Reinforcement Design for Newton-Level High Force Generated by Bending Motion of Soft Microactuator

Abstract

This paper reports our recent achievement of high bending-force generation by a soft microactuator. In vivo medical instruments such as endoscopes require improved functions to reduce restrictions caused by the operation from the outside of a body. In general, microactuators can provide precise motions but not good high forces. We attempted to overcome this drawback and successfully demonstrated Newton-level high force generation by a cantilever-type soft microactuator using pneumatic balloon actuator. A high-force bending motion is expected to lift tissues/organs up during an endoscopic operation. The innovative reinforcement design of a soft microactuator using a combination of ribs and conversion film is described and followed by device characterization. The Newton-level force generation by a cantilever-type soft microactuator of dimensions 16 mm × 40 mm × 850 µm is described.