2023 Fiscal Year Final Research Report
Electrically Driven High Power Soft Actuators
| Project/Area Number |
21H01293
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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 20020:Robotics and intelligent system-related
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| Research Institution | Tokyo Institute of Technology (2022-2023)
Shibaura Institute of Technology (2021) |
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Principal Investigator |
Maeda Shingo 東京工業大学, 工学院, 教授 (40424808)
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| Co-Investigator(Kenkyū-buntansha) |
細矢 直基 芝浦工業大学, 工学部, 教授 (40344957)
重宗 宏毅 芝浦工業大学, 工学部, 准教授 (40822466)
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | EHD / ソフトアクチュエータ |
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| Outline of Final Research Achievements |
This research aimed to realize a power-type soft actuator that is completely electrically driven, has large deformation, and has a large power without the need for large external devices. The principal investigator focused on ElectroHydroDynamics (EHD) and proposed a new mechanism that combines the advantages of an EHD actuator with those of an electrostatically driven actuator utilizing a dielectric liquid.
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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 |
これまでのEHDポンプやアクチュエータとは異なり，対向型電極にすることで極めて頑健でハイパワーなポンプを実現するに至った．従来のEHDでは一度でも放電が生じるとデバイスが駆動しなかったが，本研究で提案する対向型電極では50回放電しても，デバイスが駆動することを実現した．頑健なデバイスだけでなく密度当たりの出力も大きく実用的であることも分かった．
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