ナイロン糸アクチュエータの温度特性

抄録

It is said that the next popular robots are robots cooperating with humans. Soft actuators are suitable for them. Therefore various soft actuators are researched and developed all over the world. A new interesting soft actuator was proposed in Science at 2014. It is made of coiled nylon monofilament, and driven by heating and cooling. It has several good features: lightweight, flexibility, large deforming and very low cost. Research on the actuator is just getting started, therefore the manufacturing process and the control technique are not established. We have proposed the new control system by electrical heating and reported the basic properties. In this paper, we report the temperature characteristics and the repeat accuracy by using the same experimental system.