磁性流体を用いたシート型ソフトロボットによる液体マニピュレーション

抄録

This paper describes a vibration control of a ferrofluid-based robotic sheet for a liquid manipulation. The robotic sheet consists of ferrofluid wrapped with thin polytetrafluoroethylene sheets. The robotic sheet is able to move the object using the shape deformation properties of the ferrofluid due to the influence of the magnetic field. We focused on the flexibility of the robotic sheet and hypothesized that we could manipulate soft and objects like fluids whose shape changes dynamically. In this paper we examine the mixing and transportation of a liquid using the robotic sheet. The mixing of a liquid was achieved by applying pulsed magnetic field from the electromagnet to the robotic sheet to generate vibration. In addition, liquid transport was realized by using the gradient of the robotic sheet surface.