柔剛切替えが可能なジャミング膜グリッパ機構

― 構造の洗練化の過程とこれまでの取り組みの総括 ―

抄録

This research relates to the device and realization of tufted jamming membrane gripper and expansion of the gripper function. Our team have developed and realized jamming membrane gripper which can push a button and pick up a complex shape object. We carried out basic characteristic evaluating experiment of the gripper to confirm that the gripper can turn the valve handle and push a button. From the experiment, we confirmed the validity of the gripper mechanism. In this paper, we report the process of sophistication of the structure and the research outline.