ニイヤマ　リュウマ   NIIYAMA RYUMA   新山　龍馬    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2022/04
形態種別	学術雑誌
査読	査読あり
標題	Proposal of Manufacturing Method for New Passive Elastic Joint and Prototype of Human Phantom
執筆形態	共著(筆頭者以外)
掲載誌名	JOURNAL OF ROBOTICS AND MECHATRONICS
掲載区分	国外
出版社・発行元	FUJI TECHNOLOGY PRESS LTD
巻・号・頁	34(2),pp.402-412
著者・共著者	Masahiro Ikeda, Ryuma Niiyama, Yasuo Kuniyoshi
概要	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.
DOI	10.20965/jrm.2022.p0402
ISSN	0915-3942