2021 Fiscal Year Final Research Report
Soft Actuator with Active Variable Compliance
| Project/Area Number |
19K23494
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| Research Category |
Grant-in-Aid for Research Activity Start-up
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| Allocation Type | Multi-year Fund |
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| Review Section |
0301:Mechanics of materials, production engineering, design engineering, fluid engineering, thermal engineering, mechanical dynamics, robotics, aerospace engineering, marine and maritime engineering, and related fields
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| Research Institution | Chuo University |
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Principal Investigator |
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| Project Period (FY) |
2019-08-30 – 2022-03-31
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| Keywords | 可変剛性 / ソフトアクチュエータ / 空圧アクチュエータ / ジャミング機構 |
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| Outline of Final Research Achievements |
The jamming transition was applied to a fiber-reinforced pneumatic soft actuator to achieve active variable compliance and increased force generation. By covering the pneumatic actuator with a jamming transition layer, a function to change the compliance characteristics independently of the actuator motion was successfully added. The developed actuator was applied to a soft robot hand and successfully grasped a heavy object, which was difficult to do with a conventional robot hand using a soft actuator.
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| Free Research Field |
ソフトロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
本研究は空圧駆動のソフトアクチュエータにジャミング効果を有する被膜を施すことで可変コンプライアンスを有するソフトアクチュエータを実現した研究である．本機構は発生力向上および可変コンプライアンス機構によってソフトアクチュエータを適用できる範囲は大きくなり，高重量柔軟物の把持や協働ロボットへの応用が期待できる．本研究は繊維強化型だけでなく，そのほかの空圧ソフトアクチュエータにも適用でき，その波及効果は大きい．
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