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JRM Vol.34 No.2 pp. 402-412
doi: 10.20965/jrm.2022.p0402
(2022)

Paper:

Proposal of Manufacturing Method for New Passive Elastic Joint and Prototype of Human Phantom

Masahiro Ikeda, Ryuma Niiyama, and Yasuo Kuniyoshi

Graduate School of Information Science and Technology, The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Received:
September 20, 2021
Accepted:
January 13, 2022
Published:
April 20, 2022
Keywords:
soft robot, human phantom, silicone mold robot, 3D printer
Abstract
Proposal of Manufacturing Method for New Passive Elastic Joint and Prototype of Human Phantom

Passive flexible joints molded in silicone

Fabricating a soft robot using conventional molding methods is difficult and time-consuming. Moreover, the types of materials used in the process are limited, and the elasticity cannot be changed incrementally. In this paper, we explain the detailed process of manufacturing molds for silicone joints. We construct a prototype molded silicone joint. We measure the elastic modulus of this joint and confirm that the elastic modulus and anisotropy change depending on the density, size, and arrangement of the surface grooves in the mold. We also develop a prototype human phantom using the proposed joint. We aim to contribute to the medical field by applying new techniques made possible by soft robotics.

Cite this article as:
M. Ikeda, R. Niiyama, and Y. Kuniyoshi, “Proposal of Manufacturing Method for New Passive Elastic Joint and Prototype of Human Phantom,” J. Robot. Mechatron., Vol.34, No.2, pp. 402-412, 2022.
Data files:
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Last updated on Sep. 27, 2022