昆虫関節の剛性異方性を参考にしたバイオニックジョイントの設計と製作
In this paper, we newly propose a microarm which has a bionic joint for medical application, especially for minimally invasive surgery. The novel design of bionic joint has a characteristic of the stiffness anisotropy of insect legs, and comprised of several materials which have different stiffness characteristics. The advantages of proposed joint are as follows: (1) small, (2) flexible, (3) simple mechanism fabricated by stacking microassembly process, and (4) biocompatible.