Horiuchi Tetsuya 堀内哲也

Researcher Number	60738061
Other IDs	https://orcid.org/0000-0002-9349-7874
Affiliation (Current)	2025: 国立研究開発法人産業技術総合研究所, 材料・化学領域, 主任研究員
Affiliation (based on the past Project Information) *help	2019 – 2023: 国立研究開発法人産業技術総合研究所, 材料・化学領域, 主任研究員 2017 – 2019: 国立研究開発法人産業技術総合研究所, 材料・化学領域, 研究員 2015 – 2016: 国立研究開発法人産業技術総合研究所, 無機機能材料研究部門, 研究員
Review Section/Research Field	Principal Investigator Basic Section 90130:Medical systems-related / Medical systems Except Principal Investigator Complex systems
Keywords	Principal Investigator 白内障 / イオン導電性高分子アクチュエータ / 乱視抑制 / ゲルレンズ / 高次収差 / 焦点距離 / 調節可能眼内レンズ / ソフトアクチュエータ / 眼内レンズ / 調節可能レンズ … More / アクチュエータ / イオン導電性高分子 / 低侵襲手術 / トラック形状 / カテーテル / 断面二次モーメント / ＩＰＭＣアクチュエータ / ロボットカテーテル … More Except Principal Investigator イオン交換膜 / イオン高分子アクチュエータ / アクチュエータ / ソフトロボット / 人工筋肉 / ion exchange membrane / IPMC / soft robotics / soft actuator Less

Accommodating IOL, actuated by ionic polymer metal composite actatorPrincipal Investigator
- Principal Investigator
  
  Horiuchi Tetsuya
- Project Period (FY)
  2018 – 2021
- Research Category
  
  Grant-in-Aid for Early-Career Scientists
- Review Section
  
  Basic Section 90130:Medical systems-related
- Research Institution
  National Institute of Advanced Industrial Science and Technology
Motion Control of Soft Robots Realized by Ion Excahge Membrane
- Principal Investigator
  
  Suzumori Koichi
- Project Period (FY)
  2018 – 2022
- Research Category
  
  Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)
- Review Section
  
  Complex systems
- Research Institution
  Tokyo Institute of Technology
Robot catheter system actuated by IPMC actuatorPrincipal Investigator
- Principal Investigator
  
  Horiuchi Tetsuya
- Project Period (FY)
  2015 – 2017
- Research Category
  
  Grant-in-Aid for Young Scientists (B)
- Research Field
  
  Medical systems
- Research Institution
  National Institute of Advanced Industrial Science and Technology

All 2023 2022 2021 2020 2019 2018 2017 2016 2015 Other

All Journal Article Presentation Patent Other

[Journal Article] Three-layer ionic polymer?metal composite actuator with functionalized carbon nanotubes incorporated into Nafion2023
- Author(s)
  Horiuchi Tetsuya、Kato Yuichi、Sugino Takushi
- Journal Title
  
  Sensors and Actuators A: Physical
  
  Volume: 352 Pages: 114178-114178
- DOI
  10.1016/j.sna.2023.114178
- Peer Reviewed
- Data Source
  KAKENHI-PLANNED-18H05470
[Journal Article] Three-Dimensional Ion Polymer–Metal Composite Soft Robots2022
- Author(s)
  Horiuchi Tetsuya、Nabae Hiroyuki、Suzumori Koichi
- Journal Title
  
  Journal of Robotics and Mechatronics
  
  Volume: 34 Issue: 2 Pages: 231-233
- DOI
  10.20965/jrm.2022.p0231
- ISSN
  0915-3942, 1883-8049
- Year and Date
  2022-04-20
- Language
  English
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PLANNED-18H05470
[Journal Article] Artificial accommodating intraocular lens powered by an ion polymer-metal composite actuator2021
- Author(s)
  Horiuchi Tetsuya、Mihashi Toshifumi、Hoshi Sujin、Okamoto Fumiki、Oshika Tetsuro
- Journal Title
  
  PLOS ONE
  
  Volume: 16 Issue: 6 Pages: e0252986-e0252986
- DOI
  10.1371/journal.pone.0252986
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-18K18411, KAKENHI-PROJECT-20H04271
[Journal Article] IPMC Monolithic Thin Film Robots Fabricated Using a Multi-Layer Casting Process2019
- Author(s)
  Akio Kodaira, Kinji Asaka, Tetsuya Horiuchi, Gen Endo, Hiroyuki Nabae, Koichi Suzumori
- Journal Title
  
  IEEE Robotics and Automation Letters
  
  Volume: Vol.4, No.2 Issue: 2 Pages: 1335-1342
- DOI
  10.1109/lra.2019.2895398
- Peer Reviewed
- Data Source
  KAKENHI-PLANNED-18H05470
[Journal Article] 245 mm length IPMC catheter with an ellipse-like cross-section2019
- Author(s)
  Tetsuya Horiuchi and Kinji Asaka
- Journal Title
  
  Smart Materials and Structures
  
  Volume: 28 Issue: 9 Pages: 095028-095028
- DOI
  10.1088/1361-665x/ab1cf0
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-18K18411
[Journal Article] 245mm-length IPMC catheter with an ellipse-like cross-section2019
- Author(s)
  T. Horiuchi, K. Asaka
- Journal Title
  
  Smart Materials and Structures
  
  Volume: 29-9 Issue: 8 Pages: 85022-85022
- DOI
  10.1088/1361-665x/ab2a28
- Peer Reviewed / Int'l Joint Research
- Data Source
  KAKENHI-PLANNED-18H05470
[Journal Article] Elliptical-like cross-section ionic polymer-metal composite actuator for catheter surgery2017
- Author(s)
  Horiuchi Tetsuya、Sugino Takushi、Asaka Kinji
- Journal Title
  
  Sensors and Actuators A: Physical
  
  Volume: 267 Pages: 235-241
- DOI
  10.1016/j.sna.2017.10.002
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-15K16342
[Journal Article] Voltage-controlled accommodating IOL system using an ion polymer metal composite actuator.2016
- Author(s)
  1.Tetsuya Horiuchi, Toshifumi Mihashi, Takashi Fujikado, Tetsuro Oshika, Kinji Asaka.
- Journal Title
  
  Opt Express
  
  Volume: 24（20） Issue: 20 Pages: 23280-23288
- DOI
  10.1364/oe.24.023280
- Peer Reviewed / Open Access / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-15K15634, KAKENHI-PROJECT-15K16342
[Journal Article] The effect of ambient humidity on the electrical response of ion-migration-based polymer sensor with various cations2016
- Author(s)
  Zicai Zhu, Tetsuya Horiuchi, Karl Kruusamae, Longfei Chang and Kinji Asaka
- Journal Title
  
  Smart Materials and Structures
  
  Volume: 25 Issue: 5 Pages: 055024-055024
- DOI
  10.1088/0964-1726/25/5/055024
- Peer Reviewed / Acknowledgement Compliant / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-15K16342
[Journal Article] Influence of Ambient Humidity on the Voltage Response of Ionic Polymer Metal Composite Sensor2016
- Author(s)
  Zicai Zhu, Tetsuya Horiuchi, Karl Kruusamae, Longfei Chang, and Kinji Asaka
- Journal Title
  
  J. Phys. Chem. B
  
  Volume: 120 Issue: 12 Pages: 3215-3225
- DOI
  10.1021/acs.jpcb.5b12634
- Peer Reviewed / Acknowledgement Compliant / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-15K16342
[Journal Article] Effects of cation on electrical responses of ionic polymer-metal composite sensors at various ambient humidities2016
- Author(s)
  Z. Zhu, T. Horiuchi, K. Takagi, J. Takeda, L. Chang, K. Asaka
- Journal Title
  
  Journal of Applied Physics
  
  Volume: 120 Issue: 8
- DOI
  10.1063/1.4961732
- Peer Reviewed / Acknowledgement Compliant / Open Access / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26420174, KAKENHI-PROJECT-15K16342
[Journal Article] A multi-physical model for charge and mass transport in a flexible ionic polymer sensor2016
- Author(s)
  Zicai Zhu ; Kinji Asaka ; Kentaro Takagi ; Alvo Aabloo ; Tetsuya Horiuchi
- Journal Title
  
  Electroactive Polymer Actuators and Devices (EAPAD)
  
  Volume: 9798 Pages: 97982O-97982O
- DOI
  10.1117/12.2218238
- Peer Reviewed / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-15K16342
[Journal Article] Multi-physical model of cation and water transport in ionic polymer-metal composite sensors2016
- Author(s)
  Z. Zhu, L. Chang, T. Horiuchi, K. Takagi, A. Aabloo, K. Asaka
- Journal Title
  
  Journal of Applied Physics
  
  Volume: 119 Issue: 12
- DOI
  10.1063/1.4944647
- Peer Reviewed / Acknowledgement Compliant / Open Access / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26420174, KAKENHI-PROJECT-15K16342
[Patent] 調節型眼内レンズ装置2019
- Inventor(s)
  堀内哲也三橋俊文、岡本史樹、星崇仁、安積欣志
- Industrial Property Rights Holder
  産業技術総合研究所
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2019-037237
- Filing Date
  2019
- Data Source
  KAKENHI-PROJECT-18K18411
[Patent] カテーテルおよびその製造方法2017
- Inventor(s)
  堀内哲也
- Industrial Property Rights Holder
  堀内哲也
- Industrial Property Rights Type
  特許
- Industrial Property Number
  2017-109997
- Filing Date
  2017
- Data Source
  KAKENHI-PROJECT-15K16342
[Presentation] ペレット式3Dプリンタを用いた3 次元形状のIPMCの試作とその動作実験2022
- Author(s)
  宍倉一輝, 難波江裕之, 湯浅亮平, 堀内哲也, 遠藤玄, 鈴森康一
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2022
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] Design and Fabrication of 3D Papercraft IPMC Robots2022
- Author(s)
  Hiroyuki Nabae, Keita Kubo, Kazuki Shishikura, Tetsuya Horiuchi, Kinji Asaka, Gen Endo, Koichi Suzumori
- Organizer
  2022 IEEE International Conference on Soft Robotics (RoboSoft 2022)
- Int'l Joint Research
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] Au/Pt Double-Layer Electrodes and Expanding Internal Chamber for Improving Air-Hose-Free Thin McKibben Muscles2021
- Author(s)
  Akio Kodaira, Hiroyuki Nabae, Tetsuya Horiuchi, Kinji Asaka, Gen Endo, Koichi Suzumori
- Organizer
  4th IEEE International Conference on Soft Robotics (RoboSoft2021)
- Int'l Joint Research
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] 電極にイオン化CNTを含有したIPMCアクチュエータ2021
- Author(s)
  堀内哲也、杉野卓司
- Organizer
  第22回　計測自動制御学会　システムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-18K18411
[Presentation] カードモデルに着想を得たイオン交換樹脂シートからの3 次元形状IPMC ロボットの構築2021
- Author(s)
  久保景太, 難波江裕之, 堀内哲也, 安積欣志, 遠藤玄, 鈴森康一
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] 接触マスク法を用いたIPMCの選択的電極成形によるヒトデ型ソフトロボットの開発2020
- Author(s)
  久保景太, 難波江裕之, 堀内哲也, 安積欣志, 遠藤玄, 鈴森康一
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2020
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] IPMCアクチュエータとシリコーンゲルによる調節可能眼内レンズ2020
- Author(s)
  堀内哲也、三橋俊文、星崇仁、岡本史樹、大鹿哲郎
- Organizer
  日本眼光学学会
- Data Source
  KAKENHI-PROJECT-18K18411
[Presentation] Applying IPMC to soft robots2020
- Author(s)
  Koichi Suzumori, Hiroyuki Nabae, Kinji Asaka, Tetsuya Horiuchi
- Organizer
  SPIE Smart Structures + Nondestructive Evaluation
- Invited / Int'l Joint Research
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] Simultaneous 3D Forming and Patterning Method of Realizing Soft IPMC Robots2020
- Author(s)
  Keita Kubo, Hiroyuki Nabae, Tetsuya Horiuchi, Kinji Asaka, Gen Endo, Koichi Suzumori
- Organizer
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Int'l Joint Research
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] Au/Pt多層電極柔軟PEFCチューブの開発による電気駆動細径マッキベン人工筋の高応答化2020
- Author(s)
  小平暁雄, 堀内哲也, 難波江裕之, 安積欣志, 遠藤玄, 鈴森康一
- Organizer
  ロボティクス・メカトロニクス講演会2020
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] 紙/布を用いた立体形状IPMCロボットの提案2020
- Author(s)
  石木明日翔, 難波江裕之, 小平暁雄, 遠藤玄, 安積欣志, 堀内哲也, 鈴森康一
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2020
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] イオン交換樹脂分散液の3DプリンティングによるIPMCソフトマイクロロボットの成形 2019
- Author(s)
  石木明日翔,鈴森康一,難波江裕之,遠藤玄,安積欣志, 堀内哲也
- Organizer
  第37回日本ロボット学会学術講演会論文集
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] Hexagonal shape IPMC actuator for AIOL2019
- Author(s)
  堀内哲也，安積欣二
- Organizer
  Nano-Bio-BAMN-2019
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-18K18411
[Presentation] 積層キャスト法を用いた水中移動IPMC薄膜ソフトロボット2019
- Author(s)
  小平暁雄，安積欣志，堀内哲也，難波江裕之，遠藤玄，鈴森康一
- Organizer
  ロボティクス・メカトロニクス講演会2019
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] 柔軟PEFCチューブを用いた気液変換細径マッキベン型人工筋肉2019
- Author(s)
  小平暁雄，安積欣志，堀内哲也，難波江裕之，遠藤玄，鈴森康一
- Organizer
  ロボティクス・メカトロニクス講演会2019
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] 2.Control method for Accommodating IOL by IPMC actuator using angle of convergence2019
- Author(s)
  堀内哲也，安積欣二
- Organizer
  APMSR2019-1
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-18K18411
[Presentation] Ellipse-like IPMC catheter, controlled by high electrical pulse stimulus method2019
- Author(s)
  堀内哲也，安積欣二
- Organizer
  Nano-Bio-BAMN-2019
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-18K18411
[Presentation] IPMC Monolithic Thin Film Robots Fabricated through a Multi-Layer Casting Process2019
- Author(s)
  Akio Kodaira, Kinji Asaka, Tetsuya Horiuchi, Gen Endo, Hiroyuki Nabae, Koichi Suzumori
- Organizer
  the 2019 International Conference on Robotics and Automation (ICRA 2019)
- Int'l Joint Research
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] Frequency Response of Honeycomb Structured IPMC Actuator Fabricated through 3D Printing with Dispersion Liquid2019
- Author(s)
  Hiroyuki Nabae, Asuka Ishiki, Tetsuya Horiuchi, Kinji Asaka, Gen Endo, Koichi Suzumori
- Organizer
  30th International Symposium on Micro-NanoMechatronics and Human Science (MHS)
- Int'l Joint Research
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] Soft Polymer-Electrolyte-Fuel-Cell Tube Realizing Air-Hose-Free Thin McKibben Muscles2019
- Author(s)
  Hiroyuki Nabae, Akio Kodaira, Tetsuya Horiuchi, Kinji Asaka, Gen Endo, Koichi Suzumori
- Organizer
  2019 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Int'l Joint Research
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] IPMCアクチュエータによる単焦点レンズ駆動型調節可能眼内レンズ2018
- Author(s)
  堀内哲也、三橋俊文、岡本史樹、星崇仁、安積欣志
- Organizer
  日本ＭＲＳ年次大会
- Data Source
  KAKENHI-PROJECT-18K18411
[Presentation] 高分子アクチュエータ駆動型調節可能眼内レンズの初期的検討2018
- Author(s)
  堀内哲也、三橋俊文、安積欣志、星崇仁、岡本史樹、大鹿哲郎
- Organizer
  日本眼光学学会
- Data Source
  KAKENHI-PROJECT-18K18411
[Presentation] 3次元任意形状IPMCアクチュエータの成膜の試み2018
- Author(s)
  小平暁雄, 安積欣志, 堀内哲也, 難波江裕之, 遠藤玄, 鈴森康一
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2018
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] 立体形状IPMC成膜プロセスによる蝶型ロボットの試作2018
- Author(s)
  小平暁雄, 安積欣志, 堀内哲也, 難波江裕之, 遠藤玄, 鈴森康一
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2018
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] IPMC立体成膜法によるアノマロカリス型ロボットの試作2018
- Author(s)
  小平暁雄, 安積欣志, 堀内哲也, 遠藤玄, 難波江裕之, 鈴森康一
- Organizer
  第36回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PLANNED-18H05470
[Presentation] ＩＰＭＣアクチュエータの医療応用2017
- Author(s)
  堀内哲也
- Organizer
  第二回関西バイオ医療研究会
- Data Source
  KAKENHI-PROJECT-15K16342
[Presentation] イオン導電性高分子を利用した次世代ロボットカテーテル2017
- Author(s)
  堀内哲也、安積欣志
- Organizer
  産総研　技術シーズ発表会
- Data Source
  KAKENHI-PROJECT-15K16342
[Presentation] Accommodating Intraocular Lens with Ion Metal Polymer Composite Actuator2016
- Author(s)
  堀内哲也
- Organizer
  Topical Meeting on Soft Robotics
- Place of Presentation
  理化学研究所（埼玉）
- Year and Date
  2016-10-27
- Invited / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-15K16342
[Presentation] イオン導電性高分子アクチュエータの医療応用2016
- Author(s)
  堀内哲也、安積欣志
- Organizer
  第６回ＣＳＪ化学フェスタ2016
- Place of Presentation
  タワーホール船堀（東京）
- Year and Date
  2016-11-14
- Data Source
  KAKENHI-PROJECT-15K16342
[Presentation] Accommodating IOL with IPMC actuator2016
- Author(s)
  堀内　哲也，三橋俊文，不二門　尚，安積　欣志
- Organizer
  Asian-Australasian Conference on Composite Materials
- Place of Presentation
  Bexco（釜山、韓国）
- Year and Date
  2016-10-16
- Invited / Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-15K16342
[Presentation] 眼内で駆動可能なアクチュエータによる調節可能レンズ2016
- Author(s)
  堀内　哲也，三橋俊文，不二門　尚，安積　欣志
- Organizer
  つくば医工連携フォーラム2016
- Place of Presentation
  産業技術総合研究所　つくば本部
- Year and Date
  2016-01-22
- Data Source
  KAKENHI-PROJECT-15K16342
[Presentation] イオン導電性高分子における医療用アクチュエータ2016
- Author(s)
  堀内哲也、安積欣志
- Organizer
  日本ＭＲＳ研究会「ソフトアクチュエータ産業化研究会」シンポジウム
- Place of Presentation
  波止場会館（神奈川）
- Data Source
  KAKENHI-PROJECT-15K16342
[Presentation] 産総研におけるスポーツ材料の取り組み2016
- Author(s)
  三木恒久、原雄介、岩本伸一朗、堀内哲也、田嶌一樹、藤代芳伸、花岡隆昌、村山宣光
- Organizer
  日本MRS年次大会
- Place of Presentation
  横浜情報文化センター（神奈川）
- Data Source
  KAKENHI-PROJECT-15K16342
[Presentation] ＩＰＭＣアクチュエータ駆動調節可能レンズの開発2015
- Author(s)
  堀内　哲也，三橋俊文，不二門　尚，安積　欣志
- Organizer
  計測自動制御学会　システムインテグレーション部門
- Place of Presentation
  名古屋国際会議場
- Year and Date
  2015-12-14
- Data Source
  KAKENHI-PROJECT-15K16342
[]

1. Suzumori Koichi (00333451)

# of Collaborated Projects: 1 results

# of Collaborated Products: 19 results
2. 難波江裕之 (90757171)

# of Collaborated Projects: 1 results

# of Collaborated Products: 19 results
3. 宮川祥子 (00338203)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
4. 安積欣志 (10184136)

# of Collaborated Projects: 1 results

# of Collaborated Products: 21 results
5. HUJIKADO Hisashi

# of Collaborated Projects: 0 results

# of Collaborated Products: 1 results
6. 三橋俊文

# of Collaborated Projects: 0 results

# of Collaborated Products: 1 results
7. 高木賢太郎

# of Collaborated Projects: 0 results

# of Collaborated Products: 2 results

Horiuchi Tetsuya 堀内 哲也

Research Projects

Research Products

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Accommodating IOL, actuated by ionic polymer metal composite actatorPrincipal Investigator

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Motion Control of Soft Robots Realized by Ion Excahge Membrane

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Robot catheter system actuated by IPMC actuatorPrincipal Investigator

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[Journal Article] Three-layer ionic polymer?metal composite actuator with functionalized carbon nanotubes incorporated into Nafion2023

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[Journal Article] Three-Dimensional Ion Polymer–Metal Composite Soft Robots2022

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[Journal Article] Artificial accommodating intraocular lens powered by an ion polymer-metal composite actuator2021

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[Journal Article] IPMC Monolithic Thin Film Robots Fabricated Using a Multi-Layer Casting Process2019

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[Journal Article] 245 mm length IPMC catheter with an ellipse-like cross-section2019

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[Journal Article] 245mm-length IPMC catheter with an ellipse-like cross-section2019

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[Journal Article] Elliptical-like cross-section ionic polymer-metal composite actuator for catheter surgery2017

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[Journal Article] Voltage-controlled accommodating IOL system using an ion polymer metal composite actuator.2016

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[Journal Article] The effect of ambient humidity on the electrical response of ion-migration-based polymer sensor with various cations2016

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[Journal Article] Influence of Ambient Humidity on the Voltage Response of Ionic Polymer Metal Composite Sensor2016

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[Journal Article] Effects of cation on electrical responses of ionic polymer-metal composite sensors at various ambient humidities2016

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Horiuchi Tetsuya 堀内哲也

[Presentation] イオン交換樹脂分散液の3DプリンティングによるIPMCソフトマイクロロボットの成形 2019