次世代型人工筋肉を目指したフレキシブル超音波モータの開発

抄録

We propose a flexible ultrasonic motor as a novel soft actuator. The proposed motor is comprised of a metal cube stator with a through-hole, and a narrow coil spring inserted into the hole. The coil spring moves linearly by a vibration generated in the stator hole. A preload between the stator and the coil spring is important for improving the motor performance. To generate the preload, the coil spring expands in a radial direction in the stator hole. We build a prototype flexible ultrasonic motor, and examine its basic performance parameters such as thrust force and velocity.