Multi-degree-of-freedom soft actuator integrating jamming transition phenomenon and microhydraulic pressure sources

2023 Fiscal Year Final Research Report

• Project/Area Number: 19KK0375
• Research Category: Fund for the Promotion of Joint International Research (Fostering Joint International Research (A))
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 18040:Machine elements and tribology-related
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: KIM Joon-wan 東京工業大学, 科学技術創成研究院, 教授 (40401517)
• Project Period (FY): 2021 – 2023
• Keywords: MEMS / Jamming / ECF / Micropump

Outline of Final Research Achievements

We propose and develop a new method that integrates the jamming transition phenomenon and the negative pressure of electro-conjugate fluid (ECF) jets as a variable stiffness mechanism for biomimetic soft robots. The ECF micropump is applied to soft robots that combine local variable stiffness functions and active deformation capabilities through a multi-module design, demonstrating its effectiveness. Initially, we have realized a single-degree-of-freedom module that can achieve both variable stiffness and active deformation functions, proving its effectiveness. We have developed various soft robots that coexist both hard and soft characteristics, using actuators connected in series with this module. Additionally, we propose and develop soft actuators using jamming transition as a variable constraint element.

Free Research Field

マイクロファブリケーション

Academic Significance and Societal Importance of the Research Achievements

生体システムが持つやわらかさをより適切に説明するために，ハードとソフトの可変性および制御可能性も導入した新たな学術分野である可変剛性ソフトロボット学を創成している．また，MEMS加工技術とECFジェットを融合したマイクロ液圧源をソフトロボットに内蔵し外部への配管を排除することで，より生体システムに近い新たなソフトロボットを実現できる．手術用マイクロマニピュレータへの応用はライフ・イノベーションにも寄与できる．本研究は，これまでにない基礎的研究であるとともに実用化に向けての大きな研究計画であり，その実現は生体システムを模倣する多様な分野でのブレークスルーが期待される．