Fire-Resistant Soft Actuators for Search and Rescue Robots — A Drive Mechanism for Robots Operable in Fire-Exposed Environments —

This study proposes a flame-resistant soft actuator designed for use in robotic systems operating in fire-disaster environments. Two types of actuators were developed: a pouch-type actuator constructed from flame-retardant sheet materials, and a spiral-type extendable actuator for thermal shielding. Prototypes were fabricated and experimentally validated under direct flame exposure, demonstrating structural integrity and repeatable actuation. Mechanical performance was further evaluated using tensile tests. These results confirm the feasibility of lightweight, fire-resistant actuation mechanisms for search and rescue robots. Future work includes system integration for mobile robots and exploration of flame-resistant sensors and power sources.