Distributed Actuation Devices Using Soft Gel Actuators

ICPF actuator is an electro-active polymer gel actuator. Distinguishing points of this new material are low driving voltage (1.5 V), high-speed response (> 100 Hz), softness (E = 2.2 × 108 Pa), and its ability to function under wet conditions. This paper introduces distributed actuation devices using the ICPF actuators. EFD is an element which drives objects by elliptic motion. A system with a number of EFD cilia which cooperatively drive or transfer objects was studied. A face actuator which freely changes its shape was developed using a pattern plating method. It has distributed ICPF actuators having some degrees of freedom (DOF). Soft manipulation is an application of this device.

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