Protective Skin Mechanism with an Exhaustive Arrangement of Tiny Rigid Bodies for Soft Robots: Evaluation of Puncture Resistance, Elasticity, and Descaling Resistance of the Scale Mechanism
Kenjiro Tadakuma,Masahiro Watanabe,Satoshi Tadokoro,Kenjiro Tadakuma,Masahiro Watanabe,Satoshi Tadokoro
Soft actuators have several advantages, including large deformation, safety and adaptability to the environment, and shock absorbance. However, they are weak against sharp objects owing to their soft bodies. This paper proposes a novel protective skin mechanism with an exhaustive arrangement of tiny rigid bodies. Small pieces were sewed on an elastic sheet using Kevlar strings. We conducted some m...
