JP2016010291A - Actuator and health apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator capable of expanding and contracting motions.SOLUTION: An actuator 2 includes: an electrode 21; an electrode 23; an ion exchange membrane 22 sandwiched by the electrode 21 and the electrode 23; an electrode 24; an electrode 26; and an ion exchange membrane 25 sandwiched by the electrode 24 and the electrode 26. The electrode 23 and the electrode 24 are fixed to each other at least at two positions.

Description

  The present invention relates to an actuator and a health device.

  As a current-driven actuator element, an ion conductive polymer actuator (Ionic Polymer Metal Composite, IPMC, sometimes called ICPF (Ionic Conducting Polymer Gel Film)) is known (for example, Patent Documents 1 and 2). The IPMC includes a joined body in which electrodes are joined to both surfaces of an ion exchange membrane (ion conductive polymer or polymer electrolyte gel). When a voltage is applied between the electrodes, cations move, and water molecules move accordingly, and one side expands and the other side contracts. That is, when a voltage is applied, the IPMC bends. IPMC has features such as flexibility, light weight, silence, and easy miniaturization.

Japanese Patent Laid-Open No. 4-275078 JP 11-169393 A

  In Patent Documents 1 and 2, the actuator has a problem that it can only be bent.

  In contrast, the present invention provides an actuator capable of extending and contracting.

  The present invention includes a first electrode, a second electrode, a first ion exchange membrane sandwiched between the first electrode and the second electrode, a third electrode, a fourth electrode, the third electrode, and the An actuator having a second ion exchange membrane sandwiched between fourth electrodes, wherein the second electrode and the third electrode are fixed to each other at least at two locations.

  According to this actuator, an expansion / contraction operation can be performed.

  The first electrode, the second electrode, the third electrode, and the fourth electrode have a longer shape in the first direction than the second direction, and the second electrode and the third electrode are The both ends in the first direction may be fixed to each other.

  According to this actuator, an expansion / contraction operation can be performed between both ends.

  The second electrode and the third electrode may be fixed to each other throughout.

  According to this actuator, the structure can be stabilized.

  The second electrode and the third electrode may be a single electrode.

  According to this actuator, the structure can be simplified as compared with the case where the second electrode and the third electrode are individually provided.

  The second electrode and the third electrode may be fixed to each other at three or more locations.

  According to this actuator, it is possible to expand and contract in a narrower space than in the case where only two places are fixed.

  The actuator may further include a fifth electrode, a sixth electrode, and a third ion exchange membrane sandwiched between the fifth electrode and the sixth electrode.

  According to this actuator, expansion and contraction can be performed with a stronger force.

  Moreover, this invention provides the health apparatus which has one of the said actuators.

  According to this health device, an expansion / contraction operation can be performed.

The figure explaining the principle of an IPMC actuator. 3 is a diagram illustrating a configuration of an actuator 1 according to Configuration Example 1. FIG. The figure which illustrates operation | movement of the actuator. The figure which illustrates the structure of the actuator 2 which concerns on the example 2 of a structure. The figure which illustrates operation | movement of the actuator. FIG. 6 is a diagram illustrating a configuration of an actuator 3 according to Configuration Example 3. FIG. 6 is a diagram illustrating a configuration of an actuator 4 according to Configuration Example 4; The figure which shows the external appearance of the health apparatus 100 which concerns on one Embodiment. The figure which illustrates the shape of the actuator part. The figure which illustrates the structure of the actuator part. The figure which illustrates operation | movement of the structure 131. FIG. The figure which illustrates the structure of the controller part. 4 is a timing chart showing drive signals for the actuator unit 130. The figure which illustrates the state which attached the actuator part 130 to the finger | toe.

1. Principle of IPMC FIG. 1 is a diagram illustrating a cross-sectional structure of an IPMC actuator. The IPMC actuator includes an ion exchange membrane 501, an electrode 502, and an electrode 503. As the ion exchange membrane 501, either a cation exchange membrane or an anion exchange membrane may be used. As the cation exchange membrane, for example, a fluororesin ion exchange membrane having a sulfone group or a carboxyl group, or a polystyrene sulfonic acid membrane is used. As the electrode, for example, a noble metal such as platinum, iridium, palladium, and ruthenium, a conductive polymer, or graphite is used.

  When operating the IPMC actuator, the ion exchange membrane 501 needs to be in a water-containing state. When a voltage is applied between the electrode 502 (anode) and the electrode 503 (cathode), the cation moves to the cathode side. At this time, water molecules also move in the ion exchange membrane 501 to the cathode side as the cations move. As the water molecules move, there is a difference in moisture content between the anode side and the cathode side. At this time, the portion with a large amount of water (cathode side) expands and the portion with a small amount of water (anode side) contracts. That is, the ion exchange membrane 501 bends to the anode side.

  Here, bending of the IPMC actuator is caused by ion movement, that is, current. This is the reason for the “current drive type”. Note that if the movement of ions stops even when a voltage is applied (the current stops flowing), the difference in water content is relaxed with time due to the diffusion of water molecules. That is, the bending of the ion exchange membrane 501 is restored.

2. Actuator 2-1. Configuration example 1
FIG. 2 is a diagram illustrating the configuration of the actuator 1 according to the configuration example 1. As illustrated in FIG. The actuator 1 includes an electrode 11, an ion exchange membrane 12, an electrode 13, an ion exchange membrane 14, and an electrode 15. The electrode 11, the ion exchange membrane 12, and the electrode 13 have the structure of the IPMC actuator described in FIG. Further, the electrode 13, the ion exchange membrane 14, and the electrode 15 also have the structure of the IPMC actuator described in FIG. That is, the actuator 1 has a structure in which two IPMC actuators are bonded together.

  The electrode 11, the ion exchange membrane 12, the electrode 13, the ion exchange membrane 14, and the electrode 15 have a shape that is long in one direction. In the example of FIG. 2, it has a long rectangular shape in the vertical direction.

  FIG. 3 is a diagram illustrating the operation of the actuator 1. The actuator 1 is in a neutral state when no voltage is applied. This is called a reference state. When a positive voltage is applied to the electrode 11 with the electrode 15 as a reference (the potential of the electrode 13 is indefinite), the actuator 1 bends from the reference state to the electrode 11 side (to the left in the drawing) (FIG. 3A). When a positive voltage is applied to the electrode 11 and the electrode 15 with the electrode 13 as a reference, the actuator 1 contracts from the reference state (FIG. 3B). This is because the actuator composed of the electrode 11, the ion exchange membrane 12 and the electrode 13 and the actuator composed of the electrode 13, the ion exchange membrane 14 and the electrode 15 are bent in the opposite directions, respectively. Inability to do so, the central portion in the vertical direction swells and shrinks as a whole. When a positive voltage is applied to the electrode 15 with the electrode 11 as a reference (the potential of the electrode 13 is indefinite), the actuator 1 bends from the reference state to the electrode 15 side (to the right in the figure) (FIG. 3C).

  According to the actuator 1, various operations such as contraction, left bending, and right bending can be performed from the reference state.

  In the example of FIG. 2, a single electrode is used as the middle electrode (electrode 13) of the two IPMC actuators, but one electrode of each of the first IPMC actuator and the second IPMC actuator each having two electrodes is covered over the entire surface. It may be pasted.

2-2. Configuration example 2
FIG. 4 is a diagram illustrating a cross-sectional configuration of the actuator 2 according to Configuration Example 2. As illustrated in FIG. The actuator 2 includes an electrode 21, an ion exchange membrane 22, an electrode 23, an electrode 24, an ion exchange membrane 25, and an electrode 26. The electrode 21, the ion exchange membrane 22, and the electrode 23, and the electrode 24, the ion exchange membrane 25, and the electrode 26 have the structure of the IPMC actuator described in FIG.

  In this example, the electrode 23 and the electrode 24 are fixed at two locations. Specifically, they are fixed to each other at both ends in the longitudinal direction (vertical direction in the figure). By this fixing, the electrode 23 and the electrode 24 are also electrically connected, and both are at the same potential. In portions other than the both end portions, the electrode 23 and the electrode 24 are not fixed to each other.

  FIG. 5 is a diagram illustrating the operation of the actuator 2. In a state where no voltage is applied, the actuator 2 is in a bent state in the central portion, that is, in a portion where the electrode 23 and the electrode 24 are not fixed (FIG. 5A). This is called a reference state.

  When a positive voltage is applied to the electrode 21 and the electrode 26 with the electrode 23 and the electrode 24 as a reference, the actuator 2 extends in the vertical direction from the reference state (FIG. 5B). This is because the actuator composed of the electrode 21, the ion exchange membrane 22 and the electrode 23 bends to the left from the reference state, and the actuator composed of the electrode 24, the ion exchange membrane 25 and the electrode 26 tends to bend to the right. The deflection at the center is eliminated, and the whole stretches.

  When a negative voltage is applied to the electrode 21 and the electrode 26 with the electrode 23 and the electrode 24 as a reference, the actuator 2 contracts in the vertical direction from the reference state (FIG. 5C). This is because the actuator composed of the electrode 21, the ion exchange membrane 22 and the electrode 23 bends to the right from the reference state, and the actuator composed of the electrode 24, the ion exchange membrane 25 and the electrode 26 tends to bend to the left. The deflection of the central part expands and the whole contracts.

  When a positive voltage is applied to the electrode 21 and a negative voltage is applied to the electrode 26 using the electrode 23 and the electrode 24 as a reference, the actuator 2 bends from the reference state to the electrode 21 side (left side in the figure) (FIG. 5D). . When a negative voltage is applied to the electrode 21 and a positive voltage is applied to the electrode 26 with the electrode 23 and the electrode 24 as a reference, the actuator 2 bends from the reference state to the electrode 26 side (right side in the figure) (FIG. 5D )).

  The actuator 2 can perform various operations such as expansion, contraction, left bending, and right bending from the reference state.

2-3. Configuration example 3
FIG. 6 is a diagram illustrating a cross-sectional configuration of the actuator 3 according to Configuration Example 3. As illustrated in FIG. The actuator 3 includes an electrode 31, an ion exchange membrane 32, an electrode 33, an electrode 34, an ion exchange membrane 35, and an electrode 36. The electrode 31, the ion exchange membrane 32, and the electrode 33, and the electrode 34, the ion exchange membrane 35, and the electrode 36 each have the structure of the IPMC actuator described in FIG.

  In this example, the electrode 33 and the electrode 34 are fixed to each other not only at both ends in the longitudinal direction (the vertical direction in the figure) but also at portions other than both ends. That is, the electrode 33 and the electrode 34 are fixed to each other at three or more places as a whole. In this example, the electrode 33 and the electrode 34 are fixed at four positions at almost equal intervals. Compared with the actuator 2, the actuator 3 can reduce the lateral spread during contraction. That is, the apparatus using the actuator 3 can be further downsized. Since the operation of the actuator 3 is the same as that of the actuator 2, the description thereof is omitted.

2-4. Configuration example 4
FIG. 7 is a diagram illustrating the configuration of the actuator 4 according to the configuration example 4. As illustrated in FIG. In the configuration examples 1 to 3, the two IPMC actuators described in FIG. 4 are connected, but the actuator 4 includes three or more IPMC actuators illustrated in FIG. 4 (four in the example in the figure). They are connected (the description of the configuration of the electrode and the ion exchange membrane is omitted). According to this example, it is possible to contract or expand with a stronger force than when two IPMC actuators are connected.

3. Application Example FIG. 8 is a diagram illustrating an appearance of a health device 100 according to an embodiment. The health device 100 is a device using the actuator 3 described above. In this example, the health device 100 is a function recovery assist glove. The function recovery assist glove is a glove that supports rehabilitation for recovering the motor function of a finger that has stopped moving as expected due to illness or the like. The function recovery assist glove supports the function recovery by assisting the expansion and contraction of the user's finger using an actuator.

  The health device 100 includes a controller unit 110, a supporter 120, and an actuator unit 130. The controller unit 110 includes a power supply device and a drive circuit for controlling expansion and contraction of the actuator unit 130. Signal lines are individually provided so that each of the five fingers can be expanded and contracted independently with respect to the actuator unit 130.

  The supporter 120 is a part for fixing the controller unit 110 and the actuator unit 130 to the user's hand. The supporter 120 is formed of a stretchable material (for example, cloth). Moreover, it has a shape which holds a user's palm and wrist. The supporter 120 has a metal fitting (not shown) for fixing the actuator unit 130. This metal fitting also serves as an electrical contact with the actuator part 130, and can fix the actuator part 130 and obtain an electrical connection at the same time. The actuator part 130 can be attached / detached and the tightening degree can be adjusted for each finger.

  FIG. 9 is a diagram illustrating the shape of the structure 131 constituting the actuator unit 130. The structure 131 has the same layer structure as the IPMC actuator of FIG. That is, the actuators described in the structural examples 1 to 4 can be obtained by bonding the two structural bodies 131 together. In this example, the two structures 131 are fixed not only at both ends in the longitudinal direction but also at the middle as will be described later, and the actuator part 130 is similar to the actuator 3 (FIG. 6), although the external shape is different. It has a structure.

  FIG. 9A shows the front side, that is, the surface facing the user's finger, and FIG. 9B shows the back side, that is, the surface exposed to the outside when worn. FIG. 9C shows a CC cross section of FIG. Note that in FIG. 9C, the electrode 134 is omitted. The structure 131 has an electrode 132 and an electrode 133 on the surface. An ion exchange membrane 138 is sandwiched between the electrode 132 and the electrode 133. The IPMC actuator shown in FIG. 1 is formed by the electrode 132, the electrode 133, and the ion exchange membrane 139. An electrode 134 is further provided on the surface side. The electrode 134 is an electrode for sensing (detecting) the bending state of the actuator, and constitutes a sensor element. The sensor element is used, for example, to detect whether the bending state of the user's finger reaches a target value. A sensing method using a sensor element and a driving method for the sensor element are described in, for example, Japanese Patent Application Laid-Open No. 2011-223843.

  The structure 131 has protrusions 135, 136, and 137 as shapes. These protrusions are portions that are fixed when two structural bodies 131 are connected.

  FIG. 10 is a diagram illustrating the structure of the actuator unit 130. Two structures 131 illustrated in FIG. 9 are connected. In this figure, in order to distinguish the two structures 131, they are represented as structures 131A and 131B. The same applies to the elements of the structure 131. The contrast relationship with the structure of the actuator 3 (FIG. 6) is as follows. The electrode 133B of the structure 131B corresponds to the electrode 33 of the actuator 3. The electrode 132B of the structure 131B corresponds to the electrode 31 of the actuator 3. The electrode 132A of the structure 131A corresponds to the electrode 34 of the actuator 3. The electrode 133A of the structure 131A corresponds to the electrode 36 of the actuator 3. This figure shows a state viewed from the side when worn on the finger. For example, the right side of the figure is positioned on the belly side of the finger and the left side is positioned on the back side of the finger.

  In this example, the protrusions 135A and 135B (lower end of the actuator part 130), the protrusions 136A and 136B (intermediate part of the actuator part 130), and the protrusions 137A and 137B (upper end of the actuator part 130) are fixed, respectively. Has been. That is, in this example, the actuator unit 130 has two IPMC actuators fixed at three positions (actuator 3 in FIG. 6 is fixed at four positions). For fixing, a conductive adhesive or tape is used. Since it is frequently bent and stretched after fixing, it is desirable that the adhesive does not cure even after bonding.

  In this example, the actuator unit 130 includes a sack 138 in addition to the two structures 131. The sack 138 is a member for fixing the user's fingertip. The sack 138 is formed of a material having both insulating properties and flexibility, for example, a silicone resin. The sack 138 is fixed to the structures 131A and 131B using an adhesive or a tape.

  FIG. 11 is a diagram illustrating the operation of the structure 131. The structure 131 is in a neutral state when no voltage is applied. This is called a reference state. When a positive voltage is applied to the electrode 132A with the electrode 133A as a reference, the structure 131A bends from the reference state to the electrode 132A side (to the left in the drawing). When a negative voltage is applied to the electrode 132B with the electrode 133B as a reference, the structure 131B bends from the reference state toward the electrode 133B (to the left in the drawing). As a whole, the structure 131 bends to the left (FIG. 11A).

  When a negative voltage is applied to the electrode 132A with the electrode 133A as a reference, the structure 131A bends from the reference state to the electrode 133A side (right side in the drawing). Further, when a positive voltage is applied to the electrode 132B with the electrode 133B as a reference, the structure 131B bends from the reference state to the electrode 132B side (right side in the drawing). As a whole, the structure 131 bends to the right (FIG. 11B).

  When a positive voltage is applied to the electrode 132A with the electrode 133A as a reference, the structure 131A bends from the reference state to the electrode 132A side (to the left in the drawing). Further, when a positive voltage is applied to the electrode 132B with the electrode 133B as a reference, the structure 131B bends from the reference state to the electrode 132B side (right side in the drawing). As a whole, the structure 131 contracts (FIG. 11C).

  When a negative voltage is applied to the electrode 132A with the electrode 133A as a reference, the structure 131A bends from the reference state to the electrode 133A side (right side in the drawing). When a negative voltage is applied to the electrode 132B with the electrode 133B as a reference, the structure 131B bends from the reference state toward the electrode 133B (to the left in the drawing). As a whole, the structure 131 extends (FIG. 11D).

  FIG. 12 is a diagram illustrating the configuration of the controller unit 110. The controller unit 110 includes an amplifier 111, a sample and hold circuit 112, a comparator 113, and a drive circuit 114. Note that only a signal system for a single structure 131 is shown here for the sake of simplicity. In the drawing, the structure 131 has a simplified shape.

  The amplifier 111 amplifies an output signal (sensor signal) from the sensor element. The sensor signal indicates the displacement of the structure 131, that is, the bending state of the user's finger. The amplifier 111 outputs the amplified sensor signal to the sample hold circuit 112.

  The sample hold circuit 112 holds the output signal from the amplifier 111 for a specified period.

  The comparator 113 calculates a difference between a target value signal and a sensor signal supplied from a device (not shown) (which may be an external device such as a personal computer or a processor included in the controller unit 110 itself). The signal shown is output to the drive circuit 114. The target value signal is a signal that indicates the target value of the displacement of the structure 131, that is, the degree of bending of the user's finger.

  The drive circuit 114 supplies a drive signal to the structure 131. In this example, the drive circuit 114 time-divides the period for detecting the displacement of the actuator unit 130 and the period for driving the actuator unit 130 so as not to overlap. In this way, the supply of the drive voltage is stopped during the detection of the displacement, and the influence (crosstalk) on the sensor signal by the drive voltage is avoided.

  FIG. 13 is a timing chart showing drive signals for the actuator unit 130. FIG. 13A shows the time-divided drive signal. FIG. 13B shows drive signals output from the output terminals A and B of the drive circuit 114. The output terminal A is connected to the electrode 132, and the output terminal B is connected to the electrode 133.

  As shown in FIG. 13A, one cycle of the drive signal is divided into a drive period and a sensing period. The driving period is a period during which a driving voltage is applied to the actuator unit 130. The sensing period is a period for reading the output voltage from the electrode 134.

  In the example of FIG. 13B, the drive signal is a signal whose voltage level indicates the displacement of the actuator unit 130 (so-called analog signal). The polarity of the output signal of the comparator 113 indicates whether the displacement of the structure 131 is above or below the target value. For example, when the polarity of the output signal is positive, it indicates that the displacement of the structure 131 exceeds the target value, and when it is negative, the displacement is below. The magnitude of the output signal of the comparator 113 indicates the magnitude of the difference between the displacement of the structure 131 and the target value. The drive circuit 114 outputs a drive signal according to the output signal of the comparator 113. The polarity of the voltage of the drive signal is determined according to the polarity of the output signal of the comparator 113. For example, a positive voltage is output when the polarity of the output signal is positive, and a negative voltage is output when the output signal is negative. The voltage level of the drive signal is determined according to the magnitude of the output signal of the comparator 113. For example, a signal having a higher voltage level is output as the output signal is larger.

  In order to reduce the influence of the drive circuit 114 on the sensor signal, the output terminal of the drive circuit 114 is set to a high impedance (HZ) state during the sensing period.

  The driving signal for one cycle includes a driving period and a sensing period, but the order of the driving period and the sensing period may be first. From the viewpoint of driving efficiency, it is preferable that the ratio of the time length of the sensing period to the driving period is small. The length of one cycle is determined according to the response characteristics of the actuator. By repeating this cycle, sensing is repeated at regular time intervals, and feedback control is performed.

  The drive signal may be a digital signal instead of an analog signal. That is, the drive circuit 114 may control the structure body 131 using pulse width modulation (PWM). In this case, the polarity of the pulse of the drive signal is determined according to the polarity of the output signal of the comparator 113. For example, a positive pulse is used when the polarity of the output signal is positive, and a negative pulse is used when the output signal is negative. Further, the pulse width of the drive signal is determined according to the magnitude of the output signal of the comparator 113. For example, a larger pulse width is used for a larger output signal.

  The displacement of the structure 131 is controlled by the drive signal, and the sensor element detects the displacement. The displacement detected by the sensor element is fed back to the control of the structure 131. In this way, control is performed so that the displacement of the structure 131 reaches the target value.

  8 and 9, the example in which the actuator unit 130 has the same structure as the actuator 3 (FIG. 6) has been described. However, the actuator unit 130 has a structure other than the actuator 3, for example, the actuators 1, 2, or 4 may have the same structure. For example, if the protrusion 136 is omitted from the structure 131 in FIG. 9 and the protrusion 131 is fixed at two points of the protrusion 137 (finger tip) and the protrusion 135 (finger root), the same structure as the actuator 2 is obtained. It becomes. Further, when three or more structures 131 are used instead of two, the structure is similar to that of the actuator 4. Alternatively, if the user's finger is not sandwiched between the two structures 131 and a structure in which the two structures 131 are bonded together is attached to one side (for example, the back or the stomach) of the finger, the same as the actuator 1 is used. It becomes the structure of.

  FIG. 14 is a diagram illustrating a state where the actuator unit 130 is attached to the finger F. In this example, it is worn on the user's finger F so that the portion between the protrusions 135 and 136 bends. The actuator has a configuration corresponding to Configuration Example 2.

  Since the IPMC actuator has almost all electrodes on the front and back surfaces, electrical connection can be made at any point on the surface. For example, the supporter 120 can sandwich the structure 131 from both the front surface and the back surface to obtain electrical connection. In this case, you may fix the supporter 120 and the structure 131 (actuator part 130) using a magic tape (trademark) (surface fastener). In addition, the method of fixing the actuator part 130 with respect to the supporter 120 is not restricted to this, For example, by pinching the actuator part 130 with the metal fittings (for example, the shape of a clip) provided in the supporter 120 (in detail) The actuator part 130 may be fixed to the supporter 120 by sandwiching the structures 131A and 131B with separate metal fittings). In this case, electrical connection can be obtained simultaneously with fixing.

  According to the health device 100, the user's rehabilitation can be supported by various operations such as expansion, contraction, left bending, and right bending. Moreover, since the actuator part 130 can be attached or detached, when only some of the five fingers are malfunctioning, the actuator part 130 may be attached only to the fingers. Furthermore, since the degree of tightening when the actuator unit 130 is mounted can be adjusted, it is not necessary to make an individual custom according to the user, and a lower cost apparatus can be provided.

4). Modifications The present invention is not limited to the above-described embodiments, and various modifications can be made. Hereinafter, some modifications will be described. Two or more of the following modifications may be used in combination.

  The actuator is not limited to an IPMC actuator. Actuators other than IPCM actuators such as ion gel actuators, bucky gel actuators, and conductive polymer actuators may be used. The ion gel refers to a polymer electrolyte membrane in which an ionic liquid is confined in a polymer network structure. Bucky gel is a gelled single-walled carbon nanotube and ionic liquid. In either case, when a voltage is applied with electrodes attached to both sides of the gel film, the gel film is displaced to the positive electrode side. As the conductive polymer, for example, polyacetylene, polyaniline, polypyrrole, or polythiophene is used.

  The health device 100 is not limited to the function recovery assist glove. It may support the functional recovery of parts other than the fingers such as elbows, knees, or shoulders. Further, the health device 100 is not limited to a device intended for rehabilitation. It may be intended to assist the user's exercise.

  Further, the application example of the actuator according to the present invention is not limited to the health device. For example, the actuator according to the present invention may be used for devices other than health devices such as industrial robots.

501 ... Ion exchange membrane, 502 ... Electrode, 503 ... Electrode, 1 ... Actuator, 11 ... Electrode, 12 ... Ion exchange membrane, 13 ... Electrode, 14 ... Ion exchange membrane, 15 ... Electrode, 2 ... Actuator, 21 ... Electrode, 22 ... Ion exchange membrane, 23 ... Electrode, 24 ... Electrode, 25 ... Ion exchange membrane, 26 ... Electrode, 3 ... Actuator, 31 ... Electrode, 32 ... Ion exchange membrane, 33 ... Electrode, 34 ... Electrode, 35 ... Ion exchange Membrane, 36 ... electrode, 4 ... actuator, 100 ... health device, 110 ... controller part, 120 ... supporter, 130 ... actuator part, 131 ... structure, 132 ... electrode, 133 ... electrode, 134 ... electrode, 135 ... projection DESCRIPTION OF SYMBOLS 136 ... Projection part, 137 ... Projection part, 138 ... Sack, 139 ... Ion exchange membrane

Claims (7)

A first electrode;
A second electrode;
A first ion exchange membrane sandwiched between the first electrode and the second electrode;
A third electrode;
A fourth electrode;
A second ion exchange membrane sandwiched between the third electrode and the fourth electrode,
The second electrode and the third electrode are fixed to each other in at least two places. The first electrode, the second electrode, the third electrode, and the fourth electrode have a shape that is longer in the first direction than in the second direction,
The actuator according to claim 1, wherein the second electrode and the third electrode are fixed to each other at both ends in the first direction. The actuator according to claim 1, wherein the second electrode and the third electrode are fixed to each other throughout. The actuator according to claim 1, wherein the second electrode and the third electrode are one electrode. The actuator according to claim 1, wherein the second electrode and the third electrode are fixed to each other at three or more locations. A fifth electrode;
A sixth electrode;
The actuator according to any one of claims 1 to 5, further comprising: a third ion exchange membrane sandwiched between the fifth electrode and the sixth electrode.   A health device comprising the actuator according to any one of claims 1 to 6.

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