Curved Type Pneumatic Artificial Rubber Muscle Using Shape-Memory Polymer

Kazuto Takashima, Toshiro Noritsugu, Jonathan M Rossiter, Shijie Guo, Toshiharu Mukai

Research output: Contribution to journalArticle (Academic Journal)peer-review

21 Citations (Scopus)


A novel pneumatic artificial muscle actuator is presented which is based on the design of a conventional curved type pneumatic bellows actuator. By inhibiting the extension of one side with fiber reinforcement, bending motion can be induced when air is supplied to the internal bladder. In this study, we developed a new actuator by replacing the fiber reinforcement with a Shape-Memory Polymer (SMP). The SMP can be deformed above its glass transition temperature (Tg) and maintains a rigid shape after it is cooled below Tg. When next heated above Tg, it returns to its initial shape. When only part of our actuator is warmed above Tg, only that portion of the SMP is soft and can actuate. Therefore, the direction of the motion can be controlled by heating. Moreover, our actuator can be deformed by an external force above Tg and fixed by cooling it below Tg
Original languageEnglish
Pages (from-to)472-479
Number of pages8
JournalJournal of Robotics and Mechatronics
Publication statusPublished - Jun 2012

Structured keywords

  • Tactile Action Perception


  • pneumatic rubber muscle
  • shape-memory polymer
  • shape fixity
  • shape recovery
  • glass transition temperature


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