抄録
This paper proposes a new soft actuator which imitates the structure of muscles of the octopus arm. The octopus can perform various operations such as passing through narrow gaps or grasping with its arms while adapting to the shape of the object. The octopus performs such operations due to its peculiar muscular structure, named muscular hydrostat which does not change its volume during muscle contractions. In this paper the biomimetic actuator, composed of a shape-memory alloy and urethane gel, aiming to search and rescue at disaster sites is discussed. The shape-memory alloy is used for generating force of contraction, and urethane gel is for maintaining its volume during contractions. Finally, the methods with which the actuator achieves various movement like bending, contraction, elongation, and twisting are showed.
