JRM Vol.35 No.6 pp. 1615-1621
doi: 10.20965/jrm.2023.p1615


An Inchworm Robot with Self-Healing Ability Using SMA Actuators

Haruya Fukuchi and Hideyuki Sawada ORCID Icon

Waseda University
3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan

June 6, 2023
September 4, 2023
December 20, 2023
biomimetic robot, soft robot, inchworm, SMA wire, self-healing

In this paper, we propose an inchworm-type soft robot using a self-healing gel as its body and shape-memory alloy (SMA) wires as its actuators. To realize inchworm-like locomotion, two coiled SMA wires are placed in parallel in the gel-fabricated body. The bottom-side wire and the upper-side wire reciprocally bend by applying electric current to the actuators. To realize the self-restoration automatically, the robot consists of a self-healing body equipped with magnets. The paper introduces the structure of the inchworm-shaped robot with its inchworm-like locomotion performance, together with the self-healing function.

An self-healing inchworm-shaped robot being combined

An self-healing inchworm-shaped robot being combined

Cite this article as:
H. Fukuchi and H. Sawada, “An Inchworm Robot with Self-Healing Ability Using SMA Actuators,” J. Robot. Mechatron., Vol.35 No.6, pp. 1615-1621, 2023.
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Last updated on Feb. 19, 2024