抄録
Safety is important in the space where humans and robots coexist. Lightweight of robots is one way to achieve the essential safety for humans. To ensure safety, we make efforts to develop extremely lightweight soft actuators. So far, we have established design approach of a bending type soft actuator by utilizing plastic films with pleated structure. In addition, we verified that the actuator generates a helical twining movement by several oblique pleats. This paper indicates that the actuator can generate various helical shapes by changing two kinds of parameters which are folding angle and pleat pitch. Further, we experimentally developed the actuators and verified the helical shape.
