テッポウエビのハサミ関節構造を模した高速運動デバイスの開発

抄録

We have developed an impulsive motion generator mimicking Alpheus brevicristatus. Alpheus brevicristatus can close their claw at the speed that generates plasma shock waves in water. We employ their unique joint structure called the cocking slip joint and design an artificial actuation mechanism with a passive elastic element to induce the impulsive motion through storing and releasing the elastic energy; rather than adopting their musculoskeletal structure as it is. Our design approach allows the developed device to generate the impulsive motion repeatedly by a single actuator with a small actuation force compared with the stored elastic energy, which is verified through experiments.