剛性異方性を持つ大変形可能な空気圧アクチュエータの設計と性能評価

抄録

This paper reports on the design of a highly deformable pneumatic actuator with stiffness anisotropy and the result of evaluation experiments. To adopt the progress of surgical techniques, doctors need surgical trainings. It is efficient to train with simulator that is close to the real organs. In this study, highly deformable pneumatic actuator with stiffness anisotropy is designed to surgical simulator with peristaltic movement. Its contraction ratio is more than 90%. This paper implies that the smaller the actuator is, the heavier its payload will be. Future work may involve miniaturization and integration to the surgical simulators.