Open AccessProposal of Manufacturing Method for New Passive Elastic Joint and Prototype of Human Phantom
Author(s) -
Masahiro Ikeda,
Ryuma Niiyama,
Yasuo Kuniyoshi
Publication year - 2022
Publication title -
journal of robotics and mechatronics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.257
H-Index - 19
eISSN - 1883-8049
pISSN - 0915-3942
DOI - 10.20965/jrm.2022.p0402
Subject(s) - silicone , imaging phantom , soft robotics , joint (building) , materials science , elasticity (physics) , mechanical engineering , robotics , robot , molding (decorative) , elastic modulus , computer science , young's modulus , anisotropy , engineering drawing , composite material , artificial intelligence , structural engineering , engineering , optics , physics
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.