温度・圧力変化を利用して運動方向を切り替え可能なソフトアクチュエータの提案

抄録

We propose a unique soft actuator that can switch the direction of bending motion by changing the constraint state between a thermosensitive material, whose stiffness changes with temperature, and a non-thermosensitive material placed on the opposite side. For the bending motion of this actuator, it is necessary to fill the inside with fluid to increase the pressure. Therefore, we proposed a method of using the same water to apply temperature to the thermosensitive material and pressure to the actuator. With this method, it is possible to change temperature and pressure in a single water channel and that allowed us to reduce the number of tubes needed to drive the actuator. In addition, we were able to switch the bending direction of the soft actuator using the temperature change.