Auxetic構造とベローズ型チューブ一体化によるソフトシリンダーの特異的変形特性

抄録

Soft robots employing soft polymer materials such as gels and elastomers have various advantages such as compact, lightweight, and silent motion. Recently, biomimetic structures driven by pneumatic control have been attracting attention though various driving sources have been proposed. In this study, we have fabricated cylinder-shaped soft robot with an armored (exoskeleton-like) auxetic structure with a negative poisson's ratio that placed around bellows-typed tube. We have investigated the structural variability and walking performance of the armored cylinder structure.