Design and embodiment of robotic driver based on branched and extension torus mechanism using super flexible materials

2022 Fiscal Year Final Research Report

• Project Area: Science of Soft Robot: interdisciplinary integration of mechatronics, material science, and bio-computing
• Project/Area Number: 18H05471
• Research Category: Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)
• Allocation Type: Single-year Grants
• Review Section: Complex systems
• Research Institution: Tohoku University
• Principal Investigator: Tadakuma Kenjiro 東北大学, タフ・サイバーフィジカルAI研究センター, 准教授 (30508833)
• Co-Investigator(Kenkyū-buntansha): 川上 勝 山形大学, 有機材料システムフロンティアセンター, 准教授 (70452117) ; 古川 英光 山形大学, 大学院理工学研究科, 教授 (50282827)
• Project Period (FY): 2018-06-29 – 2023-03-31
• Keywords: ロボット機構 / 柔軟機構 / メカニズム設計 / 柔剛切替え / 生物抽能 / 位相機構 / トーラス構造

Outline of Final Research Achievements

Focusing on the proboscis of nemertea structure as a biological torus structure that performs branching and extending, and which realizes higher-order functions with responsiveness and reversibility not possible with plant roots, we conducted R&D in collaboration with biologists and succeeded in creating the principle of a mechanical model that enables branching, returning, and steering movements, as well as in realizing the actual device. In the process of this research, we also created various mechanical elements, such as a pressurized soft-rigid switching element and a scaly mechanism that combines softness and rigidity to protect the body from the outside environment. In addition, the concept of freely constructable branches was further advanced, and research on a robotic blood vessel mechanism that can actively repair itself even if it has wounds was carried out, and an active self-repair function by mixing two liquids was successfully realized.

Free Research Field

ロボット機構学

Academic Significance and Societal Importance of the Research Achievements

研究成果として，ヒモムシ分岐構造においては生物学的にも完全解明がなされていない吻構造の機能を構成論的に研究遂行し，展開動作，戻し動作・操舵動作を可能にさせる実機を具現化させた点は学術的に著しく高い意義がある．また，本機構は災害対応の際の狭隘部調査や，体内でのステントグラフトにも応用可能であるため，社会的意義という点においても非常に価値のある原理を創出できたと言える．さらに，このヒモムシ吻構造の工学的実現の過程で生み出された柔剛切替え機構やウロコ状機構などの各種要素は，ソフトロボット分野においても屋外移動・作業での力学的接触を考慮に入れての設定であるため，学術的に非常に高い意義がある．