Japan Advanced Institute of Science and Technology
JAIST Repository
https://dspace.jaist.ac.jp/
Title
動的造形可能な簡易型ソフトアクチュエータAirFabの
開発
Author(s)
垣花, 元貴; 千葉, 蒼司; 張, 萍; 鳥居, 拓馬; 謝,
浩然
Citation
HCGシンポジウム2020: HCG2020-I-2-3
Issue Date
2020-12
Type
Conference Paper
Text version
publisher
URL
http://hdl.handle.net/10119/17033
Rights
Copyright (C)2020 IEICE. 垣花 元貴, 千葉 蒼司,張
萍, 鳥居 拓馬, 謝 浩然, HCGシンポジウム2020,
2020, HCG2020-I-2-3.
Description
ືⓗ㐀ᙧྍ⬟࡞⡆᫆ᆺࢯࣇࢺࢡࢳ࢚࣮ࣗࢱ
AirFab ࡢ㛤Ⓨ
ᇉⰼ ඖ㈗
͊༓ⴥ ྖ
͊ᙇ ⴍ
͊㫽ᒃ ᣅ㤿
͊ㅰ ᾈ↛
͊͊㝣ඛ➃⛉Ꮫᢏ⾡Ꮫ㝔Ꮫ
ࠛ923-1211 ▼ᕝ┴⬟⨾ᕷ᪫ྎ 1-1
E-mail: ͊{s2010041, s2010118, s2010125, tak.torii, xie}@jaist.ac.jp
࠶ ࠶ࡽࡲࡋ ㏆ᖺ㸪ࣥࣇ࣮ࣞࢱࣈࣝ㸦⭾⬽ᘧ㸧ᵓ㐀ࡼࡿືⓗไᚚྍ⬟࡞ࢯࣇࢺࢡࢳ࢚࣮ࣗࢱࡢ㛤Ⓨࡀ㐍ࢇ࡛ ࠸ࡿ㸬ࡋࡋ࡞ࡀࡽ㸪ከࡃࡢ᪤Ꮡ◊✲࡛ࡣ≉Ṧ࡞ᑓ⏝ࡢ⣲ᮦࡸᶵჾࢆᚲせࡍࡿㄢ㢟ࡀṧࡗ࡚࠸ࡿ㸬ᮏ◊✲࡛ࡣ㸪 ࣥࣇ࣮ࣞࢱࣈࣝᵓ㐀య〇సࡢపࢥࢫࢺࢆ┠ᣦࡋ㸪ࢶࢫࢺࣂ࣮࣏࢚ࣝࣥࣜࢳࣞࣥࣇ࣒ࣝࢆ⏝࠸ࡓ⡆᫆ᆺ ࣥࣇ࣮ࣞࢱࣈࣝᵓ㐀యࡢ〇సᡭἲࢆᥦࡍࡿ㸬ᮏᥦᶵᵓࢆ⏝࠸ࢀࡤ㸪ㄡ࡛ࡶᡭ㍍ࣥࣇ࣮ࣞࢱࣈࣝᵓ㐀ࢆࡶࡘ 㐀ᙧ≀ࢆసࡿࡇࡀ࡛ࡁࡿࡓࡵ㸪ᩍ⫱㠃ࡸ࢚ࣥࢱ࣮ࢸ࣓ࣥࣥࢺ㡿ᇦࡢᛂ⏝ࡀᐜ᫆ࡃᐇ⌧࡛ࡁࡿ⪃࠼ࡽࢀࡿ㸬 ࢟ ࣮࣮࢟࣡ࢻ ࢯࣇࢺࢡࢳ࢚࣮ࣗࢱ㸪ࣂ࣮ࣝࣥ㸪ࣥࣇ࣮ࣞࢱࣈࣝ.
Simple Pneumatic Balloon Actuator for Dynamic Fabrication
Genki KAKIHANA
͊Aoshi CHIBA
͊Ping ZHANG
͊Takuma TORII
͊Haoran XIE
͊͊
Japan Advanced Institute of Science and Technology Asahidai 1-1, Nomi-shi, Ishikawa, 923-1211 Japan
E-mail: ͊{s2010041, s2010118, s2010125, tak.torii, xie}@jaist.ac.jp
Abstract The controllable soft actuators with inflatable structures have been extensively explored recently. However, the
previous approaches may require specialized materials or equipment in actuator fabrication. This work aims to create a pneumatic actuator with low cost and easy fabrication procedure. The proposed actuator adopts twisted balloons and polyethylene film with common sewing machine. The proposed device is easy to build for common user, so we believe that the proposed pneumatic balloon actuator can be easily applied to the applications for education and entertainment purposes.
Keyword Pneumatic Actuator㸪Balloon㸪Inflatable Structure.
1. ◊✲⫼ ᬒ┠ ⓗ
㏆ ᖺ 㸪 ⣲ ᮦ ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ 㸦 ⭾ ᙇ ᘧ 㸧 ᵓ 㐀 ࢆ ࡶ ࡓ ࡏ 㸪 ⣲ ᮦ ࡢ ᙧ ≧ ࢆ ື ⓗ ኚ ࡉ ࡏ ࡿ ࢡ ࢳ ࣗ ࢚ ࣮ ࢱ ࡢ ◊ ✲ ࡀ ┒ ࢇ ࠾ ࡇ ࡞ ࢃ ࢀ ࡚ ࠸ ࡿ 㸬 ࣄ ࣗ ࣮ ࣐ ࣥ ࣭ ࢥ ࣥ ࣆ ࣗ ࣮ ࢱ࣭ ࣥ ࢱ ࣛ ࢡ ࢩ ࣙ ࣥ(HCI)ศ 㔝 ࠾ ࠸ ࡚ ࡣ 㸪 ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 య ࡢ ⭷ ෆ 㒊 ࡢ ሸ ࡢ 㔞 ㄪ ⠇ ࡸ ⇕ ࡼ ࡿ ኚ ᙧ 㸪 ┦ ㌿ ⛣ ➼ ࢆ ⏝ ࡋ 㸪 ෆ ᅽ ࢆ ື ⓗ ᧯ స ࡍ ࡿ ࢡ ࢳ ࣗ ࢚ ࣮ ࢱ ࡢ ◊ ✲ ࡀ 㐍 ࢇ ࡛ ࠸ ࡿ 㸬 ࠼ ࡤ 㸪 ⭷ ෆ ప Ἓ Ⅼ ࡢ ᾮ య ࢆ ᑒ ධ ࡋ 㸪 እ ࡽ ⇕ ࢆ ຍ ࠼ Ẽ ࡉ ࡏ ࡿ ࡇ ࡛ 㸪 ෆ ᅽ ࢆ ୖ ࡆ ࡚ ኚ ᙧ ࡉ ࡏ ࡿ ᖹ 㠃 ࢡ ࢳ ࣗ ࢚ ࣮ ࢱ ࡀ ࠶ ࡿ[1]㸬ࡲ ࡓ 㸪ࢩ ࣜ ࢥ ࣥ ࡸ ⣬ ➼ ࡢ ᰂ ࡽ ࠸ ⣲ ᮦ ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 ࢆ ࡶ ࡓ ࡏ 㸪 ື ⓗ ᙧ ≧ ኚ ࡀ ྍ ⬟ ࡞ ❧ య ≀ ࢆ 〇 స ࡍ ࡿ ᡭ ἲ ࡀ ᥦ ࡉ ࢀ ࡚ ࠸ ࡿ[2]㸬ࡋ ࡋ ࡞ ࡀ ࡽ 㸪 ࡇ ࢀ ࡽ ࡢ ◊ ✲ ᡭ ἲ ࡣ 㸪 ⣲ ᮦ ࡢ ධ ᡭ ࡀ ᅔ 㞴 㸪 ࡶ ࡋ ࡃ ࡣ 〇 స ࠶ ࡓ ࡾ ᑓ ⏝ ࡢ ᕤ స ᶵ ჾ ࡸ 㓄 ⥺ ➼ ࡀ ᚲ せ ࡛ ࠶ ࡿ ࡇ ࡀ ከ ࡃ 㸪ᡭ ㍍ ࡣ ᢅ ࠼ ࡞ ࠸ ࠸ ࠺ ㄢ 㢟 ࡀ ࠶ ࡿ 㸬 ࡇ ࠺ ࡋ ࡓ ᐇ ࢆ ㋃ ࡲ ࠼ 㸪 ᮏ ◊ ✲ ࡣ 㸪 ᚑ ᮶ ࡢ ᪉ ἲ ẚ ⣲ ᮦ ࡢ ධ ᡭ ࣭ ຍ ᕤ ࡀ ᐜ ᫆ ࡞ ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 య AirFab ࡢ స ᡂ ᡭ ἲ ࢆ ᥦ ࡍ ࡿ 㸬 ᮏ ◊ ✲ ࡢ ᥦ ࡛ ࡣ 㸪 ᕷ ㈍ ࡢ ࢶ ࢫ ࢺ ࣂ ࣝ ࣮ ࣥ ࣏ ࣜ ࢚ ࢳ ࣞ ࣥ ࣇ ࣝ ࣒ ࢆ ⏝ ࠸ ࡚ 㸪 ⡆ ᫆ ᆺ ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 య ࢆ ᵓ ᡂ ࡍ ࡿ 㸬 ᮏ ᥦ ࡛ ࡣ 㸪 ≉ ᐃ ࡢ ᙧ ≧ ຍ ᕤ ࡋ ࡓ ⿄ ≧ ࡢ ࣏ ࣜ ࢚ ࢳ ࣞ ࣥ ࣇ ࣝ ࣒ ෆ 㒊 ࢶ ࢫ ࢺ ࣂ ࣝ ࣮ ࣥ ࢆ ㎸ ࡲ ࡏ 㸪 ࢶ ࢫ ࢺ ࣂ ࣝ ࣮ ࣥ ࡢ ⭾ ᙇ ᪉ ྥ ࢆ ᙉ ไ ࡍ ࡿ ࡇ ࡛ ᙧ ≧ ኚ ࢆ ไ ᚚ ࡍ ࡿ 㸬ࡇ ࡢ ᙧ ≧ ኚ ࡢ ᶵ ᵓ ࡣ 㸪 ㄡ ࡛ ࡶ ⡆ ༢ ࡘ Ᏻ ౯ స ᡂ ྍ ⬟ ࡞ ࡇ ࡽ 㸪 ᮏ ᥦ ᶵ ᵓ ࢆ Ꮫ ᰯ ᩍ ⫱ ࡛ ⏝ ࡍ ࡿ ࡞ ࢯ ࣇ ࢺ ࣟ ࣎ ࢸ ࢡ ࢫ ᬑ ཬ ࡢ ࡓ ࡵ ࡢ ࢘ ࢺ ࣜ ࣮ ࢳ ά ື ࡸ 㸪 ᮏ ᶵ ᵓ ࢆ ⤮ ᮏ ⤌ ࡳ ㎸ ࡴ ࡇ ࡛ 㸪 ✵ Ẽ ࡢ ὶ ධ ࡛ ື ࡃ ࡅ ⤮ ᮏ ࢆ ⡆ ༢ స ᡂ ᅗ 1 ᥦ ࢹ ࣂ ࢫ ࡢ ᛂ ⏝ 一般社団法人 電子情報通信学会THE INSTITUTE OF ELECTRONICS,
INFORMATION AND COMMUNICATION ENGINEERS
HCGシンポジウム2020
HUMAN COMMUNICATION GROUP SYMPOSIUM 2020 HCG2020-I-2-3
࡛ ࡁ ࡿ ࡞ 㸪 ᩍ ⫱ ᪉ 㠃 ࡢ ᛂ ⏝ ࡀ ᮇ ᚅ ࡉ ࢀ ࡿ 㸬 ࡲ ࡓ 㸪 ࢚ ࣥ ࢱ ࣮ ࢸ ࣥ ࣓ ࣥ ࢺ ᛂ ⏝ ࠾ ࠸ ࡚ ࡶ 㸪 ⏕ ≀ ࡸ ⰼ ࡢ ື ࡃ ᶍ ᆺ ࡢ 〇 స ➼ 㸪 ࢯ ࣇ ࢺ ࢡ ࢳ ࣗ ࢚ ࣮ ࢱ ࡢ ᛂ ⏝ ࡀ ᐜ ᫆ ࡞ ࡿ ⪃ ࠼ ࡽ ࢀ ࡿ(ᅗᅗ 1)㸬
2. 㛵㐃◊ ✲
ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 య ࢆ 㐀 ᙧ ࡍ ࡿ ࠶ ࡓ ࡾ 㸪 ࢩ ࣜ ࢥ ࣥ ࡸ ࣇ ࣝ ࣒ ➼ ࡢ ᰂ ㌾ ࡞ ⣲ ᮦ ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 ࢆ ᣢ ࡓ ࡏ ࡿ ᡭ ἲ ࡀ 㛤 Ⓨ ࡉ ࢀ ࡚ ࡁ ࡓ 㸬 ࡑ ࡢ ୰ ࡛ ࡶ 㸪 ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 య ࡢ ෆ ᅽ ᧯ స ✵ Ẽ ᅽ ࢆ ⏝ ࠸ ࡓ ࡋ ࡚ 㸪Sticky Actuator ࡣ 㸪 ㏱ ᫂ ࡞ ࣇ ࣝ ࣒ ࢆ ⇕ ࡛ ᅽ ╔ ࡍ ࡿ ࡇ ࡼ ࡾ 㸪 ୰ ✵ ࡢ ᵓ 㐀 ࢆ ࡶ ࡘ ࢡ ࢳ ࣗ ࢚ ࣮ ࢱ ࢆ ᐇ ⌧ ࡋ ࡚ ࠸ ࡿ[3]㸬ࡲ ࡓ 㸪Bubble ࡣ 㸪㗪 ᆺ ὶ ࡋ ㎸ ࢇ ࡛ ᅛ ࡵ ࡓ ࢩ ࣜ ࢥ ࣥ ࠺ ࡋ ࢆ ᥋ ╔ ࡛ ᥋ ╔ ࡍ ࡿ ࡇ ࡼ ࡾ ࢩ ࣜ ࢥ ࣥ ࣋ ࣮ ࢫ ࡢ ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 య ࢆ 㐀 ᙧ ࡋ ࡚ ࠸ ࡿ[4]㸬ࡉ ࡽ ᮏ ◊ ✲ ྠ ᵝ 㸪␗ ✀ ⣲ ᮦ ࢆ ⏝ ࠸ ࡚ ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 ࢆ ࡶ ࡓ ࡏ ࡿ ᡭ ἲ ࡢ ◊ ✲ ࡶ 㐍 ࡵ ࡽ ࢀ ࡚ ࠸ ࡿ 㸬ᒣ ᒸ ࡽ ࡢ ᥦ [5]࡛ ࡣ 㸪⇕ ྍ ረ ᛶ ᶞ ⬡ ࡽ ࡞ ࡿ ከ ᒙ ࡢ ᶞ ⬡ ᯈ ⇕ ࢆ ຍ ࠼ 㸪 ᶞ ⬡ ࡀ ኚ ᙧ ࡍ ࡿ 㝿 㸪 ᒙ ෆ 㒊 ✵ Ẽ ࢆ ධ ࢀ ⭾ ࡽ ࡲ ࡏ ࡿ ࡇ ࡛ ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 ࢆ 〇 స ࡍ ࡿ ᡭ ἲ ࡀ ᥦ ฟ ࡉ ࢀ ࡚ ࠸ ࡿ 㸬 ࡇ ࡢ ᪤ Ꮡ ◊ ✲ ࠾ ࠸ ࡚ 㸪 ᮏ ᥦ ྠ ᵝ ㌾ Ⅼ ࡢ ␗ ࡞ ࡿ 2 ✀ 㢮 ࡢ ᶞ ⬡ ࢆ ⤌ ࡳ ྜ ࢃ ࡏ ࡿ ࡇ ࡛ 㸪 ษ ࡾ ㎸ ࡳ ࢆ ධ ࢀ ࡓ ᶞ ⬡ ࢆ ᭤ ࡆ ࡿ 㐀 ᙧ ≀ ࡀ ⤂ ࡉ ࢀ ࡚ ࠸ ࡿ 㸬 ᮏ ᥦ ࡛ ࡣ 㸪 ᶞ ⬡ ࡢ ⇕ ኚ ᙧ ẚ 㸪 ࡼ ࡾ ⣲ ᪩ ࡃ ᙧ ≧ ࢆ ኚ ᙧ ࡉ ࡏ ࡽ ࢀ ࡿ Ⅼ 㐪 ࠸ ࡀ ࠶ ࡿ 㸬3. ᥦᡭ ἲ
ᮏ ᥦ ᡭ ἲ ࡛ ࡣ 㸪 ᡭ ㍍ ࡞ ᮦ ᩱ ࣭ ຍ ᕤ ᪉ ἲ ࡛ 㸪 ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 య ࢆ ᐜ ᫆ 〇 స ࡛ ࡁ ࡿ 㸬 AirFab ࡢ 㐀 ᙧ 㐣 ⛬ ࢆ ᅗ 2 ♧ ࡍ 㸬ࡲ ࡎ 㸪⿄ ≧ ࡢ ࣏ ࣜ ࢚ ࢳ ࣞ ࣥ ࣇ ࣝ ࣒ ᅗ 2(ᕥ ᅗ )ࡢ ࡼ ࠺ ࡞ ࣃ ࢱ ࣮ ࣥ ࡢ ⥺ ⏬ ࢆ ᥥ ࡃ 㸬 ࢶ ࢫ ࢺ ࣂ ࣝ ࣮ ࣥ 㸦 ௨ ୗ 㸪 ࣂ ࣝ ࣮ ࣥ 㸧 ࡣ ࣏ ࣜ ࢚ ࢳ ࣞ ࣥ ࣇ ࣝ ࣒ ࡢ 㛗 ࡉ ྜ ࢃ ࡏ ࡚ ➃ ࢆ ࢝ ࢵ ࢺ ࡋ ࡚ ⤖ ࡪ 㸬 ࡑ ࡢ ᚋ 㸪 ࣃ ࢱ ࣮ ࣥ ࡢ ⥺ ⏬ ἢ ࡗ ࡚ ⿄ ≧ ࡢ ࣏ ࣜ ࢚ ࢳ ࣞ ࣥ ࣇ ࣝ ࣒ ࢆ ࣑ ࢩ ࣥ ࡛ ⦭ ࠸ ࡅ 㸪 ࣂ ࣝ ࣮ ࣥ ࢆ 㛤 ཱྀ 㒊 ᕪ ࡋ ㎸ ࡴ(ᅗ 3)㸬 ࣉ ࣟ ࢺ ࢱ ࣉ 㛤 Ⓨ ᐇ 㝿 ⏝ ࠸ ࡓ ࣂ ࣝ ࣮ ࣥ ຍ ᕤ ࡋ ࡓ ࣏ ࣜ ࢚ ࢳ ࣞ ࣥ ࣇ ࣝ ࣒ ࢆ ᅗ3(ᕥ ) ♧ ࡍ 㸬ࢯ ࣇ ࢺ ࢡ ࢳ ࣗ ࢚ ࣮ ࢱ ࡢ ᛶ ⬟ ࢆ ᳨ ド ࡍ ࡿ ࡓ ࡵ 㸪 㸲 ✀ 㢮 ࡢ ᐇ 㦂 ⏝ ヨ స ရ ࢆ స ᡂ ࡋ ࡓ(ᅗ 3(ྑ ))㸬✵ Ẽ ࣏ ࣥ ࣉ ࡛ ✵ Ẽ ࢆ ࣂ ࣝ ࣮ ࣥ ෆ ሸ ࡍ ࡿ ࡇ ࡛ స ື ࡍ ࡿ 㸬 ✵ Ẽ ࢆ ὀ ධ ࡍ ࡿ ࣂ ࣝ ࣮ ࣥ ࡣ ⭾ ᙇ ࡍ ࡿ ࡀ 㸪 ⭾ ᙇ ࡣ ⦭ ࠸ ࡅ ࡓ ࣏ ࣜ ࢚ ࢳ ࣞ ࣥ ࣇ ࣝ ࣒ ᣊ ᮰ ࡉ ࢀ ࡚ 㸪 ⤖ ᯝ ⓗ ࣃ ࢱ ࣮ ࣥ ࡢ ⠇ Ⅼ ࡛ ᒅ ᭤ ࡋ 㸪 ᙧ ≧ ኚ ࢆ ᘬ ࡁ ㉳ ࡇ ࡍ 㸬4. ᐇ㦂 ⤖ᯝ
ᅇ ࡢ ᐇ 㦂 ࠾ ࠸ ࡚ ࡣ 㸪ᒣ ࡢ 㧗 ࡉ ࡣa [mm]㸪ᒣ ࡢ ᖜ ࡣ b[mm]㸪ᒣ ࡢ ᭤ ⥺ ࡣ ࣇ ࣜ ࣮ ࣁ ࣥ ࢻ ࡛ ᥥ ࠸ ࡓ (ᅗ 4)㸬ᒣ ࡢ 㧗 ࡉ ࡸ ᩘ ᒅ ᭤ ᖜ ࡢ 㛵 ಀ ࢆ ㄪ ࡿ ࡓ ࡵ 㸪 ᅗ 4 (ୖ )ࡢ ᒣ ࡢ 㧗 ࡉ a[mm] ᒣ ࡢ ᖜ b[mm]ࡢ ẚ ⋡ ࢆ ኚ ࠼ 㸪 㐀 ᙧ ≀ ࡢ ᒅ ᭤ ᖜ x[mm]ࡢ ኚ ࢆ ㄪ ࡓ 㸬ㄪ ᰝ ࠶ ࡓ ࡗ ࡚ 㸪㐀 ᙧ ≀ ࡢ ᶓ ᖜ ࢆ190mm㸪ࣂ ࣝ ࣮ ࣥ ᤄ ධ ᖜ ࢆ 15mm ᅛ ᐃ ࡋ ࡓ 㸬 㧗 ࡉ a[mm]ࢆ 10mm 30mm㸪 ᒣ ࡢ ᖜ b[mm]ࢆ 30mm 50mm ࡛ ኚ ࠼ ࡓ ィ 4 ✀ 㢮 ࢆ 〇 స ࡋ 㸪 ྛ ࠎ ࡢ ᒅ ᭤ ᖜx[mm]ࢆ ᐃ ࡋ ࡓ 㸬ࡑ ࡢ ⤖ ᯝ ࢆ ᅗ 5㸪ᅗ 6 ♧ ࡍ 㸬 ᅗ 2 ᥦ ࢹ ࣂ ࢫ AirFab ࡢ 㐀 ᙧ ᡭ 㡰 ᅗ 3 (ᕥ )ࣂ ࣝ ࣮ ࣥ ຍ ᕤ ࡋ ࡓ ࣏ ࣜ ࢚ ࢳ ࣞ ࣥ ࣇ ࣝ ࣒ 㸪(ྑ )ᐇ 㦂 ⏝ ࡢ ヨ స ရ ᅗ 4 (ୖ )Ỉ ᖹ ᪉ ྥ ࡽ ぢ ࡓ ࣃ ࢱ ࣮ ࣥ 㸪 (ୗ )ෆ ᅽ ࢆ 㧗 ࡵ ࡓ 㝿 ᒅ ᭤ ࡋ ࡓ ᵝ Ꮚ5. ⪃
⪃ ᐹ
ᅗ 6 ࡼ ࡾ 㸪ᒣ ࡢ 㧗 ࡉ ᖜ ࡢ ẚ ⋡ r = a/b ࡢ ್ ࡀ ࡁ ࠸ ࡼ ࡃ ᒅ ᭤ ࡋ ࡚ ࠸ ࡿ ࡇ ࡀ ࢃ ࡿ 㸬ᒅ ᭤ ᖜx[mm]ࡣ 㸪 ẚ ⋡ r ࢆ ⏝ ࠸ ࡚ 2 ḟ ㏆ ఝ ࡋ 㸪 ௨ ୗ ࡢ ࡼ ࠺ ⾲ ࡍ ࡇ ࡀ ࡛ ࡁ ࡿ 㸬 (1) ᘧ 㸯 ᇶ ࡙ ࡃ ࡇ ࡛ 㸪 ᅗ 5 ࡢ ࡼ ࠺ ࡞ ᒣ ࡢ 㧗 ࡉ ࡀ ୍ ᐃ ࡢ ᙧ ≧ ࣃ ࢱ ࣮ ࣥ ࡛ ࠶ ࢀ ࡤ ࡑ ࡢ ᒅ ᭤ ᖜ ࡀ ண ࡉ ࢀ ࡿ ࡓ ࡵ 㸪 ᘧ 1 ࡣ ᮏ ᶵ ᵓ 〇 స ࠾ ࡅ ࡿ ⡆ ᫆ ⓗ ࡞ タ ィ ᣦ 㔪 ࡞ ࡿ ⪃ ࠼ ࡽ ࢀ ࡿ 㸬6. ⤖ㄽ ᚋࡢ ᒎᮃ
ᮏ ✏ ࡛ ࡣ 㸪 ࢶ ࢫ ࢺ ࣂ ࣝ ࣮ ࣥ ࣏ ࣜ ࢚ ࢳ ࣞ ࣥ ࣇ ࣝ ࣒ ࢆ ⏝ ࠸ ࡓ Ᏻ ౯ ࡘ ⡆ ᫆ ࡞ ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 య ࡢ 〇 స ᡭ ἲ ࢆ ᥦ ࡋ ࡓ 㸬 ࡉ ࡽ 㸪 ᙧ ≧ ⭾ ᙇ ࡢ 㝿 ࡢ ኚ ᙧ ࡢ 㛵 ಀ ࢆ 㔞 ⓗ ホ ౯ ࡋ 㸪 ⡆ ᫆ ࡞ タ ィ ᣦ 㔪 ࢆ ᥦ ♧ ࡋ ࡓ 㸬 ࡇ ࡢ ᡭ ἲ ࡢ Ⅼ ࡣ 㸪 ⏝ ⣲ ᮦ ࡀ 㠀 ᖖ ධ ᡭ ࡋ ࡸ ࡍ ࡃ ຍ ᕤ ࡶ ᐜ ᫆ ࡞ Ⅼ ࠶ ࡿ 㸬 ࡍ ࡞ ࢃ ࡕ 㸪 ⣲ ᮦ ࡢ ධ ᡭ ࣭ ຍ ᕤ ࡀ ᐜ ᫆ ࡛ ࠶ ࡿ ࡇ ࡼ ࡾ 㸪 Ꮚ ࡶ ࡛ ࡶ ᡭ ㍍ ࣥ ࣇ ࣞ ࣮ ࢱ ࣈ ࣝ ᵓ 㐀 ࢆ ࡶ ࡘ 㐀 ᙧ ≀ ࢆ స ࡿ ࡇ ࡀ ࡛ ࡁ ࡿ ࡓ ࡵ 㸪 ᩍ ⫱ 㠃 ࡸ ࢚ ࣥ ࢱ ࣮ ࢸ ࣥ ࣓ ࣥ ࢺ 㡿 ᇦ ࡢ ᛂ ⏝ ࡀ ᐜ ᫆ ࡃ ᐇ ⌧ ࡛ ࡁ ࡿ ⪃ ࠼ ࡽ ࢀ ࡿ 㸬 ᚋ ࡢ ᒎ ᮃ ࡋ ࡚ 㸪 ࡉ ࡽ ࡞ ࡿ ⡆ ᫆ ࢆ ┠ ᣦ ࡋ 㸪 ࣏ ࣜ ࢚ ࢳ ࣞ ࣥ ࣇ ࣝ ࣒ ࠺ ࡋ ࢆ ⦭ ࠸ ࡅ ࡿ స ᴗ ࡢ ⡆ ␎ ࢆ ᅗ ࡿ ࡶ 㸪 ࡼ ࡾ 」 㞧 ࡞ ࣃ ࢱ ࣮ ࣥ ⦭ ࠸ ࡅ ࡓ ࣏ ࣜ ࢚ ࢳ ࣞ ࣥ ࣇ ࣝ ࣒ ࡼ ࡿ 3 ḟ ඖ ື స ࡢ ไ ᚚ ࡸ 㸪 ࢩ ࣑ ࣗ ࣞ ࣮ ࢩ ࣙ ࣥ ࡼ ࡿ ᙉ ᗘ ࣭ ື స ᥎ ᐃ ࢆ ⾜ ࠺ 㸬ᩥ
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[1] K. Nakahara, K. Narumi, R. Niiyama, and Y. Kawahara, “Electric phase-change actuator with inkjet printed flexible circuit for printable and integrated robot prototyping, ” 2017 IEEE International Conference on Robotics and Automation (ICRA), pp.1856-1863, Singapore, May.2017.
[2] L. Yao, R. Niiyama, J. Ou, S. Follmer, C. D. Silva, and H. Ishii, “ PneUI: pneumatically actuated soft composite materials for shape changing interfaces , ” Proceedings of the 26th annual ACM symposium on User interface software and Technology, pp.13-22, St. Andrews, UK, Oct.2013.
[3] R. Niiyama, X. Sun, L. Yao, H. Ishii, D. Rus, and S. Kim, “ Sticky actuator: Free-form planar actuators for animated objects, ” Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction, pp.77-84, Stanford, CA, USA, Jan.2015.
[4] X. Zhang, A. Shatarbanov, J. Zeng, V. K. Chen, V. M. Bove, P. Maes, J. Rekimoto, “ Bubble: Wearable Assistive Grasping Augmentation Based on Soft Inflatables, ” Extended Abstracts of the 2019 CHI Conference on Human Factors in Computing Systems , pp.1-6, Glasgow, Scotland, UK, May.2019.
[5] J. Yamaoka, R. Niiyama, and Y. Kakehi, “BlowFab: Rapid Prototyping for Rigid and Reusable Objects using Inflation of Laser-cut Surfaces, ” Proceedings of the 30th Annual ACM Symposium on User Interface Software and Technology, pp.461-469, Québec City, Canada, Oct.2017.
ᅗ 5 ᒣ ࡢ 㧗 ࡉ a ᖜ b ࡢ ኚ ᭦ ࡼ ࡿ ᒅ ᭤ ᖜ ࡢ ኚ
ᅗ 6 ᒣ ࡢ 㧗 ࡉ ᖜ ࡢ ẚ ⋡ r ᒅ ᭤ ᖜ x[mm] ࡢ 㛵 ಀ
