Prototyping pneumatic group actuators composed of multiple single-motion elastic tubes

Abstract

In this article, we will develop pneumatic actuators composed of multiple elastic tubes. Elastic tubes with mechanical constraints have a capability of performing a single various motion while multiple motions cannot be performed. Actuators composed of single-motion tubes can realize multiple motions by controlling air pressure imposed on individual tubes. We will present the concept of group actuators and will develop their prototypes.