Mechanical Characteristics of a Two-Degree-of-Freedom Pneumatic Rubber Actuator Performing Bending Motion

The McKibben type rubber actuator utilizes pneumatic or hydraulic pressure, offering lightweight design, high output, and flexibility while exerting force. As a pressure vessel and actuator, it can also bend, allowing it to function like a finger for grasping actions with multiple fingers. By dividing the internal air chamber, the actuator gains two degrees of freedom in its bending action. This presentation reports on the basic examination results of the mechanical properties of this two-degree-of-freedom bending-type rubber actuator.