Flexible sheet actuator aimed at moving under the human body load

In this paper, we propose the structure and driving method of a flexible sheet actuator for moving under a load such as a human body. The sheet actuator is pneumatically driven, and its flexible and thin-walled structure makes it suitable for sneaking into confined environments. We proposed "Wavy-sheet-IV" that can move fast under heavy loads. However, due to its moving principle, Wavy-sheet-IV slows down in soft and uncertain shaped gaps. Therefore, we propose two methods for movement in flexible environments, such as under human loads, and verify their effectiveness through experiments using a prototype.