空圧制御駆動に基づくAuxetic構造可変ソフトロボティクスの設計

抄録

An actuator is a mechanical element that converts an external input such as an external field or an electrical signal into a physical motion. Soft actuators are made of soft polymer materials such as gels and elastomers, and have various advantages such as lightweight and quietness. We have previously fabricated a channel structure with a re-entrant structure with a kind of auxetic structure, and developed it into a highly stretchable wearable sheet. However, the deformation of the cell structure was limited to two dimensions. In this study, we designed a soft actuator with a three-dimensional auxetic structure using a 3D printer, and aimed to drive it by pneumatic control.