A 3 DOFs Mini Variable Stiffness Soft Pneumatic Actuator

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Surgical robots for minimal access surgery are used to enhance surgeons' performance by motion scaling and reduction of physiological tremor. The advantages of rigid robots include high precision and fast movements. However, an active control is needed for safe interaction with organs and tissues. By contrast, soft robots are intrinsically safe; however, they have limited precision movements because of their low stiffness. In the present study we describe a mini soft pneumatic cylindrical actuator that can change its stiffness by means of antagonistic tendons. The actuator has 3 degrees of freedom (DOFs), an external diameter of 12 mm, length of 15 mm, weight of 1.5 g, and a maximal activation air pressure below 60 kPa (0.60 atm). We report the design of the i) soft actuator, ii) range of motion data, iii) output force and torque, and iv) its variable stiffness under external load.

Original languageEnglish
Title of host publicationProceedings of ACTUATOR 2018
Subtitle of host publication16th International Conference on New Actuators
EditorsHubert Borgmann
Pages169-172
Number of pages4
ISBN (Electronic)9783800746750
Publication statusPublished - 25 Jun 2018
Event16th International Conference and Exhibition on New Actuators and Drive Systems, ACTUATOR 2018 - Bremen, Germany
Duration: 25 Jun 201827 Jun 2018

Publication series

NameACTUATOR 2018 - 16th International Conference and Exhibition on New Actuators and Drive Systems, Conference Proceedings

Conference

Conference16th International Conference and Exhibition on New Actuators and Drive Systems, ACTUATOR 2018
CountryGermany
CityBremen
Period25/06/1827/06/18

Keywords

  • Soft Hollow Actuator
  • Variable Stiffness Actuator
  • Medical Robots

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