Robot finger driven pneumatically using chemical reaction energy

In this paper, considering potential of the high output power in small size, pneumatic robot finger driven by a pneumatic generator using chemical fuel is proposed. By applying under-actuation mechanism, 3 joint of the robot finger was actuated with single pneumatic actuator. In addition, replacing compressor with pneumatic generator, silent operation and weight-lightening was available. Due to the high energy density chemical fuel, system contains more energy for same mass, compared to traditional battery driven system. The feasibility of the proposed system was figured out from the experiment.