Evaluation of operating characteristics by the structure and curvature change of FFP-actuator. First, we attached SMA to the thin plate like a bow. SMA was then changed into 65 mm from 40 mm. Next, this FFP actuator was applied to the flexible robot. As a result, one 8 times the movement speed of this improved rather than the conventional robot. We showed that it was related to the amount of displacement (curvature) and movement speed of a FFP actuator by experiment.
