In this paper, we investigate a new type of hybrid element to realize a human-friendly support device. The element is a flexible actuator (called Sponge Core Soft Rubber Actuator) and its structure is a soft mechanism in which a sponge rubber is covered with silicone rubber. In addition to its actuation capability, the element can estimate external forces by making use of the relation between inner pressure and external force. Therefore, the element can be used as a hybrid element that has both actuator and force sensor functions. This paper discusses the hybrid element design, actuator characteristics, and force control and sensing abilities of the element. Experimental results are presented to illustrate the practical effectiveness of the proposed hybrid element.

A method is proposed for harnessing of human power based on children's play in playground and public places, on devices such as the seesaw, merry-go-round and swing. When large numbers of children play in a playground, part of the power of their play can be usefully harnessed resulting in significant energy storage. This stored energy can then be converted to electricity for powering basic, low-power appliances such as lights, fans, communications equipment, and so on. The method provides a low-cost, low-resource means of generation of electricity, especially for use in developing countries. The paper discusses the basic theory behind the method. Results of experiments on a laboratory prototype compressed air human power conversion system using a teeter-totter are presented to illustrate the practical effectiveness of the proposed method.

Pneumatic motors have many advantages over electric motors, conventionally used for robotics and automation applications. However, the control performance of pneumatic motors is quite unsatisfactory, mainly due to the compressibility of air. We have recently proposed the development of hybrid pneumatic/electric motors where a small electric motor is used in conjunction with vane-type pneumatic motors, so that the hybrid actuator has better damping and ease of control than the pneumatic motor. In the present work, we consider the switching control of the hybrid actuator system, and, propose control algorithms for position, and trajectory control of the system. The performance improvement of the new actuator is illustrated by results of experimental implementation.

Pneumatic actuators are among a variety of actuators under active study by the robotics community, for the advantages they offer over conventional electric actuators widely used in present-day robots. So far, however, only pneumatic cylinders which provide linear actuation have been mainly studied in literature. Air motors are the pneumatic counterparts of electric motors, providing rotary actuation. They have several advantages over electric motors, especially high power-to-weight and power-to-size ratios, good compliance, and resistance to environmental hazards. We consider the model-based control of vane-type air motors which are the most commonly used class of air motors. Various control problems are considered namely, position control, trajectory control, adaptive control, and force control. Results of experimental implementation on an industrial vane-type air motor illustrate the effectiveness of the air motor as a high-performance rotary actuator.

High speed robots are an important component of modern assembly operations. In this paper, we describe the development of an ultrahigh speed robot named FALCON (Fast Load Conveyance), based on a wire driven parallel manipulation system. It achieves peak accelerations of up to 43G and maximum velocities of 13 m/s, even if considerably small DC motors (60W) are used. Due to the use of wires in actuation, the problem of vibration arises. We employ internal force control among wires to reduce the vibration by utilizing nonlinear elasticity from the wire mechanism. Experimental results on point to point control using the prototype system are presented under linear PD feedback, to illustrate the effectiveness of the system.