The animal tongue can perform various roles such as feeding, swallowing, and speaking by taking advantage of its flexible and free-moving features. The complicated and dexterous movements of the tongue are acquired by three-dimensionally oriented muscles, and mimicking the muscle orientation can be expected to realize a general-purpose manipulator. In this paper, as a prototype for the realization of a general-purpose tongue-mimetic manipulator, we created a tongue-shaped soft robot by mimicking the orientation of the intrinsic tongue muscles that make up the tongue itself and verified its movements. As the results, though the superior longitudinal and vertical tongue muscles deformed the tongue significantly, the inferior longitudinal and transverse tongue muscles barely changed the tongue, and requiring further development.
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