 of the third driving device 500 are continuously connected to the third elasticity.
  • the body 233 is pasted
  • the fourth elastic body 234 is pasted so as to continuously connect the palm member 231 and each member 621-602 of the fourth driving device 600, and the palm member 231 and each member of the fifth driving device 700
  • the fifth elastic body 235 is pasted so that 731 and 702 are connected continuously.
  • the first to fifth elastic bodies 231 to 235 that are independent of each other, it becomes easy to adjust the posture maintaining force of the finger of the hand device 230 extended for each finger.
  • the urging force itself is also different, so that the hand device 230 in which the posture maintaining force between the index finger and the middle finger is different can be easily realized.
  • Such a difference in posture maintenance force for each finger is preferably adjusted according to the use of the hand device 230.
  • FIG. 19 shows a glove 240 that is a modification of the glove 210 shown in FIG.
  • This glove 240 is characterized in that an elastic body 250 as shown in FIG. 18 (a) is pasted on the inner surface of the hand device to be worn facing the back side, so that the glove 240 is placed on the palm side. In comparison, the urging force on the former side becomes stronger.
  • the hand device attached to the glove 240 is, for example, a node device 20 shown in FIG. From 0, the elastic bodies 318-739 are omitted.
  • the elastic body 250 index finger part 250a-thumb part 250e biasing force applied to each finger part 241-245 of the glove 240
  • the elastic body to be attached to the glove 240 is separated for each finger as shown in Fig. 18 (b). It is preferable to apply one.
  • the actuator according to the present invention is operable at a low pressure and has improved responsiveness as compared with the conventional actuator.
  • the drive device using the actuator of the present invention can be applied to production equipment and various machines in a factory and to various robots for industrial use and welfare.
  • the hand device using the drive device of the present invention can be applied to hand parts and prosthetic hands of various robots for industrial use and welfare use.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Actuator (AREA)

Abstract

L’invention concerne un actionneur de type à pression de fluide commandé à une pression inférieure à un niveau conventionnel et dont la réponse est améliorée. Un corps d’expansion tubulaire (15) dont une extrémité (15a) est fermée et dont l’autre extrémité ouverte (15b) comporte un tuyau (14) inséré dans son ouverture est recouvert avec un corps d’enduction tubulaire (12). L’autre extrémité (12b) du corps d’enduction (12) est liée par un élément de liaison (13b) et fixée par un élément de fixation (19) à un élément rapporté (11) s’étendant le long du corps d’enduction (12). Une extrémité (12a) du corps d’enduction (12) est liée par un élément de liaison (13a) à un élément d’engagement (16), auquel un fil (18) est fixé, reçu dans l'extrémité (12a), formant ainsi une extrémité fermée (12c). En l’absence de fluide, une extrémité (15a) du corps d’expansion (15) est séparée de l’extrémité fermée (12c), et en cas d’injection de fluide, le corps d’expansion (15) se dilate tout d’abord dans la direction longitudinale pour conduire l'extrémité (15a) à venir au contact de l’extrémité fermée (12c), puis se dilate dans la direction radiale.
PCT/JP2005/001362 2005-01-31 2005-01-31 Actionneur, dispositif d’entraînement et dispositif manuel Ceased WO2006080088A1 (fr)

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JP2007500399A JPWO2006080088A1 (ja) 2005-01-31 2005-01-31 アクチュエータ、駆動装置、及びハンド装置
PCT/JP2005/001362 WO2006080088A1 (fr) 2005-01-31 2005-01-31 Actionneur, dispositif d’entraînement et dispositif manuel

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JP2008046092A (ja) * 2006-08-21 2008-02-28 Ritsumeikan 動作検出センサ及びアクチュエータシステム
JP2008121783A (ja) * 2006-11-13 2008-05-29 Japan Science & Technology Agency 関節システム
JP2008149444A (ja) * 2006-08-28 2008-07-03 Yaskawa Electric Corp ロボットおよび制御方法
JP2008249000A (ja) * 2007-03-30 2008-10-16 Sques Kk アクチュエータ、駆動装置およびハンド装置
JP2009068531A (ja) * 2007-09-11 2009-04-02 Shin Meiwa Ind Co Ltd 弾性収縮体を備えたアクチュエータ、そのアクチュエータを備えた把持機構、および、その把持機構を備えたロボットハンド。
JP2009125888A (ja) * 2007-11-26 2009-06-11 Toyota Motor Corp ロボットハンド
WO2009122578A1 (fr) 2008-04-02 2009-10-08 スキューズ株式会社 Dispositif de rotation
JP2009250438A (ja) * 2008-10-28 2009-10-29 Sques Kk 回動装置
GB2467762A (en) * 2009-02-13 2010-08-18 Shadow Robot Company Ltd A robotic hand and arm for attachment to a torso
JP2011169425A (ja) * 2010-02-19 2011-09-01 Seiko Epson Corp アクチュエーター
WO2012148472A3 (fr) * 2010-11-19 2013-07-25 President And Fellows Of Harvard College Actionneurs robotisés déformables
WO2013148340A3 (fr) * 2012-03-26 2013-12-05 President And Fellows Of Harvard College Systèmes et méthodes fournissant des actionneurs robotiques flexibles
AT516782A1 (de) * 2015-02-06 2016-08-15 Fh Campus Wien Forschungs- Und Entw Gmbh Elastischer Greiffinger
WO2017213198A1 (fr) * 2016-06-07 2017-12-14 学校法人 中央大学 Dispositif d'aide au mouvement
US9945397B2 (en) 2010-11-19 2018-04-17 President And Fellows Of Harvard College Systems and methods for actuating soft robotic actuators
US9962832B2 (en) 2013-03-04 2018-05-08 President And Fellows Of Harvard College Magnetic assembly of soft robots with hard components
US10195742B2 (en) 2015-12-25 2019-02-05 Kabushiki Kaisha Toshiba Driving apparatus
CN109732582A (zh) * 2019-01-18 2019-05-10 哈尔滨工业大学 一种基于外侧拉线的软体机器人摄像头携带装置和方法
CN115139321A (zh) * 2022-08-03 2022-10-04 创客天下(北京)科技发展有限公司 便携式机器人示教器
JP2022159157A (ja) * 2021-03-31 2022-10-17 トヨタ自動車株式会社 性能改善のための荷重支持体を有する人工筋肉駆動ユニット
US20230321818A1 (en) * 2014-06-09 2023-10-12 Soft Robotics, Inc. Soft robotic actuators utilizing asymmetric surfaces

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JP2008046092A (ja) * 2006-08-21 2008-02-28 Ritsumeikan 動作検出センサ及びアクチュエータシステム
JP2008149444A (ja) * 2006-08-28 2008-07-03 Yaskawa Electric Corp ロボットおよび制御方法
JP2008121783A (ja) * 2006-11-13 2008-05-29 Japan Science & Technology Agency 関節システム
JP2008249000A (ja) * 2007-03-30 2008-10-16 Sques Kk アクチュエータ、駆動装置およびハンド装置
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WO2008123271A1 (fr) * 2007-04-03 2008-10-16 Kabushiki Kaisha Yaskawa Denki Robot et procédé de commande
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JP2009068531A (ja) * 2007-09-11 2009-04-02 Shin Meiwa Ind Co Ltd 弾性収縮体を備えたアクチュエータ、そのアクチュエータを備えた把持機構、および、その把持機構を備えたロボットハンド。
JP2009125888A (ja) * 2007-11-26 2009-06-11 Toyota Motor Corp ロボットハンド
WO2009122578A1 (fr) 2008-04-02 2009-10-08 スキューズ株式会社 Dispositif de rotation
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JP2009250438A (ja) * 2008-10-28 2009-10-29 Sques Kk 回動装置
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