2023 Fiscal Year Final Research Report
Motion Control of Soft Robots Realized by Ion Excahge Membrane
| Project Area | Science of Soft Robot: interdisciplinary integration of mechatronics, material science, and bio-computing |
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| Project/Area Number |
18H05470
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| Research Category |
Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)
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| Allocation Type | Single-year Grants |
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| Review Section |
Complex systems
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
難波江 裕之 東京工業大学, 工学院, 助教 (90757171)
堀内 哲也 国立研究開発法人産業技術総合研究所, 材料・化学領域, 主任研究員 (60738061)
宮川 祥子 慶應義塾大学, 看護医療学部(藤沢), 准教授 (00338203)
安積 欣志 国立研究開発法人産業技術総合研究所, 材料・化学領域, 上級主任研究員 (10184136)
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| Project Period (FY) |
2018-06-29 – 2023-03-31
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| Keywords | soft actuator / soft robotics / IPMC / ion exchange membrane |
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| Outline of Final Research Achievements |
This research project focuses on ion-exchange membranes, fundamental materials in various electrochemical processes, to aim to create and control "flexible movements," which is one of essential elements of soft robots. Specifically, (1) we have developed methods for forming diverse three-dimensional shapes in soft actuators utilizing membrane deformation induced by material transport within ion-exchange membranes upon voltage application. Additionally, (2) we achieved flexible electromechanical artificial muscles by utilizing volume changes of gas-liquid due to gas generation and absorption through electrode reactions at the membrane/electrode interface. Through these advancements, we have established foundational technologies for achieving "flexible movements" in actuation using ion-exchange membranes.
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| Free Research Field |
Actuator
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| Academic Significance and Societal Importance of the Research Achievements |
イオン交換膜を用いたアクチュエーションにおける「しなやかな動き」の実現のために，アクチュエータ・ロボットを専門とする研究者と，機能性高分子材料を専門とする研究者の密接な協力を通し，材料開発からロボット構築までの一貫した設計，解析，評価に関する学術の確立を目指した．このような融合研究を通して，イオン交換膜を用いたアクチュエータ・ロボットの設計・統合手法の確立に取り組み，「しなやかな動き」を実現するソフトロボティクスの運動に関する学術分野を切り拓いた．
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