Elastic Shape Control Mechanism Using Coordinated Motion of Multilayer Array Linear Soft Actuators

Abstract

We focused on the elastic and highly deformable structure of euglena in order to create a propulsion device with low environmental impact and adaptable to all environments. In this study, we hypothesized that the driving force of the euglena movement is a contractile structure inside the pellicle band, and that this contractile force causes the bending movement of the pellicle band and the passive sliding of the adjacent parts, thereby realizing the euglena movement. Based on this hypothesis, we proposed a complex structure of bending and sliding that mimics the pellicle, and used SMA actuators as the power source. This paper describes the fabrication of an SMA actuator, the creation of a skin mechanism using the SMA actuator, and the evaluation of the SMA actuator as a preliminary step in the development of a basic mechanism for the propulsion device.