Omnidirectional soft robot platform with flexible actuators for medical assistive device

Mohamed Najib Ribuan, Shuichi Wakimoto, Koichi Suzumori, Takefumi Kanda

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)


This manuscript explains the employment of flexible actuators to act as a soft robot and transporting agent to assist medical X-ray examinations. Although soft robots from silicone material can be transparence and a human compliance used as medical assistive devices, soft robots have some problems: they tend to be sluggish, have long and imprecise gait trajectories, and need their control parameters to be adjusted for motion diversion. A soft robot with omnidirectional locomotion has been created, one that has a combination of pneumatic rubber legs that form a soft robot platform and an associated hardware setup. Tests have confirmed its omnidirectional locomotion ability; it has a maximum speed of 6.90 mm/s in forward locomotion and a maximum payload of 70 g. These features indicate that the robot can be used as a medical assistive device for fluoroscopy examinations.

Original languageEnglish
Pages (from-to)494-502
Number of pages9
JournalInternational Journal of Automation Technology
Issue number4
Publication statusPublished - 2016


  • Flexible actuator
  • Fluoroscopy
  • Medical assistive device
  • Pneumatic pillow
  • Soft robot
  • X-ray examination

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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