表題番号:2024C-468 日付:2025/02/02
研究課題Design and Application of Anatomically Inspired Actuation Systems for Humanoid Robot
研究者所属(当時) 資格 氏名
(代表者) 理工学術院 先進理工学部 助手 リュウ ジンカ
研究成果概要

In the year of processing research on humanoid robots, we focused on advancing a human anatomy-inspired approach for both actuation and tactile feedback. For the actuation system, a new robotic finger was designed with a significantly more accurate recreation of human-like structures compared to existing models. This novel approach incorporates a highly human-similar structure and utilizes a multi-material-based additive manufacturing method, which can produce a robot finger in ten hours with no post-assembly required. The finger was mounted on a specially designed test bench using Shape Memory Alloy (SMA) wire actuators. Test results demonstrated that this approach achieves more human-like motion compared to traditional methods. The design is currently undergoing further improvements.

Research also progressed in tactile feedback. New designs for SMA-based tactile sensors were developed, and experiments showed improved performance. The new sensor is now being miniaturized for future implementation within the robot finger’s skin. Additionally, a multi-array SMA sensor was developed and tested for cutaneous sensation. This work has been published in the international journal Actuators and presented at the international conference IEEE ICMA 2024.