Development of Flexible Pneumatic Linear Stepping Actuator with Continuous Pushing/Pulling Mechanism in Bending Motion

In the previous study, a flexible pneumatic linear stepping actuator (PLSA) that can perform a long stroke motion with large force was developed. In this study, a novel PLSA that can push or pull the rod continuously while changing the direction of pushing / pulling force was developed. The control system that consists of an embedded controller with Bluetooth communication unit and on/off valves was also developed. It can be confirmed that the PLSA can realize continuous pushing / pulling motion of the rod while the bending direction of the rod is changing according to the transmitted code through Bluetooth. Also, the tested PLSA can realize pushing / pulling motion while the bending direction of the rod is changed. As a result, it can be confirmed that the tested PLSA is valid to be used as a home healthcare supporting device to give passive exercise for upper limbs while grasping the rod end by hand.