JRM Vol.34 No.2 pp. 231-233
doi: 10.20965/jrm.2022.p0231


Three-Dimensional Ion Polymer–Metal Composite Soft Robots

Tetsuya Horiuchi*, Hiroyuki Nabae**, and Koichi Suzumori**

*National Institute of Advanced Industrial Science and Technology
1-8-31 Midorigaoka, Ikeda, Osaka 563-8577, Japan

**Tokyo Institute of Technology
2-12-1 Ookayama, Megro-ku, Tokyo 152-8552, Japan

September 20, 2021
November 10, 2021
April 20, 2022
3D shape, carbon nanotubes, electrodes, ion polymer–metal composite actuators, soft robots
Soft robots made by IPMC actuator

Soft robots made by IPMC actuator

This study aims to develop three-dimensional soft robots for special situations that cannot be easily resolved by normal hard-metal robots. We use an ion polymer–metal composite actuator, which is a soft actuator, moved using 1–10 V. The objective of our study is twofold: first, to develop a method to create 3D soft robots; and second, to develop a novel material to increase the performance of soft robots. The actuator fabricated using the proposed material exhibits a performance 113% higher than that of conventional actuators.

Cite this article as:
T. Horiuchi, H. Nabae, and K. Suzumori, “Three-Dimensional Ion Polymer–Metal Composite Soft Robots,” J. Robot. Mechatron., Vol.34 No.2, pp. 231-233, 2022.
Data files:
  1. [1] A. Kodaira, K. Asaka, T. Horiuchi, G. Endo, H. Nabae, and K. Suzumori, “IPMC monolithic thin film robots fabricated through a multi-layer casting process,” IEEE Robot. Autom. Lett., Vol.4, No.2, pp. 1335-1342, 2019.
  2. [2] A. Ishiki, H. Nabae, A. Kodaira, and K. Suzumori, “PF-IPMC: Paper/fabric assisted IPMC actuators for 3D crafts,” IEEE Robot. Autom. Lett., Vol.5, No.3, pp. 4035-4041, 2020.

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Last updated on Jun. 07, 2023