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

Figure 11

Motion of prototype joint before and after touching an object.

(a) Before touching an object (inner bag)

(b) Touching the object (inner bag)

(c) Moving object 1 (inner and outer bags)

(d) Moving object 2 (inner and outer bags)