Development of Flexible Pneumatic Linear Stepping Actuator with Continuous Pushing/Pulling Mechanism in Bending Motion

Takashi SHINOHARA, Shunya MAKIDA, Tetsuya AKAGI, Shujiro DOHTA, Feifei CHO, Masashi YOKOTA

The 12th JFPS International Symposium on Fluid Power HIROSHIMA 2024

Japan Fluid Power System Society

HIROSHIMA

In the previous study, a flexible pneumatic linear stepping actuator (PLSA) that can perform a long stroke motion with large force was developed. In this study, a novel PLSA that can push or pull the rod while changing the direction of pushing/pulling force was developed and tested. The control system that consists of an embedded controller with Bluetooth communication unit and on/off valves was also developed. It can be confirmed that the PLSA can realize continuous pushing/pulling motion of the rod while the bending direction of the rod is changing according to the transmitted cord through Bluetooth. Also, the tested PLSA can realize pushing/pulling motion while the bending direction of the rod is changed. As a result, it can be confirmed that the tested PLSA is valid to be used as a home healthcare supporting device to give passive exercise for upper limbs while grasping the rod end by hand.