Kinematics and Dynamic Modeling of a Planar Hydraulic Elastomer Actuator

Mahdi Momeni Kelageri, Mikko Heikkila, Jarno Jokinen +2

This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFE…