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成果報告書詳細
管理番号20190000000245
タイトル*2018年度中間年報 次世代人工知能・ロボット中核技術開発 革新的ロボット要素技術分野 スライドリングマテリアルを用いた柔軟センサーおよびアクチュエータの研究開発
公開日2019/6/19
報告書年度2018 - 2018
委託先名豊田合成株式会社 アドバンスト・ソフトマテリアルズ株式会社
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Title:Strategic Advancement of multi-Purpose Ultra-human Robot and Artifical Intelligent Technologies / Future robot technology / Research and development of

flexible sensors and actuators with slide-ring material (FY2015 - FY2019) FY2018 Annual Report

Recently, labor shortages at care and welfare sites and the aging of the farming population have become matters of concern. As one of the solutions, introduction of

robot technology is called for. At such sites, robots will be in a close positional relationship with humans; therefore, flexible sensors and driving sources are

required to ensure safety. This research and development aims to develop flexible actuators that enable robot joints to move flexibly without advanced control

techniques such as compliance control, by the use of Slide Ring Material (SRM) that has the potential to exhibit properties very close to the mechanical properties

of body tissues. It also aims to realize high-accuracy pressure sensors with a human skin-like softness. These flexible actuators and sensors will improve the safety

of robots, thus contributing to the popularization of robots.
(Results for FY 2018)
(1)Developing flexible actuator
[Material development]
Since FY2017, in order to improve driving durability under high humidity, reforming of polyrotaxane as a main ingredient and material formulation were examined.

Although it has become possible to produce elastomer having a higher blending amount of a silicone component than in the past, the problem of moldability has not

been solved.

[Actuator structural study]
In FY 2018, we mainly worked on thinning of the electrode layers.
As a result, 0.2 mm thick film which is 1/100 thickness of conventional electrodes became possible, increasing the displacement rate by about 110%. Then we proposed

the use as a soft gripper as a new actuator configuration.

[New actuator configuration study]
In the research and development up to the previous year, we found the possibility of SRM elastomer as a soft gripper using large bending deformation under high

electric field. In FY 2018, the composition of the actuator was examined, and the bending deformation was converted into the gripping operation, and the movement

became practical as the gripper.

(2)Development of flexible sensors
With the aim of equalizing the physical properties in the thickness direction, the sheet molding method was investigated, and it became possible to produce a 12 mm

thick sheet. In order to improve the creep, the material formulation was examined, and the prototype evaluation of the sensor was carried out. As a result, the creep

recovery rate was improved, which is one of the important problems of the sensor. However, customer goals have not been met, and materials design considerations will

be conducted to continue to improve the creep recovery rate.
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