ICRA 2011 Paper Abstract


Paper WeA109.3

Suzumori, Koichi (Okayama University), Mihara, Masaki (Okayama Univercity), Wakimoto, Shuichi (Okayama University)

Beautiful Flexible Microactuator Changing Its Structural Color with Variable Pitch Grating

Scheduled for presentation during the Regular Sessions "Novel Actuators I" (WeA109), Wednesday, May 11, 2011, 08:50−09:05, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Hydraulic/Pneumatic Actuators, Soft Material Robotics


Our research group has been investigated novel soft mechanisms. Thorough the researches, some soft rubber actuators driven pneumatically have been developed. The typical one is FMA (Flexible Microactuator), it can realize continuous bending motion like a human finger. In addition, now we are focusing on many interesting functions coming from micro scale structures, for example repellency, hydrophily, friction, structural color, adhesiveness and so on. We consider that by realizing these functional structures with soft material, novel additional functions can be expressed. In this study, micro grating structure was made from silicone rubber. Because of its elastic property, it can realize structural color change. Actually by fundamental experiments, beautiful color change could be confirmed. Moreover we fabricated the soft micro grating structure on FMA, and confirmed the color change following FMA’s motion. The color change indicates distributed condition about strain of FMA. Therefore it will enable servo control of FMA in the future.



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