In this paper, we study a tongue-mimicking soft robot using artificial muscles and soft materials to realize a manipulator that is as dexterous and flexible as the tongue of animals. In a previous study, the authors developed a tongue robot that mimics the intrinsic tongue muscles, however, limited range of motion was a problem. In this study, we focused on the tissue structure of the tongue and fabricated a new tongue robot that mimics the two-layered tongue structure with different stiffness of the tongue aponeurosis and the tongue muscle fascicles. As a result of comparison with previous tongue robot that we developed, we confirmed the improvement of the tongue movement when the major tongue muscles are contracted.
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