| Project/Area Number |
16K14194
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
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| Project Period (FY) |
2016-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2016: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
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| Keywords | ソフトメカニクス / アクチュエータ |
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| Outline of Final Research Achievements |
To realize a self-propelled catheter, we challenged to create a crawl type ultra-thin and flexible actuator that propels the blood vessel while generating a traveling wave.The introduced actuator consists of the inner tube and the Pneumatic artificial muscles:PAMs.Further, in the inner tube, holes having different sizes are provided so that each pressurizing chamber of the PAMs is pressurized at different timing.When fluid pressure is applied inside the inner tube, a propulsive motion is generated while propagating a traveling wave from the head to the root.We have constructed the design method of the proposed actuator, so that it could propel at an outer diameter of 4 mm and a speed of 10 mm / s. We also devised a reverse function and a direction steering function. Experiments confirmed the validity of these proposed methods.
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