2023 Fiscal Year Final Research Report
A study of the fast phase transformation of Shape-memory alloy wires and its application to tactile display and bidirectional tactile communication
| Project/Area Number |
20H04214
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Review Section |
Basic Section 61010:Perceptual information processing-related
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| Research Institution | Waseda University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
重宗 宏毅 芝浦工業大学, 工学部, 准教授 (40822466)
ハルトノ ピトヨ 中京大学, 工学部, 教授 (90339747)
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| Project Period (FY) |
2020-04-01 – 2024-03-31
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| Keywords | 形状記憶合金 / 高速相変態 / 触覚計測 / 触覚提示 / 触覚感覚 / 触覚通信 / ソフトアクチュエータ / ソフトロボット |
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| Outline of Final Research Achievements |
In this study, we precisely measured the high-speed contraction and expansion behavior and time response of Ti-Ni-Cu SMA wires, which occurred in synchronization with the frequency of a pulse current, and resulted in the understanding of their physical properties. We then established a method to precisely control the transformation behavior and the amount of transformation of SMA wires, and proposed novel soft actuators and soft sensors. In particular, we constructed a tactile sensor and a high-density tactile display capable of measuring and reproducing tactile sensations when we slide our hand on the surface of a material, and confirmed their effectiveness. Furthermore, we aimed to develop soft robots as an application of the new SMA transducers. A fish robot and a caterpillar robot were constructed, and we demonstrated that unprecedented flexible behavior was possible from the perspective of biomimetics.
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| Free Research Field |
計測情報工学
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| Academic Significance and Societal Importance of the Research Achievements |
SMAの相変態は吸熱と発熱による温度によって引き起こされるため、一般的に高速動作が要求されるアクチュエーションには不向きであると考えられていた。SMAワイヤを数百Hzで変位させて振動アクチュエータとして利用するものは、申請者らの研究成果が世界的にも初めてであり、この挙動を科学的に解明し、精密に振動周波数と変位を制御する手法を確立した。更に、微細なSMAワイヤから生じるμmオーダの微小振動を制御して触覚のセンシングと提示を同時に行うことが可能なデバイスを構築した。本デバイスは2～3V程度の省電力駆動が可能であることから、汎用モバイル機器からの触覚提示が可能であり、触覚通信の実用化が期待できる。
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