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This paper presented a new design for underactuated robotic hand which has four grasping modes for objects. The robotic hand has three fingers. The underactuated mechanism of thumb is composed of gear-rack structure and the other two fingers work as a 2DOF gripper. The robotic hand can form both opening and closing motions with one motor. There is another motor which can control the distance between...
In our previous studies, we succeeded in construction self-oscillating gel actuator such as a self-walking gel and a dynamic motion of a gel actuator. However, the speed of the swelling-deswelling self-oscillation is too slow in order to realize practical chemical robot. In this study, we succeeded in the wide-range control of the period for the swelling-deswelling self-oscillation of a novel polymer...
Stimuli-responsive polymers and gels have been applied to biomimetic actuators or artificial muscles. Biomimetic robots using such materials can move like a living creature. Especially, electroactive polymers are said to be promising materials as advanced soft actuators. Its mechanical motion is controlled by external stimuli such as a change in solvent composition, pH, temperature and electric field...
The goal of our research is to develop a chemical robot, which unlike the conventional robots with electrical power source, is powered by a chemical reaction similar to living organism. The first step in our research is to design a chemomechanical actuator using a self-oscillating polymer gel, which undergoes periodical swelling-deswelling process. The swelling-deswelling process generates periodical...
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