JRM Vol.34 No.2 pp. 234-239
doi: 10.20965/jrm.2022.p0234


From a Deployable Soft Mechanism Inspired by a Nemertea Proboscis to a Robotic Blood Vessel Mechanism

Kenjiro Tadakuma*, Masaru Kawakami**, and Hidemitsu Furukawa**

*Graduate School of Information Sciences, Tohoku University
6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan

**Department of Mechanical Systems Engineering, Yamagata University
4-3-16 Jonan, Yonezawa, Yamagata 992-8510, Japan

December 11, 2021
January 13, 2022
April 20, 2022
mechanism, extendable, nemertea proboscis, robotic blood vessel

In this project, we aim to establish a design theory as well as implementation methods for deformable robot mechanisms that can branch and change in shape, structure, and stiffness. As the first step in our research on this project, we present an initial prototype of a branched torus mechanism that uses an inflatable structure inspired by a nemertea proboscis. We develop a basic mechanical model of this proboscis structure, and we confirm the basic performance and effective functionality of the configuration experimentally using a real prototype, specifically, a deployable torus mechanism and a retractable torus mechanism with an incompressible fluid. In addition, as an expanded concept from the branched torus mechanism, robotic blood vessels that can have an active self-healing function are prototyped, and the basic performance of the actual prototype is confirmed through experiments.

Nemertea proboscis inspired branched torus mechanism

Nemertea proboscis inspired branched torus mechanism

Cite this article as:
K. Tadakuma, M. Kawakami, and H. Furukawa, “From a Deployable Soft Mechanism Inspired by a Nemertea Proboscis to a Robotic Blood Vessel Mechanism,” J. Robot. Mechatron., Vol.34 No.2, pp. 234-239, 2022.
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Last updated on Jul. 19, 2024