2012 Fiscal Year Final Research Report
Magnetic particles for deformable robot maneuvered in a confined environment
| Project/Area Number |
22760199
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Ritsumeikan University |
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Principal Investigator |
NOKATA Makoto 立命館大学, 理工学部, 准教授 (80335067)
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| Project Period (FY) |
2010 – 2012
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| Keywords | 医用ロボット / 磁場駆動 / 柔軟ロボット / 体内移動 |
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| Research Abstract |
This research presents an advanced locomotion method that produces non-slippingmotion in digestive organs and the abdominal cavity. New movement principle of the robot,which has a soft and deformable body that can move through a confined space is proposed.The mechanism of a toy water snake is applied to this principle. Magnetic particles insidethe water balloon are affected by the external magnetic field and push the inner side of a balloon to the direction of a magnetic field. We construct an experimental model to verifythe proposed principle, the sliding movement is measured using the model. Confirmatoryexperiments of movement are conducted in the two sheets that imitated internal organs.
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