国際論文誌IEEE Robotics and Automation Letters （RA-L）において、Best Paper Awardを受賞
ロボット分野における世界最高峰の国際論文誌であるIEEE Robotics and Automation Letters（RA-L）において、次世代ロボット研究機構の研究者がIEEE Robotics and Automation Letters Best Paper Awardを受賞しました。
受賞内容
■発表論文タイトル
EPM–MRE: Electropermanent Magnet–Magnetorheological Elastomer for Soft Actuation System and Its Application to Robotic Grasping (IEEE Robotics and Automation Letters, vol. 6, no. 4, Oct. 2021)
Conventional soft robotic grippers have been developed based on soft pneumatic actuators or using smart soft materials, but they need external pressure sources, are easily deteriorated or used in millimetric-scale, which leads to increase of the independency, instability, and vulnerability. In this study, we propose an EPM-MRE (Electropermanent Magnet-Magnetorheological elastomer) actuation system, which strengthens the independency and stability of soft actuation by non-contact magnetic force. We established its fundamental principle and investigated parameter design through developing a suction cup as a robotic gripper. We prototyped an EPM-MRE actuated suction cup based on magnetic-charge and tensile modeling as well as optimized the structure of EPM by introducing axisymmetric EPM with frustum pole and suction cup by introducing bi-silicone structure to uniformly activate MRE membrane. The activation of EPM by different current pulses and suction force affected by contact shapes and air gaps were tested. Evaluations showed that the suction cup could be activated with 10 ms and generate a maximum suction force of 9.2 N at a steady state with 0 J energy consumption. In conclusion, the EPM-MRE soft actuation system can be used as a robotic gripper.
受賞者
張 裴之 氏（創造理工学研究科博士後期課程、実体情報学博士コース）
亀﨑 允啓 研究院准教授（災害対応ロボティクス研究所、フロンティア機械工学研究所）
何 卓頤 氏（創造理工学研究科、総合機械工学専攻（当時））
坂本 裕之 氏（日本ペイントコーポレートソリューションズ）
菅野 重樹 教授（理工学術院長、ヒューマン・ロボット共創研究所所長）
