| 概要： |
Actuators play key roles in robotics. Robotic and mechatronic
devices used for rehabilitation and biomedical applications require
new actuators that are expected to be fast, zero backlash, silent, and
energy efficient, and compact. In this talk the concept of cellular
piezoelectric actuators and the latest research work will be
presented. The cellular actuator concept is to connect many small
actuator units in series or in parallel, and composes in totality a
single actuator array. Piezoelectric actuators using exponential
strain amplification mechanisms produce over twenty percent effective
strain that is comparable to natural skeletal muscles. Stochastic
broadcast control coordinates a vast number of units in the actuator
array, which drastically improves wiring and addressing issues. A
newly proposed "fingerprint" method characterizes complicated actuator
array topologies.
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