A worm gear has the advantages of a large reduction ratio and non-backdrivability. Because of this non-backdrivability, it can maintain a joint angle without energy consumption. Today, many robots have large workspaces that extend into the living spaces of humans, and they are required to work cooperatively with humans. In such cases, backdrivability is necessary to achieve high compliance for robots. Compliance helps robots perform cooperative tasks with humans, and protects its mechanisms and humans in the case of a collision. However, a worm gear cannot be backdriven because of the friction between tooth surfaces. Therefore, we have developed a worm gear mechanism that can switch its backdrivability using vibration that reduces friction. In this paper, we present a dynamic model of the worm gear to analyze the friction-reduction phenomenon caused by vibrations. We discuss the change in the effectiveness of the backdrivability with the change in the vibration direction. Finally, we experimentally confirm the certainty of the analysis.

Recently pneumatic-driven soft robots have been widely developed. Usually, the operating principle of this robot is the inflation and deflation of elastic inflatable chambers by air pressure. Some soft robots need rapid and periodic inflation and deflation of their air chambers to generate continuous motion such as progress motion or rotational motion. However, if the soft robot needs to operate far from the air pressure source, long air tubes are required to supply air pressure to its air chambers. As a result, there is a large delay in supplying air pressure to the air chamber, and the motion of the robot slows down. In this paper, we propose a compact device that changes its airflow passages by self-excited motion generated by a supply of continuous airflow. The diameter and the length of the device are 20 and 50 mm, respectively, and can be driven in a small pipe. Our proposed in-pipe mobile robot is connected to the device and can move in a small pipe by dragging the device into it. To apply the device widely to other soft robots, we also discuss a method of adjusting the output pressure and motion frequency.

In this paper, we propose an on-chip micromixer driven by an elastic wall with a virtual actuator. The on-chip micro mixer is composed of a circular chamber surrounded by a ring-shaped channel under isolation with an elastic wall. When vibrational pressure is put on the driving channel by an actuator, the volume of the circular chamber changes through the deformation of the elastic wall, as if there exists a virtual actuator near the wall. As a result, the liquid in the circular chamber is pushed out and pulled through the neck channel. This action creates a swirling flow in the circular chamber while maintaining isolation from the driving channel. Through experiments, we confirmed the swirling flow under an isolated environment using an air-based valve. The advantage of this approach is that the micromixer can be designed with a single layer having a simple mechanism.

Single-cell manipulation in microfluidic channels at the micrometer scale has recently become common. However, the current mainstream method using a syringe pump and a piezoelectric actuator is not suitable for long-term experiments. Some methods incorporate a pump mechanism into a microfluidic channel, but they are not suitable for mass production owing to their complex structures. Here, we propose a sidewall-driven micropump integrated into a microfluidic device as well as a method for reducing the pulsation of flow. This sidewall-driven micropump consists of small chambers lined up on both sides along the main flow path, with a wall separating the flow path and each chamber being deformed by air pressure. The chambers are pressurized to make the peristaltic motion of the wall possible, which generates flow in the main flow path. This pump can be created in a single layer, which allows a simplified structure to be achieved, although pulsation can occur when the pump is used alone. We created two types of chips with two micropumps placed in the flow path and attempted to reduce pulsation by driving them in different phases. The proposed dually driven micropump reduced pulsation when compared with the single pump. This device enables precise particle control and is expected to contribute to less costly and easier cell manipulation experiments.

In laparoscopic surgery, it is difficult to grasp large internal organs and drag it to make appropriate workspace by using conventional apparatus. Therefore, this paper proposes an assemblable mechanical hand for grasping the end of internal organs. This mechanical hand consists of the several units that can pass through a trocar, and can be assembled into a three fingered hand. Moreover, we developed a suction cup that can actively bend to fit the curved surface of the internal organs. The fingers equipped with the developed suction cups can grasp a pig liver without slippage.

The twisted bundled-tube locomotive device is an elongated soft robot that moves inside a pipe in a helical bending motion. This motion mimics the behavior of microorganisms called spirochetes. This device is inexpensive and easy to miniaturize because of its simple structure, which consists of three inflatable tubes twisted together. It can move in pipes of various diameters without a change in design. Therefore, it has a high capacity for water pipe inspection. However, it has not yet been shown to pass through step parts wherein the diameter of the pipes decreases. In this study, we developed a device that was deformed into a tapered shape by changing the pitch of the spirals at each location. The prototype device was able to move from a pipe with an inside diameter of 52.9 mm to a pipe with an inside diameter of 21.6 mm for horizontally fixed pipes, and from a pipe with an inside diameter of 41.6 mm to a pipe with an inside diameter of 21.6 mm for vertically fixed pipes.