It is desirable that soft objects like organs are manipulated by soft actuation devices. This paper presents a newly developed device using a large number of actuator elements made of a soft gel material, which applies a distributed driving force on objects. The material used in the device is an ionic conducting polymer gel film and the structure of the elements is elliptical friction drive. Experimental results showed that an object placed on such a device could move at a speed of 0.62 mm/sec. This paper refers also to fundamental experiments and a concept for a more efficient drive.
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机译：期望通过软致动装置来操纵诸如器官之类的软物体。本文介绍了一种新开发的设备，该设备使用了大量由软凝胶材料制成的执行器元件，该执行器元件在对象上施加了分布式驱动力。设备中使用的材料是离子导电聚合物凝胶膜，元件的结构是椭圆摩擦驱动。实验结果表明，放置在此类设备上的物体可以0.62 mm / sec的速度移动。本文还涉及基础实验和更有效驱动的概念。
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