Linear Expansion and Contraction of Paired Pneumatic Baloon Bending Actuators Toward Telescopic Motion

This paper proposes a novel actuation mechanism for linear expansion and contraction, or telescopic motion by pneumatic balloon actuator (hereafter PBA). PBA is characterized by small, soft, and safe (S³) features because of its soft and flexible structure and safe driving principle. A single PBA bends due to a tensile force generated by a swelling balloon. Bending motion of PBA is transformed into the telescopic motion by using a paired PBA. Two opposing PBAs are bonded at both ends so as to compose a paired PBA. The paired PBA transforms the bending motion into the telescopic motion. An elemental telescopic motion PBA composed of a paired PBA (2 mm times 11 mm times 400 mum) can generate 15 mN contraction force at 150 kPa. It is also possible to design serial or parallel connection of the telescopic motion PBA. This paper presents design, fabrication, and characterization of proposed telescopic motion PBA. Medical forceps is demonstrated as promising medical application of the telescopic motion PBA.