In this paper, we propose a new type of soft actuator (Sponge-Core-Soft Rubber Actuator) in which a sponge rubber is covered with silicon rubber. The structure of the sponge rubber is divided into two types. One is single-layer type and the other is two-layer type (a flat type and a clipping type). In order to clarify the differences in characteristics of each actuator, we examine the basic characteristics of the actuators. Further, the control performances of both position and force are studied to realize a hybrid element. From some experimental results, the control performance of the two layers type actuator is illustrated.
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