A robot finger with integrated pump/tank using electro-conjugate fluid

Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Research output: Contribution to journalArticlepeer-review


Electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. It is known that a strong ECF jet is generated under nonuniform electric field, for example, the field with a pair of needle and ring electrode. This study introduces the ECF jet to develop a novel robot finger. First, we propose a concept of the robot finger which mainly consists of an ECF jet generator, a bending actuator and an ECF tank. The robot finger is driven by ECF jet, and integrated with a pump and a tank. Next, we characterize the ECF jet generator and confirm the effect of the variation of electrode gap and number of electrode pair on its performance. Finally, we investigate the characteristics of the robot finger. The length, the diameter, and the mass of the robot finger are 25 mm, 5 mm, and 3.8 g, respectively. The robot finger can move 27.8 mm in x direction and 26.7 mm in y direction at 3.1 s when ECF jet generator is applied at 6.0 kV.

Original languageEnglish
Pages (from-to)3689-3695
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number772
Publication statusPublished - 2010 Dec


  • Actuator
  • Electro-Conjugate fluid
  • Functional fluid
  • Micro-Mechanism
  • Robot finger
  • Robot hand
  • Soft actuator

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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