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.009a" src="https://static.hindawi.com/articles/tswj/volume-2013/128916/figures/128916.fig.009a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Overview of the system</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="128916.fig.009b" src="https://static.hindawi.com/articles/tswj/volume-2013/128916/figures/128916.fig.009b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Closeup of the angle adjustable load cell</td></tr></table></td></tr></table>

<table>Torque and power measurement system for the prototype joint.</table>

The Scientific World Journal

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Figure 9

Figure 9: Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator 