Equivalent negative stiffness mechanism using three bundled needles inspired by mosquito for achieving easy insertion

Seiji Aoyagi, Yutaka Takaoki, Hiroki Takayanagi, Chih Hao Huang, Takahiro Tanaka, Masato Suzuki, Tomokazu Takahashi, Tsutomu Kanzaki, Takuya Matsumoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

The mosquito proboscis is composed of seven micro parts. Among them, labrum and maxillae play important roles in insertion. The labrum is a central needle which sucks blood; two maxillae are left/right needles aside the labrum, respectively. They cooperatively move, i.e., one maxilla goes forward, labrum goes forward, another maxilla goes forward, successively. We noticed that the maxilla has a jagged harpoon-like shape on its tip area, which has an anchoring effect. We proposed the easy insertion mechanism as follows: the equivalent stiffness, which is the ratio of the resistance force relative to the moving distance, is considered. The total stiffness in pushing out the central needle can be made smaller than zero due to the anchoring effect of the side needles. We named it as 'negative stiffness mechanism.' Equivalent stiffness during pulling/pushing a fabricated needle was experimentally estimated, which indicated the validity of proposed mechanism.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages2295-2300
Number of pages6
DOIs
Publication statusPublished - 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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