1P1-F06 Needle Shooting System for Robust Reaching into the Inside of Soft Solid(Flexible Robot/Mechanism and its Control)

Abstract

In this paper, we propose a needle shooting system for robust reaching into the inside of a soft solid under uncertainty in its mechanical properties. The proposed system can reach the target point in a straight line because unnecessary external force is not applied. We make a prototype to catapult a needle inside a soft solid and stop a needle at the target point. By using a prototype, we show how to reach a needle at the target point inside of a soft solid.