電界共役流体を利用したジャミング現象によるソフトロボットフィンガの剛性制御

抄録

This paper describes the stiffness control of soft robotic fingers by changing the internal pressure of the fingers using ECF to induce the jamming transition of the particles filled inside the fingers. We designed the finger with two chambers inside to simultaneously drive the curvature and control the stiffness change of the finger. The type of jamming particles and the structure of the electrode pairs were determined by conducting evaluation experiments on each of the components of the fingers. As a result, the manufactured finger curved up to 9.68° and showed a stiffness change of up to 1.13 times when voltage was applied.