OCTOPUS INSPIRED FLEXIBLE MANIPULATOR : COMPARATIVE STUDY OF THE MANIPULATOR\u27S ABILITY TO ADAPT TO ENVIRONMENTS USING DIFFERENT MECHANISMS

In this study, we focus on a flexible manipulator made of silicone. In recent years, flexible manipulators are usually driven by air pressure. When air is added, the pressure in the arm increases and each part expands, and a pushing force is generated to bend the arm. In this research, we focus on the muscles of living creatures such as humans, which convert pushing force into a pushing force within their muscles and tendons. Therefore, we think that there is an advantage in using pulling forces compared to pushing forces. In this research, we made two manipulators, one with a pushing mechanism and another with a pulling mechanism, both made of silicone. Three comparative experiments were conducted. In this research, through experiments, we verify the essential differences between manipulators that use pulling force and pushing force