2021 Fiscal Year Final Research Report
Development of a printed paper robot driven autonomously by reversible actuation
| Project/Area Number |
19K20377
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 61050:Intelligent robotics-related
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| Research Institution | Shibaura Institute of Technology |
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Principal Investigator |
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| Project Period (FY) |
2019-04-01 – 2022-03-31
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| Keywords | ソフトロボット / Electronics free robot / スマートマテリアル / 折り紙技術 / ペーパーメカトロニクス |
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| Outline of Final Research Achievements |
As a simple self-folding method, the applicant proposed a method in which paper self-folds by inkjet printing. In this study, a humidity-responsive material was mixed with solution to develop an actuator that is reversibly driven by humidity changes. Humidity-responsive materials were doped between the fibres by mixing highly humidity-responsive materials into the solution, which promotes self-folding. As a result, the self-folded paper was successfully driven reversibly by placing it in a changing humidity environment. Furthermore, by simultaneously printing multiple solutions mixed with humidity-responsive material, the paper was successfully ordered into self-folding. The self-folding of more complex structures such as bag-folds and slide-lock mechanisms, which had previously been difficult, is achieved.
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| Free Research Field |
機械工学
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| Academic Significance and Societal Importance of the Research Achievements |
3Dプリンタやオープンソースハードウェアなど、機械要素・電子要素を簡便に作製する手法が台頭している。本研究では、湿度応答性材料をインクに混合することで、湿度変化によって可逆的に駆動するアクチュエータを開発した。可逆的アクチュエータの開発は、1枚の紙に構造とアクチュエータを同時に印刷して人の手を借りずに動く印刷紙ロボットの開発に繋がる。湿度応答性も塩の濃度やインク量によって調整できるため、印刷によってセンサ値や制御量をプログラムできる。従来エレクトロニクスが行ってきたものと同等またはそれ以上の情報処理を、湿度応答といった物理現象によって代替する点も情報工学の面から学術的創造性が高いと考える。
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