Development ofFlexible RobotArm UsingRod-less TypeFlexible Pneumatic Cylinders

Thepurpose ofourstudy istodevelop aflexible andlightweight actuator whichcanbesafe enough tobe attached tothehumanbody. Then, weproposed newtypes offlexible pneumatic actuators that could beusedevenifthe actuator wasdeformed byexternal forces. Moreover, wetested rod-less typeflexible pneumatic cylinders that could be movedbypush-pull action, andapplied thetested flexible cylinders asarotary actuator. Inthis paper, wedevelop the flexible pneumatic robot armasanapplication ofthat flexible pneumatic cylinder. We investigate several kinds of motion ofthetested robot armbyusing themaster-slave typecontrol system. Moreover, wedevelop theflexible pneumatic cylinder withabuilt-in position sensor.