Abstract
This paper presents the concept of a lightweight manipulator that can interact directly with an operator in order to assist him in handling heavy loads. The advantages of the system, ergonomics, low weight, low cost, ease of operation and operator safety are a consequence of the use of Pleated Pneumatic Artificial Muscles as actuators. The design of a small-scale model of such a manipulator using these actuators is presented, as well as a sliding mode controller for the system. © 2006 Springer-Verlag Berlin Heidelberg.
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CITATION STYLE
Van Damme, M., Van Ham, R., Vanderborght, B., Daerden, F., & Lefeber, D. (2006). Design of a “soft” 2-DOF planar pneumatic manipulator. In Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005 (pp. 559–566). Kluwer Academic Publishers. https://doi.org/10.1007/3-540-26415-9_67
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