Title: Design and development of a 3D-printed balloon type actuator for a hybrid force-display glove

Authors: Ken'ichi Koyanagi; Daisuke Takata; Takumi Tamamoto; Kentaro Noda; Takuya Tsukagoshi; Toru Oshima

Addresses: Faculty of Engineering, Toyama Prefectural University, Imizu, Toyama, Japan ' Graduate School of Engineering, Toyama Prefectural University, Imizu, Toyama, Japan ' Faculty of Engineering, Toyama Prefectural University, Imizu, Toyama, Japan ' Faculty of Engineering, Toyama Prefectural University, Imizu, Toyama, Japan ' Faculty of Engineering, Toyama Prefectural University, Imizu, Toyama, Japan ' Faculty of Engineering, Toyama Prefectural University, Imizu, Toyama, Japan

Abstract: A balloon actuator is a type of pneumatic actuator developed for a virtual reality-based hand rehabilitation device, which is a hybrid force-display glove that combines an actuator and passive element. A balloon actuator typically generates a strong force and is safe for hand rehabilitation; however, the actuator has slow response characteristics for force display applications that use virtual reality techniques. Herein, we demonstrate an improved balloon actuator that features a 3D-printed inner construction optimised for glove type force display device with a soft material, and the basic and force display characteristics of the 3D-printed balloon actuator. The 3D-printed balloon actuator shows the force display characteristics by representing VR objects at an acceptable level.

Keywords: pneumatic actuator; balloon type actuator; soft actuator; 3D printing; design optimisation; rehabilitation; haptics; force display; virtual reality; hybrid system; glove type device; mechatronics.

DOI: 10.1504/IJMA.2022.120485

International Journal of Mechatronics and Automation, 2022 Vol.9 No.1, pp.47 - 59

Received: 14 Sep 2021
Accepted: 28 Sep 2021
Published online: 21 Jan 2022 *

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