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


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

September 20, 2021
January 13, 2022
April 20, 2022
soft robot, human phantom, silicone mold robot, 3D printer

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.

Passive flexible joints molded in silicone

Passive flexible joints molded in silicone

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.
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Last updated on Jun. 18, 2024