JP2017070150A - Anisotropic elastomer, dielectric elastomer actuator, auxiliary tool, and method for producing anisotropic elastomer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve such a problem that, a dielectric actuator induces an anisotropy by an electrode material that is provided on a surface of a dielectric material and has a high flexible rate, so that, while the dielectric material in the vicinity of the electrode material is restricted to be deformed by the electrode material, thereby inducing anisotropy, the dielectric material at the inside of the dielectric material is not restricted to be deformed by the electrode material, thereby inducing no anisotropy of deformation.SOLUTION: An anisotropic elastomer contains: an elastomer deformed by the application of voltage; and anisotropically shaped substances having higher elasticity modulus than the elastomer. The anisotropically shaped substances are disposed, at the inside of the elastomer, to extend along one direction and to be arranged in the other direction crossing the one direction.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an anisotropic elastomer, a dielectric elastomer actuator, an auxiliary tool, and a method for producing an anisotropic elastomer.

A dielectric actuator having a higher elastic modulus than that of a dielectric material and an electrode material provided on the surface of the dielectric material in a wave shape is known. The dielectric actuator is formed by corrugating the surface electrode material, thereby increasing the flexibility ratio between the direction in which the dielectric material including the electrode material bends and the direction in which the dielectric material hardly bends. Sex is expressed.
Patent Document 1 Japanese Patent Application Laid-Open No. 2008-118852

  However, since the dielectric actuator exhibits anisotropy due to the electrode material having a large flexibility ratio provided on the surface of the dielectric material, the dielectric material in the vicinity of the electrode material is different from the deformation due to the electrode material. However, there is a problem that deformation is not constrained by the electrode material and anisotropy of deformation does not occur inside the dielectric material.

  The first aspect of the present invention includes a first substance that has elasticity and is deformed by applying a voltage, and a second substance that has a higher elastic modulus than the first substance. The substance extends along one direction and is arranged inside the first substance along the other direction intersecting the one direction. When the first substance is deformed by receiving an external force, An anisotropic elastomer that exhibits deformation anisotropy is provided by suppressing the deformation of the second material.

  The second aspect of the present invention includes the anisotropic elastomer according to the first aspect and an electrode for applying a voltage to the anisotropic elastomer, and the voltage application direction by the electrode is one direction and the other direction. A dielectric elastomer actuator is provided that is in an intersecting direction.

  According to a third aspect of the present invention, there is provided an auxiliary tool for assisting the movement of the body, a mounting part attached to the body, a dielectric elastomer actuator according to the second aspect, and a mounting for attaching the dielectric elastomer actuator to the mounting part. An auxiliary tool comprising a portion is provided.

  The fourth aspect of the present invention includes a first substance having elasticity and being deformed by applying a voltage, and a second substance having a higher elastic modulus than the first substance, Provided is a method for producing an anisotropic elastomer, comprising: stretching a material and a second material in one direction; and annealing the first material and the second material.

  The anisotropic elastomer according to the fifth aspect of the present invention includes an elastomer that is deformed by applying a voltage, and an anisotropic material having a higher elastic modulus than the elastomer, and is deformed by applying a voltage. The specific dielectric constant of the elastomer is less than the specific dielectric constant of the anisotropically shaped substance having a higher elastic modulus than that of the elastomer.

  The summary of the invention does not enumerate all the features of the present invention. In addition, a sub-combination of these feature groups can also be an invention.

2 is a schematic cross-sectional view of a dielectric elastomer actuator 110. FIG. 2 is a schematic cross-sectional view of a dielectric elastomer actuator 110. FIG. (A) It is a perspective view which shows the state before a deformation | transformation of the isotropic elastomer 150. FIG. (B) It is a perspective view which shows the state after a deformation | transformation of the isotropic elastomer 150. FIG. (A) It is a perspective view which shows the state before the deformation | transformation of the anisotropic elastomer 152. FIG. (B) It is a perspective view which shows the state after the deformation | transformation of the anisotropic elastomer 152. FIG. (A) It is a perspective view which shows the state before the deformation | transformation of the anisotropic elastomer 170. FIG. (B) It is a perspective view which shows the state after the deformation | transformation of the anisotropic elastomer 170. FIG. (A) It is sectional drawing which shows the state before the deformation | transformation of the other anisotropic elastomer 180. FIG. (B) It is sectional drawing which shows the state after the deformation | transformation of the other anisotropic elastomer 180. FIG. (A) It is sectional drawing which shows the state before a deformation | transformation of the other anisotropic elastomer 184. FIG. (B) It is sectional drawing which shows the state after the deformation | transformation of the other anisotropic elastomer 184. FIG. It is a cross-sectional TEM photograph of the 1st block copolymer annealed after extending | stretching to one direction. It is a graph which shows the relationship between the displacement of a 1st block copolymer, and tensile force. FIG. 3 is a front view of a user wearing the auxiliary tool 10. FIG. 3 is a rear view of a user wearing the auxiliary tool 10. 3 is a block diagram illustrating a control system of the auxiliary tool 10. FIG.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

  Electrically controllable dielectric elastomer actuators are expected to be applied to artificial muscles as soft actuators utilizing the elasticity of elastomers. FIG. 1 is a schematic cross-sectional view of a dielectric elastomer actuator 110. FIG. 1 shows a state in which no voltage is applied to the dielectric elastomer actuator 110. Here, the elastomer refers to a polymer material having rubber elasticity near normal temperature, and the dielectric elastomer refers to an elastomer composed of a polymer material having dielectric properties.

  The dielectric elastomer actuator 110 includes a power source 120, a switch 130, a pair of electrodes 122 and 124 connected to a positive electrode and a negative electrode of the power source 120, respectively, and an elastomer 126 having a dielectric property sandwiched between the pair of electrodes 122 and 124. And having. The switch 130 is opened and closed by a control signal from the control unit 132. The voltage of the power supply 120 is also variable by a control signal from the control unit 132.

  FIG. 2 is a schematic sectional view of the dielectric elastomer actuator 110. FIG. 2 shows a state in which a voltage is applied to the dielectric elastomer actuator 110.

  As shown in FIG. 2, when a voltage is applied between the pair of electrodes 122 and 124 by closing the switch 130 based on a control signal from the control unit 132, the elastomer 126 shortens in a direction in which the electrodes approach each other. At the same time, the volume thereof extends in the direction orthogonal to the voltage application direction, that is, in the horizontal direction in the figure. The greater the applied voltage of the power source 120, the greater the amount of expansion in the horizontal direction.

  Also, assuming that the same voltage is applied to the elastomer 126, the higher the relative dielectric constant of the elastomer 126, the greater the amount of elongation in the horizontal direction. Therefore, the elastomer 126 used for the dielectric elastomer actuator 110 preferably has a high relative dielectric constant.

  Also, assuming that the same voltage is applied to the elastomer 126, the lower the elastic modulus of the elastomer 126, the greater the amount of elongation in the horizontal direction. Therefore, the elastomer 126 used for the dielectric elastomer actuator 110 preferably has a low elastic modulus.

  Next, the anisotropy of the elastomer will be described. FIG. 3A is a perspective view showing a state of the isotropic elastomer 150 before deformation. 3A and 3B, the X direction, the Y direction, and the Z direction indicated by arrows on the upper left are defined as the X axis direction, the Y axis direction, and the Z axis direction of the isotropic elastomer 150. As shown in FIG. 3A, the stress 160 and the stress 162 are applied so as to compress the isotropic elastomer 150 from the Z-axis direction. Then, the isotropic elastomer 150 is compressed and the volume in the Z-axis direction is reduced. On the other hand, since the volume in the Z-axis direction is reduced, the isotropic elastomer 150 extends by substantially the same length in the X-axis direction and the Y-axis direction.

FIG. 3B is a perspective view showing a state after deformation of the isotropic elastomer 150. If the strain amount in the X-axis direction is ε _X and the strain amount in the Y-axis direction is ε _Y , the isotropic elastomer 150 has substantially the same ε _X and ε _Y as shown in FIG. Thus, it extends in the X axis direction and the Y axis direction. That is, the isotropic elastomer refers to an elastomer in which ε _X and ε _Y have the same value with respect to a decrease in volume in the Z-axis direction. Note that the strain amount ε is a value calculated by the following relational expression (1), where L _{0 is} a dimension of a natural length to which no stress is applied, and L ₁ is a dimension after the stress is applied. is there.

ε = (L ₁ −L ₀ ) / L ₀ × 100 (1)

  FIG. 4A is a perspective view illustrating a state before the anisotropic elastomer 152 is deformed. 4A and 4B, the X direction, the Y direction, and the Z direction indicated by arrows on the upper left are defined as the X axis direction, the Y axis direction, and the Z axis direction of the anisotropic elastomer 152. As shown in FIG. 4A, the stress 160 and the Z stress 162 are applied so as to compress the anisotropic elastomer 152 from the Z-axis direction. Then, the anisotropic elastomer 152 is compressed, and the volume in the Z-axis direction is reduced. On the other hand, the anisotropic elastomer 152 extends in the X-axis direction and the Y-axis direction according to the reduced volume in the Z-axis direction.

FIG. 4B is a perspective view showing a state after the anisotropic elastomer 152 is deformed. As shown in FIG. 4B, the anisotropic elastomer 152 extends in the X-axis direction and the Y-axis direction so that ε _X and ε _Y are different. FIG. 4B shows an example where ε _X is large. As described above, the anisotropic lastmer refers to an elastomer having different values of strain amounts ε _X and ε _Y with respect to a decrease in volume in the Z-axis direction.

  In the dielectric elastomer actuator 110, when the output along the X-axis direction is used and the output along the Y-axis direction is not used, the output along the Y-axis direction is reduced and the output along the X-axis direction is increased. As a result, the output of the dielectric elastomer actuator 110 can be increased. When only the output in the X-axis direction is used and the output in the Y-axis direction is not used, the elastomer 126 used for the dielectric elastomer actuator 110 is as shown in FIGS. 4 (a) and 4 (b). It is preferable to use an anisotropic elastomer that extends greatly in the X-axis direction, which is one direction, and extends in the Y-axis direction, which is the other direction that intersects one direction.

  FIG. 5A is a perspective view showing a state before the anisotropic elastomer 170 is deformed. 5A and 5B, the X direction, the Y direction, and the Z direction indicated by arrows on the upper left are defined as the X axis direction, the Y axis direction, and the Z axis direction of the anisotropic elastomer 170. An anisotropic elastomer 170 shown in FIG. 5A includes an elastomer 154 and a resin 172 constituting a block copolymer with the elastomer 154 at least in part with the elastomer 154.

  The elastomer 154 has a dielectric property. Therefore, the elastomer 154 is deformed by applying a voltage. As the elastomer 154, a synthetic rubber elastomer that has dielectric properties and is generally used can be used. Synthetic rubber elastomers include isoprene rubber (relative dielectric constant: 2.6 to 2.7), styrene butadiene rubber (relative dielectric constant: 2.9 to 3.0), and chloroprene rubber (relative dielectric constant: 7.5). ), Butyl rubber (relative permittivity 2.1), ethylene propylene rubber (relative permittivity: 3.1 to 3.4), silicone rubber (relative permittivity: 3.2 to 3.5), fluoro rubber (relative permittivity) Rate: 2.0 to 2.5). These elastomers can be used alone or in combination of two or more. Furthermore, the elastomer 154 preferably has a dielectric constant as high as possible. For example, the dielectric constant of the elastomer 154 may be 2-8.

  The resin 172 has a higher elastic modulus than the elastomer 154. The resin 172 is a resin that forms a block copolymer with the elastomer 154 at least in part. Therefore, in the other part which does not comprise block copolymerization, a random copolymer part may be included and a graft copolymer part may be included. Examples of the resin 172 include vinyl (relative permittivity: 2.8 to 8.0), styrene (relative permittivity: 2.3 to 3.4), and polyamide, depending on the elastic modulus of the elastomer 154. (Relative permittivity: 2.5 to 2.6), polyimide (relative permittivity: 4.7 to 4.8), acrylic (relative permittivity: 2.7 to 4.5), epoxy (ratio) Resins having a dielectric constant of 2.5 to 6.0) can be used. The relative dielectric constant of the elastomer 154 may be equal to or lower than the relative dielectric constant of the resin 172.

  The resin 172 is more preferably a crystalline polyamide or polyimide polymer. When the resin 172 has crystallinity, stretching in one direction promotes crystallization and increases the rigidity of the resin 172. Thereby, the effect of restraining the deformation of the elastomer 154 by the resin 172 can be improved, and the anisotropy of the anisotropic elastomer 170 can be improved.

  Further, the resin 172 is phase-separated from the elastomer 154. Therefore, in the anisotropic elastomer 170, the resin 172 is dispersed in an island shape in the sea of the elastomer 154 and is scattered. In this state, when the anisotropic elastomer 170 is stretched in the Y-axis direction, the resin 172 dispersed and scattered in an island shape forms a cylindrical cylinder structure along the Y-axis direction. The plurality of resins 172 forming the cylinder structure are arranged inside the elastomer 154 side by side in the X-axis direction intersecting the Y-axis direction. The Y-axis direction is an example of one direction, and the X-axis direction is an example of another direction that intersects with one direction.

  FIG. 5B is a perspective view showing a state after the anisotropic elastomer 170 is deformed. As shown in FIG. 5A, the stress 160 and the stress 162 are applied so as to compress the anisotropic elastomer 170 from the Z-axis direction, and the volume in the Z-axis direction decreases. In this case, as shown in FIG. 5B, the anisotropic elastomer 170 greatly expands in the X-axis direction and hardly expands in the Y-axis direction.

  The resin 172 has a higher elastic modulus than the elastomer 154. Therefore, the amount of elongation of the resin 172 when the same stress is applied is smaller than that of the elastomer 154. Further, since the resin 172 and the elastomer 154 are copolymerized, the resin 172 and the elastomer 154 are bonded to each other with molecules. Since the resin 172 has a cylinder structure along the Y-axis direction, the dimension along the Y-axis direction of the resin 172 is long, and the elastomer 154 can be constrained over the entire dimension. For this reason, the resin 172 can strongly restrain the deformation of the elastomer 154 in the Y-axis direction.

  Similarly, the resin 172 tries to suppress expansion in the X-axis direction of the elastomer 154 with a width along the X-axis direction. However, since the resins 172 are separated and arranged in the X-axis direction, the resin 172 moves in the X-axis direction as the elastomer 154 extends in the X-axis direction. For this reason, the resin 172 cannot restrain the elastomer 154, and the resin 172 cannot restrain deformation of the elastomer 154 in the X-axis direction.

  As described above, in the anisotropic elastomer 170, the resin 172 having a cylinder structure along the Y-axis direction restrains deformation of the elastomer 154 in the Y-axis direction but does not restrain deformation in the X-axis direction. Thereby, the anisotropy of deformation of the anisotropic elastomer 170 is expressed.

  Further, the anisotropic elastomer 170 stretched in the Y-axis direction is annealed at a temperature higher than the glass transition temperature of the resin 172 and lower than the melting point of the elastomer 154. By the annealing treatment, the polymer main chain constituting the elastomer 154 and the resin 172 flows, and the elastomer 154 and the resin 172 having the cylinder structure are more clearly phase-separated. Thereby, a clear phase separation structure of the resin 172 is formed, and a cylinder structure formed from the resin 172 is completed.

  Further, in the anisotropic elastomer 170, the elastomer 154 is preferably included at 90 to 50% by weight with respect to the total weight of the anisotropic elastomer 170, and the resin 172 is included in the total weight of the anisotropic elastomer 170. On the other hand, it is preferably contained at 10 to 50% by weight. When the content of the resin 172 is less than 10% by weight, the anisotropy of the anisotropic elastomer 170 is lowered. On the other hand, when the content of the resin 172 is more than 50% by weight, the elastic modulus of the elastomer 154 increases and the flexibility decreases. As a result of the decrease in flexibility of the elastomer 154, the amount of expansion of the anisotropic elastomer 170 when a predetermined constant voltage is applied decreases, and the output of the dielectric elastomer actuator decreases.

  The resin 172 is preferably a resin having a dielectric constant as high as possible. Since the resin 172 has a high dielectric constant, the dielectric constant of the entire anisotropic elastomer 170 can be increased. Accordingly, when the anisotropic elastomer 170 is used for a dielectric actuator, and when a predetermined voltage is applied to the anisotropic elastomer 170, an anisotropic elastomer having a low dielectric constant is used. Can be greatly expanded, and a high output can be obtained. For example, the relative dielectric constant of the resin 172 may be 2-8.

  FIG. 6A is a cross-sectional view showing a state before another anisotropic elastomer 180 is deformed. 6A and 6B, the X direction and the Y direction indicated by the upper left arrows are the X axis direction and the Y axis direction of the anisotropic elastomer 180, and the back side direction of the paper is the Z axis direction. The anisotropic elastomer 180 shown in FIG. 6A is rectangular and sheet-like. The anisotropic elastomer 180 includes an elastomer 156 and a plurality of anisotropic materials 182. The anisotropic material 182 has a rectangular shape. The anisotropic material 182 is arranged in the elastomer 156 side by side in the X direction which is the other direction intersecting the Y axis direction so that the longitudinal direction of the anisotropic material 182 is along the Y axis direction. In the case shown in FIG. 6A, the Y-axis direction is an example of one direction, and the X-axis direction is an example of another direction that intersects with one direction.

  The elastomer 156 has a dielectric property. Accordingly, the elastomer 156 is deformed by applying a voltage. The elastomer 156 may be a synthetic rubber elastomer or a natural rubber elastomer as long as it has dielectric properties. Examples of the synthetic rubber elastomer include isoprene rubber, styrene butadiene rubber, butadiene rubber, chloroprene rubber, butyl rubber, ethylene propylene rubber, silicone rubber, and fluorine rubber. These elastomers can be used alone or in combination of two or more. Moreover, natural rubber etc. can be mentioned as a natural rubber-type elastomer.

  Examples of the anisotropic substance 182 include metal fibers, glass fibers, and resin fibers that have a higher elastic modulus than the elastomer 156. Examples of the metal fibers include stainless steel fibers, aluminum fibers, iron fibers, nickel fibers, and copper fibers manufactured by plastic working, melt spinning, and CVD. Moreover, as glass fiber, after melting glass, glass fiber pulled to be fibrous can be used. Examples of the resin fiber include resin fibers produced from various thermoplastic and thermosetting resins, but it is preferable to use an aramid fiber because of its heat resistance, flexibility, and high strength. Here, the metal fiber, the glass fiber, and the resin fiber are examples of fillers, and the anisotropic substance 182 includes at least one of these fibers.

  FIG. 6B is a cross-sectional view showing a state after deformation of another anisotropic elastomer 180. When the stress 160 and the stress 162 are applied so as to compress the anisotropic elastomer 180 from the positive direction of the Z-axis and the volume in the Z-axis direction is reduced, as shown in FIG. The elastic elastomer 180 extends greatly in the X-axis direction and hardly extends in the Y-axis direction.

  The anisotropic material 182 has a higher elastic modulus than the elastomer 156. Therefore, the amount of extension of the anisotropic material 182 when the same stress is applied is smaller than that of the elastomer 156. Further, the anisotropic substance 182 and the elastomer 156 are joined. An example of joining is adhesion using an adhesive. Since the anisotropic material 182 is arranged so that the longitudinal direction is along the Y-axis direction, the anisotropic material 182 restrains deformation of the elastomer 156 in the Y-axis direction by the length along the Y-axis direction. Since the anisotropic material 182 has a long length along the Y-axis direction, the anisotropic material 182 strongly restrains deformation of the elastomer 156 in the Y-axis direction.

  Similarly, the anisotropic substance 182 tends to constrain deformation of the elastomer 156 in the X-axis direction by a length along the X-axis direction. However, since the anisotropic substances 182 are arranged separately in the X-axis direction, the anisotropic substances 182 move in the X-axis direction as the elastomer 156 extends in the X-axis direction. For this reason, the anisotropic substance 182 cannot restrain the elastomer 156, and the anisotropic substance 182 cannot restrain the deformation of the elastomer 156 in the X-axis direction.

  Thus, in the anisotropic elastomer 180, the anisotropic substance 182 restricts deformation of the elastomer 156 in the Y-axis direction and does not restrict deformation in the X-axis direction. Thereby, the anisotropy of deformation of the anisotropic elastomer 180 appears.

  Further, the anisotropic substance 182 is included in the elastomer 156. By including the anisotropic substance 182 in the elastomer 156, the area of the bonding interface between the anisotropic substance 182 and the elastomer 156 in the direction along the Y-axis direction increases. The deformation of the elastomer 156 is constrained by the adhesive interface. Therefore, the deformation of the anisotropic elastomer 180 can be strongly restrained by including the anisotropic substance 182 in the elastomer 156.

  When the anisotropic substance 182 is included in the elastomer 126, the area of the adhesive interface with the anisotropic substance 182 in the direction along the X-axis direction also increases. However, the increase amount of the area of the adhesion interface in the direction along the X-axis direction is smaller than the increase amount of the area of the adhesion interface in the direction along the Y-axis direction. Therefore, by including the anisotropic substance 182 in the elastomer 156, the area of the bonding interface between the anisotropic substance 182 and the elastomer 156 in the direction along the Y-axis direction and the anisotropic direction in the direction along the X-axis direction are obtained. The difference between the area of the adhesive interface between the conductive material 182 and the elastomer 156 can be increased. Thereby, the anisotropic substance 182 can strongly restrain the deformation of the elastomer 156 in the direction along the Y-axis direction. Thus, by including the anisotropic substance 182 in the elastomer 156, the anisotropy of deformation of the anisotropic elastomer 180 can be increased.

  FIG. 7A is a cross-sectional view showing a state before another anisotropic elastomer 184 is deformed. In FIG. 7A, the same elements as those in FIGS. 7 (a) and 7 (b), the X direction and the Y direction indicated by the upper left arrows are the X axis direction and the Y axis direction of the anisotropic elastomer 184, and the back side direction of the paper is the Z axis direction. To do. The anisotropic elastomer 184 shown in FIG. 7A includes a short anisotropic material 186 whose length in the Y-axis direction is approximately half that of the anisotropic material 182. Note that the anisotropic substance 186 and the anisotropic substance 182 have different lengths along the Y-axis direction, but other configurations are the same, and thus other descriptions are omitted.

  FIG. 7B is a cross-sectional view showing a state after another anisotropic elastomer 184 is deformed. When the anisotropic material 182 is replaced with the anisotropic material 186, as described above, the length of the anisotropic material 186 in the direction along the Y-axis direction is approximately halved. Therefore, the area of the adhesion interface between the anisotropic substance 186 and the elastomer 156 in the direction along the Y-axis direction and the area of the adhesion interface between the anisotropic substance 186 and the elastomer 156 in the direction along the X-axis direction are Since the difference is smaller than when the anisotropic substance 182 is used, the deformation of the elastomer 156 cannot be strongly restrained in the direction along the Y-axis direction. Thus, when the length of the anisotropic substance 186 along the Y-axis direction is shortened, the anisotropy of deformation of the anisotropic elastomer 184 is lowered.

  In addition, when the length in the direction along the Y-axis direction of one anisotropic substance 186 is different from the length in the direction along the X-axis direction, the anisotropic substance 186 in the direction along the Y-axis direction is different. The area of the adhesive interface between the elastomer 156 and the area of the adhesive interface between the anisotropic substance 186 and the elastomer 156 in the direction along the X-axis direction are different. When the area of the bonding interface is larger, the anisotropic material 186 more strongly restrains the deformation of the elastomer. Therefore, the length of the one anisotropic material 186 along the Y-axis direction and along the X-axis direction. When the direction length is not the same, deformation anisotropy of the anisotropic elastomer 184 appears.

About Example 1 and Example 2.
As an example of the anisotropic elastomer 170, Kuraray Septon (registered trademark) SEPS2002 was used. Septon (registered trademark) SEPS2002 is a thermoplastic elastomer composed of a polystyrene block and an elastomer block having a flexible polyolefin structure, and is a block copolymer composed of polystyrene-polyethylenepropylene block-polystyrene.

  In this case, the resin 172 of the anisotropic elastomer 170 is polystyrene. The elastomer 154 of the anisotropic elastomer 170 is polyethylene propylene. This anisotropic elastomer is referred to as a first block copolymer. The tensile strength of polystyrene is 36 to 52 MPa, and the tensile strength of polyethylene propylene is 5 to 20 MPa. Although the value of the elastic modulus is not specified, the elongation at the time of cutting is 1.2 to 2.5% for polystyrene, whereas the elongation of polyethylene propylene is 100 to 800%, compared with polystyrene. Thus, it is understood that polyethylene propylene is easily deformed. Since the elastic modulus is a physical property value indicating the difficulty of deformation, it can be seen that the elastic modulus of polystyrene is higher than that of polyethylene propylene. In addition, polystyrene and polyethylenepropylene are phase-separated without being mutually compatible. Furthermore, polyethylene propylene is a dielectric having a relative dielectric constant of 3.1 to 3.4, and polystyrene is a dielectric having a relative dielectric constant of 2.4 to 3.1.

  FIG. 8 is a cross-sectional TEM (transmission electron microscope) photograph of the first block copolymer annealed after being stretched in one direction. First, a method for creating a sample obtained by taking a cross-sectional TEM photograph will be described.

  15 g of the first block copolymer pellets were added to 35 g of toluene, and the mixture was stirred overnight at room temperature to dissolve the first block copolymer in toluene. A toluene solution was made. This solution was cast on a Teflon (registered trademark) sheet. Thereafter, the film was dried for 1 day or more at room temperature to obtain a flexible film having a thickness of about 200 μm. Next, the film-like first block copolymer was stretched at a stretch ratio of 3.5 times in the Y-axis direction under a temperature condition of 100 ° C. After stretching, annealing was performed for 5 hours under a temperature condition of 140 ° C., and a sample in which a TEM photograph was taken was created.

  Next, creation of a cross section of the first block copolymer film will be described. The first block copolymer after the annealing treatment was cut using a microtome at a surface intersecting the Y-axis direction. The cutting was performed by freezing in an environment of −150 ° C. And the cross section created by cutting was observed using TEM.

  In the TEM photograph shown in FIG. 8, the white area is a polyethylene propylene block, and the black area is a styrene block. As shown in FIG. 8, it can be seen that a cylindrical cylinder structure having a diameter of 10 nm formed of polystyrene blocks is formed in the first block copolymer that has been stretched and annealed.

Table 1 is a table showing the stretching conditions, annealing conditions, and tensile directions of the first block copolymer. In Example 1, a film-like first block copolymer prepared by cast film formation was stretched at a stretching ratio of 3.5 times in the Y-axis direction at 100 ° C., and then at a temperature condition of 140 ° C. The first block copolymer that was annealed for 1 hour. Moreover, Example 2 is the 1st block copolymer which performed the same process as the sample which image | photographed the TEM photograph. Comparative Example 1 is a film-like first block copolymer that has not been stretched or annealed.

  The tensile direction and sample No. shown in Table 1 correspond to FIG. For example, the profile showing the relationship between the displacement in the X-axis direction or the Y-axis direction and the tensile force in Comparative Example 1 is the profile 1-1 in FIG.

  Similarly, the profile showing the relationship between the displacement and tensile force when pulled in the X-axis direction in Example 1 is the profile 1-2 in FIG. 9, and the displacement and tensile force when pulled in the Y-axis direction. 9 indicates that the profile 1-3 in FIG. Moreover, the profile which shows the relationship between the displacement at the time of pulling in the X-axis direction and the tensile force in Example 2 is the profile 1-4 in FIG. 9, and the displacement and the tensile force in the case of pulling in the Y-axis direction are as follows. The profile indicating the relationship is the profile 1-5 in FIG.

  FIG. 9 is a graph showing the relationship between displacement and tensile force of the first block copolymer. In FIG. 9, the vertical axis indicates the tensile force, and the unit is [N]. Further, the horizontal axis indicates the strain amount calculated by the relational expression (1), and the unit is [%]. In addition, the measurement sample was cut from a test piece having a width of 10 mm and a length of 25 mm from the film-like first block copolymer, chucking the upper and lower portions of 7.5 mm in the length direction, and the chuck distance was 15 mm, The tensile force with respect to the strain amount was measured under the condition of a pulling speed of 50 mm / min. The tensile force was measured using a load measuring device LTS1kNB-S50 manufactured by Minebea.

  Since the 1st block copolymer of Example 1 is extended | stretched in the Y-axis direction, the cylindrical cylinder structure comprised with a polystyrene is formed along the Y-axis direction. Therefore, the profile 1-3 indicating the tensile force for generating the strain amount in the Y-axis direction always exceeds the profile 1-2 indicating the tensile force for generating the strain amount in the X-axis direction. In order to generate the same strain amount in the direction as in the X-axis direction, a higher tensile force than in the X-axis direction is required. That is, the first block copolymer of Example 1 is apt to be distorted in the X-axis direction but is not easily distorted in the Y-axis direction, which indicates that deformation anisotropy is developed. Is.

  The first block copolymer of Example 2 has a different annealing time from the first block copolymer of Example 1. Specifically, the first block copolymer of Example 1 is subjected to an annealing treatment at 140 ° C. for 1 hour, whereas in Example 2, the annealing treatment is performed at a temperature of 140 ° C. 5 hours underneath.

  As shown in FIG. 9, the profile 1-5 indicating the tensile force with respect to the strain amount of Example 2 in the Y-axis direction exceeds the profile 1-3 of Example 1. Thus, by increasing the annealing time of the first block copolymer, the first block copolymer of Example 2 is more deformed in the Y-axis direction than the first block copolymer of Example 1. It can be seen that they are strongly restrained.

  Both polystyrene and polyethylenepropylene are amorphous and are in an amorphous state. Moreover, the glass transition point of polystyrene is about 100 ° C., and the glass transition point of polyethylene propylene is about −50 ° C. The melting point of ethylene propylene is about 150 ° C., and the melting point of polystyrene is about 230 ° C. That is, the annealing temperature of 140 ° C. is a temperature higher than the Tg of polystyrene and polyethylene propylene and lower than the melting point of polystyrene and polyethylene propylene. Since the annealing temperature is lower than the melting point, the shape of the film-like first block copolymer does not change greatly. However, since the annealing temperature of 140 ° C. is higher than the Tg of polystyrene and polyethylene propylene, the main chain of polystyrene and polyethylene propylene flows due to the heat applied by the annealing treatment. For this reason, at the time of film formation, the phase separation of the partially mixed polystyrene and polyethylene propylene is promoted by the flow. Thereby, a clear phase separation structure of polystyrene is formed, and a cylindrical cylinder structure formed of polystyrene is completed. It is considered that the deformation of the first block copolymer in the Y-axis direction is strongly constrained by the completed polystyrene cylinder structure.

  The first block copolymer of Comparative Example 1 is not stretched in one direction and is not annealed. Therefore, the first block copolymer of Comparative Example 1 is not formed with a cylindrical cylinder structure made of polystyrene. Therefore, since the deformation of polyethylene propylene cannot be constrained, the profile 1-1 indicating the tensile force with respect to the strain amount in the X-axis direction and the tensile force with respect to the strain amount in the Y-axis direction are the same. The coalescence does not develop deformation anisotropy.

  Thus, the 1st block copolymer which has polyethylene propylene and a phase-separation with polyethylene propylene, comprises polyethylene propylene and a block copolymer, and has a higher elastic modulus than polyethylene propylene is unidirectional. By extending in the Y-axis direction, it extends along the Y-axis direction and is aligned in the X-axis direction, which is the other direction that intersects the Y-axis direction, and is disposed inside the first block copolymer. A structured cylindrical cylinder structure is formed. This cylinder structure constrains the deformation of polyethylene propylene in the Y-axis direction, but does not constrain the deformation of polyethylene propylene in the X-axis direction, thereby causing the first block copolymer to exhibit deformation anisotropy.

  And the cylinder structure comprised from polystyrene is formed over the inside of a 1st block copolymer as shown in FIG. Since the deformation of polyethylene propylene can be constrained by the cylindrical cylinder structure formed over the entire interior of the first block copolymer, the first block copolymer can surely exhibit deformation anisotropy. it can.

  Further, the first block copolymer is annealed at a temperature higher than the glass transition temperature of polystyrene and lower than the melting point of polyethylene propylene. Thereby, the cylindrical cylinder structure comprised with prestyrene can be completed. Thereby, by the said cylinder structure, the deformation | transformation of the Y-axis direction which is the direction where a cylinder structure is extended can be restrained strongly, and the anisotropy of a deformation | transformation can be raised.

  Since the glass transition temperature of the elastomer is lower than the glass transition temperature of the resin having a higher modulus of elasticity than the elastomer, if the annealing temperature is specified to be higher than the glass transition temperature of the resin, the glass transition temperature is higher than the glass transition temperature of the elastomer. It can also be specified. Similarly, since the melting point of the elastomer is lower than the melting point of the resin having a higher elastic modulus than the elastomer, if the annealing temperature is specified to be lower than the melting point of the elastomer, it is also specified that the temperature is lower than the melting point of the resin. it can.

About Example 3 to Example 10.
Table 2 shows the deformation characteristics of the elastomer composite. As an example of the anisotropic elastomer 180 shown in FIG. 6, an elastomer composite in which a synthetic rubber-based elastomer includes Kevlar twisted yarn manufactured by Toray DuPont as rectangular aramid fibers is used. In Example 3 to Example 9, the anisotropic material 182 of the anisotropic elastomer 180 is a rectangular aramid fiber having an anisotropic shape, and the elastomer 156 is Tuftec (registered by Asahi Kasei Corporation), which is a styrene butadiene rubber. Trademark) M1943. The tensile strength of the aramid fiber is about 2920 MPa, and the tensile strength of Tuftec (registered trademark) M1943 is 15.6 MPa. Although the value of the elastic modulus is not specified, it can be seen that Tuftec (registered trademark) M1943 is more easily deformed than the aramid fiber. Since the elastic modulus is a physical property value indicating the difficulty of deformation, it can be seen that the elastic modulus of the aramid fiber is higher than that of Tuftec (registered trademark) M1943. Hereinafter, the elastomer 156 is referred to as a first synthetic rubber elastomer.

  The anisotropic elastomer composite shown in Example 3 is an elastomer composite in which rectangular aramid fibers are encapsulated inside the elastomer. In the configuration of the elastomer composite, aramid fibers were arranged in the X-axis direction so that the longitudinal direction was along the Y-axis direction over the entire upper surface of the first synthetic rubber-based elastomer having a thickness of 200 μm. And the 1st synthetic rubber-type elastomer with a thickness of 200 micrometers was piled up from that, and the elastomer composite was created.

The anisotropic elastomer composite shown in Example 3 was clamped for 10 minutes using a compression jig, and the state was confirmed (applied compression force: 8 kN). The result is shown in the strain amount column of compression characteristics in Table 2. The strain amount is calculated using the relational expression (1). The strain amount in the direction along the X-axis direction is shown in the ε _X column, and the strain amount in the direction along the Y-axis direction is shown in the ε _Y column. Yes. Moreover, the value calculated by the following relational expression (2) was recorded in the strain ratio column.

Strain ratio = ε _X / ε _Y (2)

In Example 3, the strain amount ε _X in the X-axis direction was 94%, and the strain amount ε _{Y in the} Y-axis direction was 13%. The strain ratio was 7.5 when calculated by substituting ε _X and ε _Y into the relational expression (2).

In Example 4, the measurement of the strain amount and the strain ratio were calculated under the same conditions as in Example 3 except that the thickness of the elastomer was 410 μm. In Example 4, the strain amount ε _X in the X-axis direction was 186%, and the strain amount ε _{Y in the} Y-axis direction was 90%. The strain ratio was 2.1.

In Example 5, the strain amount was measured and the strain ratio was calculated under the same conditions as in Example 4 except that the applied compressive force was lowered (applied compressive force: less than 1 kN). In Example 5, the strain amount ε _X in the X-axis direction was 110%, and the strain amount ε _{Y in the} Y-axis direction was 22%. The strain ratio was 5.1.

In Example 6, Tuftec (registered trademark) L521 manufactured by Asahi Kasei Corporation, which is a flexible styrene butadiene rubber, was used as the elastomer. In addition, according to the measurement standard ISO7619, the hardness of Tuftec (registered trademark) L521 measured by durometer type A is 39, and the hardness of the first synthetic rubber-based elastomer measured by the same measurement standard is 67. Moreover, the measurement of the strain amount and the strain ratio were calculated under the same conditions as in Example 4 except that the thickness of the elastomer was 400 μm. In Example 6, the strain amount ε _X in the X-axis direction was 213%, and the strain amount ε _{Y in the} Y-axis direction was 112%. The strain ratio was 1.9. Hereinafter, the elastomer is referred to as a second synthetic rubber elastomer.

In Example 7, the measurement of the strain amount and the strain ratio were calculated under the same conditions as in Example 6 except that the applied compressive force was reduced. In Example 7, the strain amount ε _X in the X-axis direction was 156%, and the strain amount ε _{Y in the} Y-axis direction was 35%. The strain ratio was 4.5.

In Example 8, the amount of strain and the strain ratio were calculated under the same conditions as in Example 3 except that the elastomer was a second synthetic rubber elastomer and the thickness of the elastomer was 250 μm. In Example 8, the strain amount ε _X in the X-axis direction was 153%, and the strain amount ε _{Y in the} Y-axis direction was 16%. The strain ratio was 9.8.

  In Example 9, an elastomer is an elastomer in which a metal compound is introduced into a side chain of a modified silicone having a long chain length (shown as “elastomer ultra-low elasticity” in Table 2), and the thickness of the elastomer is 100 μm (10 μm / 80 μm / 10 μm). The amount of strain and the strain ratio were calculated under the same conditions as in Example 3 except that the configuration was changed. In Example 9, the strain amount εX 1.9% in the X-axis direction and the strain amount εY in the Y-axis direction were 0.2%. The strain ratio was 9.5.

  Example 10 was the same as Example 3 except that the elastomer was an elastomer in which a metal compound was introduced into the side chain of a long-chain-modified silicone, and the thickness of the elastomer was 80 μm (10 μm / 60 μm / 10 μm configuration). Thus, the strain amount was measured and the strain ratio was calculated. In Example 10, the strain amount εX 3.9% in the X-axis direction and the strain amount εY in the Y-axis direction were 0.2%. Moreover, the strain ratio showed the largest value of 19.5.

In Reference Example 1, the first synthetic rubber elastomer is used as the elastomer, the thickness of the elastomer is 500 μm, the aramid fiber is 200 μm, and the aramid fiber is provided on one side of the elastomer. And the strain ratio were calculated. In Reference Example 1, the strain amount ε _X in the X-axis direction was 58%, and the strain amount ε _{Y in the} Y-axis direction was 14%. The strain ratio was 4.1.

As Comparative Example 2, a first synthetic rubber elastomer having a thickness of 500 μm was used to compress the sample with the same compressive force as in Example 3, and a strain amount measurement and a strain ratio were calculated. In Comparative Example 1, the strain amount ε _X in the X-axis direction was 88%, and the strain amount ε _{Y in the} Y-axis direction was 87%. The strain ratio was 1.

As Comparative Example 3, a 420 μm second synthetic rubber-based elastomer was used for compression with the same compressive force as in Example 3, and the strain amount was measured and the strain ratio was calculated. In Comparative Example 2, the strain amount ε _X in the X-axis direction was 108%, and the strain amount ε _{Y in the} Y-axis direction was 102%. The strain ratio was 1.1.

The strain ratio is obtained by dividing the strain amount ε _X in the X-axis direction, which is easily deformed, by the strain amount ε _Y in the Y-axis direction, which is difficult to deform. It is a value shown in. The strain ratios of the elastomer composites shown in Examples 3 to 10 are all larger than 1, and the deformation anisotropy is expressed. Among them, the highest strain ratio was calculated in Example 10. From this, it can be seen that the elastic modulus of the elastomer is preferably low.

  As described above, the elastomer composites shown in Examples 3 to 10 are the first synthetic rubber-based elastomer or the second synthetic rubber-based elastomer, which is styrene butadiene rubber, and an anisotropic material having a higher elastic modulus than styrene butadiene rubber. The aramid fibers are arranged in the X-axis direction so that the longitudinal direction is along the Y-axis direction, and disposed inside the styrene-butadiene rubber. In such an elastomer composite, the aramid fibers restrain the deformation in the Y-axis direction more strongly than the X-axis direction inside the styrene-butadiene rubber. Thereby, since an aramid fiber can restrain a deformation | transformation of a styrene butadiene rubber inside a styrene butadiene rubber, the anisotropy of a deformation | transformation can be expressed reliably.

  Further, the first block copolymer shown in Example 1 and Example 2 and the elastomer composite shown in Example 3 to Example 10 have dielectric properties. Accordingly, the dielectric elastomer actuator can be configured by sandwiching the first block copolymer and the elastomer composite between the two electrodes connected to the positive electrode and the negative electrode, respectively.

  For example, in the case where the first block copolymer is used, when the first block copolymer is stretched in the Y-axis direction, the cylinder structure extending in the Y-axis direction is formed side by side in the X-axis direction. The voltage application direction by the two electrodes is the Z-axis direction that intersects the Y-axis direction and the X-axis direction. Since deformation in the Y-axis direction due to volume reduction in the Z-axis direction is constrained by the cylinder structure, the amount of deformation in the X-axis direction can be increased. Thereby, the output in the X-axis direction of the dielectric elastomer actuator can be increased.

  The same effect can be obtained when an elastomer composite is used. That is, when the longitudinal direction of the aramid fibers is arranged in the X-axis direction along the Y-axis direction, the amount of deformation in the X-axis direction can be increased by applying a voltage from the Z-axis direction. Thereby, the output in the X-axis direction of the dielectric elastomer actuator can be increased.

  Furthermore, since the anisotropic elastomers shown in Examples 1 to 10 can be easily flattened, even in a dielectric elastomer actuator sandwiched between two electrodes, flatness can be maintained. For this reason, even when a plurality of dielectric elastomer actuators are laminated for the purpose of increasing the output of the dielectric elastomer actuator, the dielectric elastomer actuators can be laminated without causing a gap. Thereby, it is possible to prevent dielectric breakdown from occurring due to the generated gap.

  The dielectric elastomer actuator described in the present embodiment can be used as an auxiliary device that assists the movement of the body. The assisting device may be, for example, an assist suit in which an actuator is attached to clothes or the like. Such an auxiliary tool will now be described.

  FIG. 10 is a front view of a user wearing the auxiliary tool 10. FIG. 11 is a rear view of the user wearing the auxiliary tool 10. The up, down, left and right directions indicated by arrows in FIG. Further, the front and rear directions viewed from the user are the front and rear directions of the auxiliary tool 10.

  It is assumed that the user wears a shirt 80 on the upper body and wears trousers 82 on the lower body. A belt 84 is wound around the waist of the body of the trousers 82. The belt 84 has a buckle 86 disposed on the front surface of the body. The upper part of the shirt 80 is formed so as not to deviate from the shoulder. The hem of the pants 82 is narrowed so as not to be displaced from the ankle. The inner surface of the shirt 80 and the trousers 82 may be configured like a diving suit that is in close contact with the user's body. The shirt 80, the trousers 82, and the belt 84 are an example of a mounting portion that is attached to the body. Furthermore, the belt 84 is an example of the portion of the mounting portion that is fixed to the body.

  The auxiliary tool 10 assists the movement of the user's body. As shown in FIGS. 10 and 11, the auxiliary device 10 includes an anterior right artificial muscle portion 12, an anterior left artificial muscle portion 14, a posterior right artificial muscle portion 16, an posterior left artificial muscle portion 18, and a power supply portion 20. And a right detection unit 22 and a left detection unit 24, which are examples of the detection unit, a mounting detection unit 26, and a control unit 28.

  The front right artificial muscle portion 12 includes a front right actuator 30, a pair of front right attachment portions 32, and a power wiring 34.

  The front right actuator 30 is formed to extend in the vertical direction. One end of the front right actuator 30 in the up-down direction, that is, the longitudinal direction, is disposed on the front surface of the shirt 80 above the right foot and above the belt 84 and the waist of the user. The other end in the longitudinal direction of the front right actuator 30 is disposed on the front surface of the trousers 82 below the knee of the right foot. The front right actuator 30 is provided so as to straddle the waist and knee joints of the user's torso.

  The front right actuator 30 may be realized by the actuator 110 described in FIGS. 1 and 2 that expands and contracts when a voltage is applied. When a voltage is applied, the front right actuator 30 expands and contracts in the vertical direction, that is, in the longitudinal direction. As a result, the front right actuator 30 contracts to assist the user's right leg ascending when walking.

  The pair of front right attachment portions 32 attaches both ends of the front right actuator 30 in the expansion / contraction direction to clothes. One front right attachment portion 32 is provided at the upper end portion of the front right actuator 30 and attached to the front surface of the shirt 80. Note that the upper end portion of the front right actuator 30 may be attached to the belt 84 that is difficult to move due to the stretching force via the one front right attachment portion 32. Thus, by attaching to the belt 84 fixed to the body, the front right attachment portion 32 can reliably support the upper end portion of the front right actuator 30 that becomes a fulcrum during expansion and contraction. The other front right attachment portion 32 is provided at the lower end portion of the front right actuator 30 and attached to the front surface of the pants 82. The front right attachment portion 32 is detachably attached to the shirt 80 or the trousers 82 together with the front right actuator 30 by a button, a fastener, a hook-and-loop fastener, or the like. Part of the pair of front right mounting portions 32 is preferably made of an elastic member such as rubber.

  One end of the power wiring 34 is electrically connected to the front right actuator 30 via the upper front right mounting portion 32. The other end of the power wiring 34 is connected to the power supply unit 20. As a result, the power wiring 34 electrically connects the front right actuator 30 and the power supply unit 20.

  Since the front left artificial muscle part 14, the rear right artificial muscle part 16, and the rear left artificial muscle part 18 have the same configuration as the front right artificial muscle part 12, their description is omitted except for the differences.

  The front left artificial muscle portion 14 includes a front left actuator 36, a pair of front left attachment portions 38, and a power wiring 40. The front left actuator 36 is attached to the front surface of the trousers 82 from the front surface of the shirt 80 above the waist to the lower part of the knee of the left foot by a pair of front left mounting portions 38. Note that one end of the front left actuator 36 may be attached to the belt 84 that is difficult to move due to the expansion and contraction force. The front left actuator 36 contracts to assist the user's left leg ascending when walking. The power wiring 40 electrically connects the front left actuator 36 and the power supply unit 20.

  The rear right artificial muscle portion 16 includes a rear right actuator 42, a pair of rear right attachment portions 44, and a power wiring 46. The rear right actuator 42 is attached to the rear surface of the trouser 82 by a pair of rear right attachment portions 44 from the rear surface of the trouser 82 at the base of the right foot to the vicinity of the ankle below the knee of the right foot. The rear right actuator 42 may be attached to the belt 84, the shirt 80, or the like. Further, the rear right actuator 42 may have a length up to below the knee. The rear right actuator 42 is disposed inside the pocket 88 of the trousers 82. The pocket 88 is preferably made of a material that can expand and contract with the expansion and contraction of the rear right actuator 42. Thereby, it can be prevented that the pocket 88 hinders the expansion and contraction of the rear right actuator 42. Further, it is possible to prevent the rear right actuator 42 from being deformed in the direction in which the pocket 88 intersects the expansion / contraction direction. The rear right actuator 42 contracts to assist the user's right foot ascending when kicking the ball. The power wiring 46 electrically connects the rear right actuator 42 and the power supply unit 20 via a wiring disposed on the back of the belt 84.

  The rear left artificial muscle portion 18 includes a rear left actuator 48, a pair of rear left attachment portions 50, and a power wiring 52. The rear left actuator 48 is attached to the rear surface of the trouser 82 by a pair of rear left mounting portions 50 from the rear surface of the trouser 82 at the base of the left foot to the vicinity of the ankle below the knee of the left foot. The rear left actuator 48 may be attached to the belt 84 and the shirt 80. Further, the rear left actuator 48 may have a length up to below the knee. The pocket 88 is preferably made of a material that can expand and contract with the expansion and contraction of the rear left actuator 48. The rear left actuator 48 is disposed inside the pocket 88 of the trousers 82. The rear left actuator 48 assists in raising the user's left foot when kicking the ball by contracting. The power wiring 52 electrically connects the rear left actuator 48 and the power supply unit 20 via a wiring disposed on the back of the belt 84.

  The power supply unit 20 is provided on the buckle 86 of the belt 84. The power supply unit 20 is electrically connected to the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 so as to be able to supply power. The power supply unit 20 may correspond to the power supply 120 of FIGS. 1 and 2.

  The right detection unit 22 is provided in the vicinity of the knee of the user's right foot. The right detection unit 22 detects an acceleration corresponding to the movement of the user's right foot. An example of the right detection unit 22 is a triaxial acceleration sensor. The right detection unit 22 is electrically connected to the control unit 28 via the wiring 54. The right detection unit 22 outputs a right acceleration signal corresponding to the movement and acceleration of the user's right foot to the control unit 28. The right acceleration signal is an example of a detection signal.

  The left detection unit 24 is provided in the vicinity of the knee of the user's left foot. The left detection unit 24 is a three-axis acceleration sensor, and detects an acceleration corresponding to the movement of the user's left foot. The left detection unit 24 outputs a left acceleration signal corresponding to the movement and acceleration of the user's left foot to the control unit 28 via the wiring 56. The left acceleration signal is an example of a detection signal.

  The attachment detection unit 26 is provided on the buckle 86 of the belt 84. An example of the attachment detection unit 26 is a pressure sensor. The attachment detection unit 26 detects pressure for determining attachment of the belt 84. The attachment detection unit 26 is electrically connected to the control unit 28. When the belt 84 is worn by the user and pressure is applied to the belt 84, the attachment detection unit 26 outputs a pressure signal corresponding to the pressure to the control unit 28.

  The control unit 28 governs overall control of the auxiliary tool 10. An example of the control unit 28 is a computer. The control unit 28 may correspond to the switch 130 and the control unit 132 in FIGS. 1 and 2.

  FIG. 12 is a block diagram illustrating a control system of the auxiliary tool 10. As illustrated in FIG. 12, the control unit 28 includes a processing unit 60 and a storage unit 62. The processing unit 60 functions as an acquisition unit 64, a determination unit 66, and a power supply control unit 68 by reading the auxiliary tool control program stored in the storage unit 62.

  The acquisition unit 64 acquires a right acceleration signal and a left acceleration signal from the right detection unit 22 and the left detection unit 24. The acquisition unit 64 acquires a pressure signal from the mounting detection unit 26. The acquisition unit 64 outputs the acquired acceleration signal and pressure signal to the determination unit 66.

  The determination unit 66 acquires the right acceleration signal and the left acceleration signal from the acquisition unit 64. The determination unit 66 calculates the right speed that is the speed of the right foot based on the right acceleration signal. The determination unit 66 determines the moving direction, speed, and stop of the right foot from the sign of the calculated right speed. The determination unit 66 integrates the calculated right speed to detect the right uppermost position, which is the position where the right foot is most raised. The determination unit 66 calculates a left speed that is the speed of the left foot from the left acceleration signal. The determination unit 66 determines the moving direction, speed, and stop of the left foot from the left speed. The determination unit 66 integrates the calculated left speed to detect the left uppermost position, which is the position where the left foot is most raised. The determination unit 66 stores the detected right uppermost position and left uppermost position in the storage unit 62.

  The determination unit 66 acquires a pressure signal from the acquisition unit 64. The determination unit 66 detects the pressure acting on the belt 84 from the pressure signal, and determines whether the belt 84 is worn by the user or not. When the determination unit 66 determines that the belt 84 is attached, the power control unit outputs the right movement signal and the left movement signal indicating the rising, lowering, and stopping of the right foot and the left foot detected based on the right acceleration signal and the left acceleration signal. Output to 68. The speed of ascending and descending may be included in the right movement signal and the left movement signal.

  When the belt 84 is attached, the power supply control unit 68 controls the power supply unit 20 based on the right movement signal and the left movement signal detected by the determination unit 66 based on the right acceleration signal and the left acceleration signal. Thus, when the belt 84 is attached, the power source unit 20 supplies power to the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48, or supplies power. Stop.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  The order of execution of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior to”. It should be noted that the output can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for convenience, it means that it is essential to carry out in this order. It is not a thing.

  DESCRIPTION OF SYMBOLS 10 Auxiliary tool, 12 Front right artificial muscle part, 14 Front left artificial muscle part, 16 Rear right artificial muscle part, 18 Rear left artificial muscle part, 20 Power supply part, 22 Right detection part, 24 Left detection part, 26 Wearing detection part 28 control unit, 30 front right actuator, 32 front right mounting part, 34 power wiring, 36 front left actuator, 38 front left mounting part, 40 power wiring, 42 rear right actuator, 44 rear right mounting part, 46 power wiring, 48 Rear left actuator, 50 Rear left mounting section, 52 Power wiring, 54 wiring, 56 wiring, 60 Processing section, 62 Storage section, 64 Acquisition section, 66 Determination section, 68 Power supply control section, 80 Shirt, 82 Trousers, 84 Belt , 86 Buckle, 88 Pocket, 110 Actuator, 120 Power, 122, 124 Electrode, 126 Elastomer, 130 Switch 132 control unit, 150 isotropic elastomers, 152,170,180,184 anisotropic elastomer, 154,156 elastomer, 160,162 stress, 172 resin, 182, 186 anisotropy material

Claims (13)

A first material having elasticity and being deformed by applying a voltage;
A second material having a higher modulus of elasticity than the first material;
Including
The second substance extends along one direction and is arranged inside the first substance along the other direction intersecting the one direction,
An anisotropic elastomer that exhibits deformation anisotropy by suppressing the deformation of the second substance when the first substance is deformed by an external force. The relative dielectric constant of the first material is 2-8.
The anisotropic elastomer according to claim 1.   3. The anisotropic elastomer according to claim 1, wherein the second substance is a resin that phase-separates from the first substance and forms a block copolymer with the first substance at least in part.   The anisotropic elastomer according to claim 3, wherein a relative dielectric constant of the first substance is equal to or less than a relative dielectric constant of the second substance.   The anisotropic elastomer according to claim 4, wherein the first material and the second material are annealed after being stretched in the one direction.   The anisotropic elastomer according to claim 5, wherein a temperature of the annealing treatment is higher than a glass transition temperature of the resin and lower than a melting point of the first substance.   The anisotropic elastomer according to claim 3, wherein the resin has crystallinity.   The anisotropic elastomer according to any one of claims 1 to 7, wherein the first substance is an elastomer, and the second substance is an anisotropic filler oriented along the one direction. .   The anisotropic elastomer according to claim 8, wherein the anisotropic filler includes at least one of metal fiber, glass fiber, and resin fiber.   The anisotropic elastomer according to claim 9, wherein the anisotropic filler is an aramid fiber. An anisotropic elastomer according to any one of claims 1 to 10,
An electrode for applying a voltage to the anisotropic elastomer;
Including
The dielectric elastomer actuator, wherein a voltage application direction by the electrode is a direction intersecting the one direction and the other direction. An auxiliary device for assisting in the movement of the body,
A mounting part to be attached to the body,
The dielectric elastomer actuator of claim 11;
A mounting portion for attaching the dielectric elastomer actuator to the mounting portion;
Auxiliary tool comprising A first material having elasticity and being deformed by applying a voltage;
A second material having a higher modulus of elasticity than the first material;
Including
Stretching the first material and the second material in one direction;
Annealing the first material and the second material;
A method for producing an anisotropic elastomer, comprising: