形状記憶ポリマー吸着機構を有する触手型ソフトアクチュエータ

抄録

In this paper, we propose a tentacle-type soft actuator used for a highly flexible end-effector that can be applied to microscopic operations required for AI robot systems. For AI robotics platforms, it is required to develop end-effectors that can manipulate microscopic objects such as cell, organoids, oocytes. In addition, as a next-generation soft actuator, a device that mimics an octopus foot is attracting attention. However, there is a limit to miniaturize due to the pneumatic or hydraulic drive. Therefore, we have developed a soft actuator which be used for microscopic operations. The proposed device employed silicone rubber as a structural material, a variable stiffness actuator combining shape-memory alloy and shape-memory polymer, and a suction mechanism using shape-memory polymer. We demonstrated feasibility of the proposed device for microscopic operations.