蠕動運動 × ソフトアクチュエータの可能性

（固体ロケット燃料製造や管内検査の実現）

抄録

In this paper, we explain about peristaltic movement mechanism with soft actuator, and applications. The peristaltic movement is a radially contraction and relaxation of muscles that propagates of a wave down a tube for example intestine or body of earthworm, in an anterograde direction. The movement provides efficient conveying and strong traction etc. We developed this movement as mechanical device by soft actuator. The peristaltic mixing conveyor was developed in order to mix the solid propellant continuously. The earthworm robot was developed in order to investigate into the pipeline. We explained the performance of these robots.