蚯蚓の移動メカニズムの解析 : 3次元マイクロ床反力計を用いた摩擦特性評価(OS.2 バイオエンジニアリング)

概要

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In order to obtain a new concept for the development of micro-robot and micro-mechanism based on small living things, we focused on earthworms. The frictional characteristics of earthworms were determined using a 3D-micro force plate developed in our laboratory. It was possible to individually measure the frictional force and vertical force applied to the force plate. Earthworms, named "Shima-mimizu" in Japanese, were subjected to measure their frictional behaviors when they moved on waterproof sand papers fixed to the force plate. The coefficient of static friction between the earthworms and the sand papers were 6.2, 5.4, and 3.3, at the roughness of 0.7, 1.3, and 6.5 μm, respectively, with a significant difference (p<0.05) observed between the roughness of 0.7 and 6.5 μm. Mucous liquid secreted from earthworms was observed on the surface of the roughness of 0.7 and 1.2 μm after the friction test. Microscopic observation indicated that earthworms had many spikes called "seta" around their bodies and that they controlled the length of seta during the movement on an irregular surface. These results indicate that earthworms control their frictional behavior in response to contacting surfaces by making use of their mucous liquid and seta.
社団法人日本機械学会の論文
2004-03-03