Presents a multi-degree-of-freedom (DOF) micro motion device developed using a soft gel actuator, ICPF. It is superior to conventional micromanipulators in softness and compactness. 3-DOF motion was realized by a parallel mechanism with 4 ICPF actuators, and 6-DOF motion was created by a 3-actuator mechanism. The 3-DOF device had a maximum displacement of 2 mm and a fast response up to 13 Hz. Experiments of teleoperation using a joystick proved that the device had enough ability for micromanipulation in which dynamic condition was important.
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Tadokoro et al. (2003) studied this question.
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