Modeling and system integration for a thin pneumatic rubber 3-DOF actuator

Shuhei Kawamura, Mizuki Sudani, Mingcong Deng, Yuichi Noge, Shuichi Wakimoto

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)


Recently, soft actuators have been getting increased attention within various fields. The actuators are composed of flexible materials and driven by pneumatic pressure. A thin pneumatic rubber actuator generating 3 degrees of freedom motion, called 3-DOF micro-hand, has small diameter McKibben artificial muscles which generate a contraction force in the axial direction. By this structure, the micro-hand contracts in the longitudinal direction and bends in any direction by changing the applied air pressure pattern to the artificial muscles. The input-output relation of the micro-hand, however, is complicated and has not been modeled. In this paper, modeling for 3-DOF micro-hand is proposed. Moreover, the experimental system is built for the micro-hand and the proposed model is evaluated by using the experimental results.

Original languageEnglish
Article number32
Issue number2
Publication statusPublished - Jun 1 2019


  • 3-DOF micro-hand
  • Actuator
  • Experimental result
  • Experimental system
  • Model
  • Nonlinear

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization


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