Torus Type Tip-Extending Insertion System and Incombustible Soft Actuator for Search and Rescue Mission

In this study, we propose a torus-type tip-extending insertion mechanism designed for inserting objects into confined spaces without frictional contact with the environment. The mechanism consists of a flexible tubular membrane, a wire connected to the tip, and a pressurization system that enables smooth deployment of objects stored inside the membrane. A prototype was fabricated using a polyurethane membrane, and insertion experiments with a small mobile robot were conducted. The results demonstrated that the robot could be smoothly transported and inserted into narrow passages smaller than the membrane's original diameter. Furthermore, the proposed mechanism successfully protected the object from impacts during insertion. Future work will focus on integrating bending capabilities and conducting more advanced insertion tests in complex environments.