アマガエルの濡れた付着メカニズムの解明と、そのソフトロボットハンド開発への応用
| Project/Area Number |
20J14910
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| Research Category |
Grant-in-Aid for JSPS Fellows
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| Allocation Type | Single-year Grants |
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| Section | 国内 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Japan Advanced Institute of Science and Technology |
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Principal Investigator |
NGUYEN VANPHO 北陸先端科学技術大学院大学, 先端科学技術研究科, 特別研究員(PD)
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| Project Period (FY) |
2020-04-24 – 2022-03-31
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| Project Status |
Discontinued (Fiscal Year 2021)
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| Budget Amount *help |
¥1,700,000 (Direct Cost: ¥1,700,000)
Fiscal Year 2021: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2020: ¥900,000 (Direct Cost: ¥900,000)
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| Keywords | Wet adhesion / Micropattern morpholgy / Soft manipulation / Grasp soft object / Food handling / Soft robot hand / Soft robotics / Bio-inspiration / Micropattern / Soft-fragile object |
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| Outline of Research at the Start |
The model of contact mechanics will be investigated thoroughly in the first year. The outcome shows the integral role of the micropattern and wet adhesion on enhance the contact force that contributes optimal plan to construct grasp model in the next year.
The final action of our research will be implemented in second year. Basing on the evaluation of the contact mechanics, the grasp model is constructed and analyzed. The obtained results will be applied into completing the design of the actual application which is originated from our preliminary stage.
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| Outline of Annual Research Achievements |
Role of the micropatterned pad (m-pad) on increasing the wet adhesion in grasping soft-fragile objects was continuously exploited through a theoretical model validated by applications of manipulating food by a robotic hand.
We built a theoretical model to estimate decreasing squeeze force and increasing wet adhesion force concerned for manipulating a soft, wet object by two soft fingers in two cases: normal fingertip pad (n-pad) and the m-pad. Object was in two cases of environment: in-air and in-liquid; whereas the pad was dry. Grasping the object was conducted three steps by the pad: approach, attach to the object and detach from the object. The m-pad has 14400 square cells is with the size of 85×85μm, separated by the channels with 44μm in depth. Our estimation of the grasped force for the pads were conducted, then verified by actual application in griping konjac, tofu, jelly, coffee jelly and quail egg. Both estimated and experimental results reveal that the m-pad can achieve a higher decrement of the squeeze force and deformation on the grasped objects than that of the n-pad. The ability of the wet adhesion in such model was further investigated for different morphologies of the m-pad. In this scenario, we varied the width of the pattern channel in three levels: 7.5 (type-1), 15 (type-2) and 22.5μm (type-3), and then applied to grasping the food objects. Varying w in the m-pad affects grasping ability of robotic fingers. Thus, we can optimize w according to grasped object in different conditions.
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| Research Progress Status |
令和3年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
令和3年度が最終年度であるため、記入しない。
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Report
(2 results)
Research Products
(6 results)
