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The improvement of soft inflatable microactuators using an actuation conversion mechanism is presented in terms of high-output generation; a bending inflatable microactuator with the conversion mechanism is designed to generate high-output bending motion. The designed microactuator consists of a pneumatic balloon on a base film and a conversion film over the balloon and ribs on the backside of the base film. A conversion film converts the inflating motion of a pneumatic balloon into a bending motion. The fabricated microactuator with a pneumatic balloon of 13 mm in diameter is 16 mm × 40 mm × 850 μm. A 25 μm thick polyimide film is used as a conversion film over the pneumatic balloon because polyimide film is both non-stretchable and flexible. An array of Si ribs (15 mm × 40 mm × 400 μm) is integrated on the backside of the base film. Analysis of the microactuators with and without the conversion mechanism indicates that the output performance is improved with the addition of the conversion mechanism, as designed. As a result, the microactuator with the conversion film generates a maximum force of 1.72 N at 80 kPa, whereas the microactuator without the conversion film generates a maximum force of 0.15 N at 40 kPa. The improved microactuator can provide 4.2 mN/mm3 as the force density. In addition to fundamental characterization, the performance characteristics of the actuators are examined by combining the fundamental results.

This paper reports our recent achievement of high bending-force generation by a soft microactuator. In vivo medical instruments such as endoscopes require improved functions to reduce restrictions caused by the operation from the outside of a body. In general, microactuators can provide precise motions but not good high forces. We attempted to overcome this drawback and successfully demonstrated Newton-level high force generation by a cantilever-type soft microactuator using pneumatic balloon actuator. A high-force bending motion is expected to lift tissues/organs up during an endoscopic operation. The innovative reinforcement design of a soft microactuator using a combination of ribs and conversion film is described and followed by device characterization. The Newton-level force generation by a cantilever-type soft microactuator of dimensions 16 mm × 40 mm × 850 µm is described.

This paper reports a new type of wearable motion capture device. Presented motion capture device can detect the motion of fingers of an operator. This device has been equipped with an air cylinder as an actuator which is to be developed for a force sense presentation. We employed a displacement detection sensor for motion capture, since it is a good combination with an air cylinder. The dimensions of the proposed device were 90mm $\times225$ mm $\times80$. We evaluated the performance of the sensor integrated into this device and confirmed the important role of the sensor as a hand motion capture function.