3D Flexible Grid Actuator using Magnetic Elastomers and Liquid Metal

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K20985
• Research Category: Grant-in-Aid for Challenging Research (Exploratory)
• Allocation Type: Multi-year Fund
• Review Section: Medium-sized Section 20:Mechanical dynamics, robotics, and related fields
• Research Institution: Shibaura Institute of Technology
• Principal Investigator: Abiko Satoko 芝浦工業大学, 工学部, 教授 (40560660)
• Project Period (FY): 2020-07-30 – 2023-03-31
• Keywords: 磁性エラストマ / 自己修復永久磁石エラストマ

Outline of Final Research Achievements

This research aims to develop an actuator that provides grid-like stiffness using magnetic elastomers. The study focuses on applying this actuator in palpation simulators for conditions like breast cancer and prostate cancer, and attempts to analyze the mechanical properties of elastomers and explore their applications. The selection of the base material that determines the stiffness of magnetic elastomers was carried out, and elastomers with various composition ratios were created to measure and analyze the changes in stiffness under the influence of a magnetic field. The results showed that significant stiffness changes can be achieved using magnetic elastomers. Furthermore, self-healing permanent magnet elastomers were created, and their mechanical repair performance was evaluated. It was demonstrated that the elastomers magnetized after cutting exhibited a significant improvement in repair performance by leveraging the characteristics of permanent magnets.

Free Research Field

ロボット工学

Academic Significance and Societal Importance of the Research Achievements

本研究は， 磁性エラストマを用いた触診および手術シミュレータへの応用を試みた研究である。ここでは、ダイナミックレンジの広い剛性変化の提示が可能なエラストマを作成できた。また、機械的修復能力を有する自己修復機能を有する永久磁石エラストマを作成することができた。これらは将来的に上記シミュレータへと発展していき、若手医師の訓練環境の補助を目指す社会的意義を有する。