Development of robot for which all body parts have variable stiffness and sensitivity

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K04401
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Kyushu Institute of Technology
• Principal Investigator: Takashima Kazuto 九州工業大学, 大学院生命体工学研究科, 准教授 (30435656)
• Project Period (FY): 2020-04-01 – 2023-03-31
• Keywords: ロボティクス / 可変剛性 / 形状記憶ポリマー / ジャミング転移 / 形状記憶合金 / 人工筋肉 / 力覚センサ / 触覚センサ

Outline of Final Research Achievements

In this study, we developed a robot for which all body parts have variable stiffness and sensitivity. This robot is based on our previously developed robot arm with variable stiffness and sensitivity, which utilized the stiffness change of a shape-memory polymer based on the temperature. In this study, we improved and miniaturized shape-memory polymer parts such as artificial muscles and force and tactile sensors. Furthermore, we developed parts such as links and force sensors that utilize the jamming transition phenomenon and a shape-memory alloy. We constructed prototypes of the proposed robot arms and evaluated their performance.

Free Research Field

ロボット工学、医工学

Academic Significance and Societal Importance of the Research Achievements

ロボットが柔軟なだけでなく、人間より優れた剛性・感度可変の要素を持つことは、これまでのロボットにはできなかった人間以上の巧みな動きを実現するための基盤となる。そのため、剛性・感度可変のロボットは、「ソフトロボット」の次のトレンドになり得る。また、全身に拡張することで介護・福祉・産業・医療などさまざまな環境で活用できるロボットのプラットフォーム・基盤技術を創造できる。