伸長型空気圧人工筋による平面編チューブ式２自由度アクチュエータの変形量改善

抄録

We are proposing a soft actuator that can be made by simply weaving tubes. The device can transport and move, and can be easily made in different sizes at a low cost. However, its transport/movement speed is slow, at 3.5 mm/s, when normal silicone tubes are woven. In this paper, we propose to replace the silicone tubes used in the actuator with pneumatic artificial muscles in order to deform the entire body, and thus improve the deformation and the speed. We experimented with both contractional artificial muscles with mesh tube and extensional artificial muscles with cotton yarn, and a soft actuator with the extensional artificial muscles improved the speed of movement to 8.0 mm/s.