Miniature pneumatic rubber actuator with sensor

利用气动压力使橡胶结构变形作为输出的驱动器称为气动橡胶驱动器，一般具有重量轻、灵活性好、生产成本低等优点。本研究针对气动橡胶作动器进行感测器之小型化与安装。重点研究了收缩型和弯曲型两种驱动器，分别实现了传感器的安装和小型化。

Actuators which use deformation of rubber structure by pneumatic pressure as output are called pneumatic rubber actuators, and in general they have advantages of light weight, flexible and low production cost. In this research, miniaturization and mounting the sensor for the pneumatic rubber actuators have been done. Two kinds of actuators, contracting type and bending type, are focused and mounting the sensor and miniaturization have been achieved respectively.