Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="128916.fig.0013a" src="https://static.hindawi.com/articles/tswj/volume-2013/128916/figures/128916.fig.0013a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Torque profile</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="128916.fig.0013b" src="https://static.hindawi.com/articles/tswj/volume-2013/128916/figures/128916.fig.0013b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Enlarged view</td></tr></table></td></tr></table>

<table>Torque change during pressurization.</table>

The Scientific World Journal

fig13

Figure 13

Figure 13: Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator 