| Project/Area Number |
25630088
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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) |
2013-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2013: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
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| Keywords | ロボティクス / アクチュエータ |
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| Outline of Final Research Achievements |
In this study, we challenged in developing a flexible fluid powered actuator to inspect in the colon as the endoscope. The tip alone moves forward and the rest remains stationary, enabling the actuator to move smoothly without interfering with the outer environment -- a concept based on the plant growth process. The actuator consists of multiple flexible flat tubes bent in the skin, whose bending point is involved in preventing fluid from passing through. The developed actuator could also steer the direction in which the tip lengthens, while the shape of the rest remains unchanged. Our developing prototype is 20mm in diameter and grows at a maximum speed of 50mm/s while producing a 7N drive. The way of carrying a head unit equipped with a camera was also considered and feasibility of the actuator’s inspection in the colon model was verified.
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