トロイダル構造を用いた多自由度骨格筋アクチュエータの構築

抄録

We propose skeletal muscle actuators with multiple degrees of freedom by using the flexible culture muscles. The actuators are composed of flexible tubes made with toroidal hydrogel and cultured skeletal muscle from myoblast cells. In this paper, the fabrication of cultured skeletal muscle was conducted as a first step of our research. The mouse myoblast cells with Matrigel was placed into a PDMS mold and pressed. It cultured to make thin skeletal muscles. The live/dead assay of cultured cells was conducted to check cell viability. The bonding experiment between cultured skeletal muscle and microstructure was conducted as a second step of our research. A toroidal structure made of PDMS or hydrogel was placed on the culture skeletal muscle. The cultured skeletal muscle and the toroidal structure were connected by placing mouse myoblast cells with Matrigel at the contact point between the culture skeletal muscle and the toroidal structure.