JPH05253175A - Electrostatic type actuator - Google Patents

Electrostatic type actuator

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Publication number
JPH05253175A
JPH05253175A JP5573792A JP5573792A JPH05253175A JP H05253175 A JPH05253175 A JP H05253175A JP 5573792 A JP5573792 A JP 5573792A JP 5573792 A JP5573792 A JP 5573792A JP H05253175 A JPH05253175 A JP H05253175A
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actuator
electrodes
electrode
embodiment
electrostatic
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JP5573792A
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Japanese (ja)
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Yoshinori Ota
好紀 太田
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Olympus Optical Co Ltd
オリンパス光学工業株式会社
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Abstract

PURPOSE: To provide the actuator which is elongated, shrunk or curved by the electrostatic force applicable to the front end curving mechanism of a catheter type medical treating apparatus having a very small tube diameter.
CONSTITUTION: This electrostatic actuator 10 has electrodes 12 and 14 fitted to the opposite surface of an insulating elastic body 16. Two sheets of the electrodes 12 and 14 are arranged nearly parallel in such a manner that these electrodes partly face each other. Further, the actuator has a driving circuit 18 for selectively impressing voltages between the electrodes 12 and 14. The driving circuit 18 has a power source 22 and a switch 20 for changing over the impression and non-impression of the voltages.
COPYRIGHT: (C)1993,JPO&Japio

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【産業上の利用分野】本発明は、静電気力を利用して変位を発生させるアクチュエータに関する。 The present invention relates to relates to an actuator for generating displacement by using the electrostatic force.

【0002】 [0002]

【従来の技術】医療の高度化に伴い、カテーテル型の医療機器(内視鏡、血管挿入用カテーテル)が低侵襲、簡便性の点で応用範囲を広げつつある。 As the sophistication of the Related Art Medical catheters type medical device (endoscope, vascular insertion catheters) is being widened range of applications in terms of minimally invasive, convenience. カテーテル型医療機器の応用拡大には、その管径の細径化が重要な課題であり、それに伴いカテーテル先端の屈曲、駆動手法の新規性が求められている。 The application expansion of the catheter medical device, the diameter of the pipe diameter is a critical issue, bending of the catheter tip with it, the novelty of the driving method has been demanded. 管径の細径化は従来侵入し得なかった肺、胆のう等への内視鏡による検査・処置能力を拡大し、細い血管部位へのカテーテル挿入を可能にする。 Diameter of the pipe diameter is expanded lungs which could not have penetrated past, inspection and treatment capability of the endoscope to the gall bladder or the like, to allow for catheter insertion into the narrow vascular site. 又、カテーテル先端部に屈曲機能を持たせ能動型カテーテルとすることにより、細管部への挿入を容易にすることができる。 Further, by the active catheter to have a bending function to the catheter tip, it is possible to facilitate insertion into tube portion.

【0003】 [0003]

【発明が解決しようとする課題】内視鏡あるいはカテーテル型医療機器はその管径により適用できる範囲が制限される。 Endoscope or catheter type medical device [0005] The range that can be applied by the pipe diameter is restricted. 食道、胃、十二指腸、直腸等の検診は潰瘍、早期ガンの発見に有効であることは良く知られているが、 Esophagus, stomach, duodenum, medical examination of the rectum such as ulcers, but it is well known is effective in the discovery of early cancer,
さらに管径の小さい臓器への挿入あるいは細い血管へのカテーテルの挿入には、それに適合する管径の小さい内視鏡あるいはカテーテルを開発する必要がある。 More insertion or insertion of the catheter into small vessels to small organ of pipe diameter, there is a need to develop a small endoscope or catheter of fit tube diameters therein. また管径の細径化に伴い、内視鏡あるいはカテーテル内に装備する検査・処置具の小型化、細径化が求められる。 Also with the diameter of the pipe diameter, size of the inspection and the treatment instrument equipped in an endoscope or catheter, diameter reduction is required. 微小径内視鏡は体内の細管臓器へ挿入する際に先端の屈曲が自在に行えることが必要で、そのため新規な駆動方式を開発する必要がある。 Small diameter endoscope must be performed freely the tip of the bend during insertion into the body of a tubular organ, therefore it is necessary to develop a novel driving method.

【0004】内視鏡先端の機械的屈曲には従来ワイヤを用いる機械的手法が一般的で、細管用内視鏡先端には形状記憶合金(SMA)を用いた屈曲手段も開発されている。 [0004] Mechanical methods using conventional wire to mechanical bending of the endoscope tip is common, the endoscope tip the capillary has also been developed bending means with shape memory alloy (SMA). しかし、内視鏡あるいはカテーテル型医療機器の微細径化には占有体積の小さい新規な駆動機構、先端屈曲機構を開発する必要があり、そのために原理的に新しい先端屈曲機構が必要になる。 However, a small novel drive mechanism occupying volume fine diameter of the endoscope or catheter medical device, it is necessary to develop advanced bending mechanism, in principle a new bent end mechanism therefor becomes necessary.

【0005】本発明は、微小な管径を有するカテーテル型医療機器の先端屈曲機構に適用可能な静電気力で伸長・収縮あるいは屈曲するアクチュエータを提供することを目的とする。 [0005] The present invention aims to provide an actuator which extends and contracts or bent applicable electrostatic force to the tip bending mechanism of the catheter medical device having a small tube diameter.

【0006】 [0006]

【課題を解決するための手段】本発明の静電型アクチュエータは、一部を対向させてほぼ平行に配置される導電性部材と、導電性部材の間に介在する絶縁性弾性体と、 Electrostatic actuator of the present invention According to an aspect of the conductive member that is arranged substantially parallel to and is opposed portions, an insulating elastic body interposed between the conductive member,
導電性部材に選択的に電圧を印加する手段とを備えている。 The conductive member and means for selectively applying a voltage.

【0007】 [0007]

【作用】次に本発明の静電型アクチュエータについて、 [Action] Next electrostatic actuator of the present invention,
その基本的な構成を示した図1を参照しながら説明する。 It will be described with reference to FIG. 1 showing its basic configuration. 図において、(A)は自然の状態を、(B)は収縮した状態を示している。 In the figure, the (A) is a natural state, (B) shows a state in which contracted. 本発明の静電型アクチュエータ10は、絶縁性弾性体16の対向する面に取り付けられた導電性部材すなわち電極12と14を有している。 Electrostatic actuator 10 of the present invention includes a counter conductive member or electrode 12 mounted on a surface of a 14 insulating elastic body 16. 絶縁性弾性体16は(A)に示すように平行四辺形状の断面を有し、このため二枚の電極12と14は一部が対向するようにほぼ平行に配置される。 Insulated elastic body 16 has a parallelogram-shaped cross-section (A), the Thus two electrode 12 and 14 are disposed substantially parallel so as to partially face each other. さらにアクチュエータ10は、電極12と14の間に選択的に電圧を印加する手段すなわち駆動回路18を備えている。 Furthermore the actuator 10 is provided with a means or drive circuit 18 selectively applies a voltage between the electrodes 12 and 14. 駆動回路1 Drive circuit 1
8は電源22と、電圧の印加・不印加を切り換えるスイッチ20とを有している。 8 has a power source 22, a switch 20 for switching the application and non-application of a voltage. 電極12と14の間に電圧が印加されると、二枚の電極12と14は静電気力により引き合い、(B)に示すように絶縁性弾性体16を押しつぶして間隔が狭くなるとともに、両者が完全に重なるように移動する。 When the voltage between the electrodes 12 and 14 are applied, two inquiries electrodes 12 and 14 by an electrostatic force, with interval crushed insulating elastic body 16 as shown is narrowed (B), the both to move so as to overlap completely. 電圧の印加状態を解除すると、電極1 When releasing the voltage application state, the electrode 1
2と14に溜った電荷が放電され、(A)に示すように弾性体の復元力によりもとの形状に戻る。 Charges accumulated in the 2 and 14 is discharged and returns to the original shape by the restoring force of the elastic body as shown in (A).

【0008】 [0008]

【実施例】本発明の静電型アクチュエータの第一実施例を図2に示す。 The first embodiment of the electrostatic actuator of the embodiment of the present invention shown in FIG. 電圧が印加されていない状態の斜視図を(A)に、B−B線に沿って切った断面を(B)に示す。 A perspective view of a state in which no voltage is applied (A), a shows a cross-section taken along line B-B in (B). また、電圧が印加された状態の斜視図を(C)に、 Also, a perspective view of a state where a voltage is applied (C), the
D−D線に沿って切った断面を(D)に示す。 The cross-section taken along line D-D shown in (D). 本実施例の静電型アクチュエータは、同中心に配置される二つの円筒状電極32と34を有している。 Electrostatic actuator of the present embodiment has two cylindrical electrodes 32 and 34 arranged in concentric. 円筒状電極32と34は、円筒状の絶縁性弾性体36の外周面と内周面とに設けられる。 The cylindrical electrodes 32 and 34 is provided on the outer circumferential surface and the inner circumferential surface of the cylindrical insulating elastic body 36. 絶縁性弾性体36は、(B)に示すように、その外周面と内周面とが軸方向にずれているため、 Insulated elastic body 36, (B), the order and its outer peripheral surface and the inner circumferential surface is displaced in the axial direction,
内側電極34と外側電極32は軸方向にずれた状態で配置される。 Inner electrode 34 and outer electrode 32 are arranged with a shift in the axial direction. 内側電極34と外側電極32の間に電圧が印加されると、(C)と(D)に示すように、内側電極3 When the voltage between the inner electrode 34 and outer electrode 32 is applied, as shown in (C) and (D), the inner electrode 3
4が外側電極32の内部に引き込まれ、アクチュエータ全体の長さが変化する。 4 is retracted inside the outer electrode 32, the overall length of the actuator is changed. このとき引き込まれる量は、印加電圧の大きさや絶縁性弾性体36の材料定数などで決まる。 The amount drawn at this time is determined by the size and the insulating material constants of the elastic body 36 of the applied voltage. 印加電圧を連続的に変化させることにより、アクチュエータの全長を連続的に変えることができる。 By the applied voltage continuously changed, it is possible to change the overall length of the actuator continuously. また、印加電圧をパルス的に変えることで短時間の中に形状変化させることも可能である。 It is also possible to shape change in a short time by changing the applied voltage in pulses. 印加電圧を除去すると、絶縁性弾性体36の復元力によりアクチュエータは元の状態すなわち(A)と(B)に示した状態に戻る。 Upon removal of the applied voltage, by the restoring force of the insulated elastic body 36 the actuator returns to the state shown in its original state, namely the (A) (B).

【0009】本発明の静電型アクチュエータの第二実施例を図3に示す。 [0009] The second embodiment of the electrostatic actuator of the present invention shown in FIG. 本実施例は、基本的には第一実施例と同じ構成を有し、電極の数を三つに増やした例である。 This embodiment is basically has the same configuration as the first embodiment, an example of increasing the number of electrodes in three.
図において、(A)は電圧が印加されていないときのアクチュエータの斜視図、(B)はB−B線に沿って切った断面図、(C)は電圧が印加されたときのアクチュエータの斜視図、(D)はD−D線に沿って切った断面図である。 In FIG., (A) is a perspective view of the actuator when no voltage is applied, (B) is a sectional view taken along line B-B, (C) is a perspective view of the actuator when a voltage is applied FIG, (D) is a sectional view taken along line D-D. 本実施例のアクチュエータは、(A)および(B)に示すように、三つの円筒状電極42と44と4 The actuator of this embodiment, (A) and (B), the three cylindrical electrodes 42 and 44 and 4
6を有し、これらは絶縁性弾性体48と50を介して互いに同軸に、しかも軸方向にずらした状態で設けられている。 It has 6, which are provided in a state coaxially to each other via the insulating elastic body 48 and 50, yet shifted in the axial direction. 電極42と44の間および電極44と46の間に同じ大きさの電圧を同じ向きに印加すると、(C)および(D)に示すように、電極46は電極44の内側に、 If the same magnitude of the voltage and between the electrodes 44 of the electrode 42 and 44 46 is applied in the same direction, as shown in (C) and (D), the inner electrode 46 is the electrode 44,
電極44は電極42の内側に引き込まれ、アクチュエータの軸方向の長さが変化する。 Electrode 44 is drawn into the inside of the electrode 42, the axial length of the actuator is changed. 本実施例のアクチュエータでは、第一実施例に比べて二倍のストローク(軸方向の長さ変化)が得られる。 The actuator of the present embodiment, twice the stroke as compared to the first embodiment (the axial direction of the length change) is obtained.

【0010】本発明の第三実施例を図4に示す。 [0010] The third embodiment of the present invention shown in FIG. 本実施例は、第一実施例あるいは第二実施例のアクチュエータを直列に配置した線状アクチュエータ52である。 This embodiment is a linear actuator 52 which is disposed an actuator of the first embodiment or the second embodiment in series. 図4 Figure 4
において、符号54は第一実施例または第二実施例に示したアクチュエータを示す。 In, reference numeral 54 denotes an actuator shown in the first embodiment or the second embodiment. 本実施例では、複数のアクチュエータ54が、伸縮性を有しているチューブ56の内部に配置される。 In this embodiment, a plurality of actuators 54 is disposed inside the tube 56 having elasticity. 各アクチュエータ54の間には、アクチュエータの内側電極が隣のアクチュエータの外側電極の内側に入り込まないように、仕切板58が配置される。 Between each actuator 54, the inner electrode of the actuator so as not enter the inside of the outer electrode adjacent to the actuator, the partition plate 58 is arranged. また、チューブ56の先端の内側にはアクチュエータ54を安定に配置するための連結部が設けられている。 Further, the inside of the distal end of the tube 56 connecting portion for positioning the actuators 54 stably is provided. チューブ56は、(B)に示すように、その内部の各アクチュエータ54が最も短くなった時(電圧を印加した時)にたるみのない状態で開口部が支持部62に固定される。 Tube 56 is fixed (B), the opening in the support portion 62 in the absence of slack when (when a voltage is applied) and each actuator 54 therein becomes shortest. 各アクチュエータ54への電圧印加を解除すると、(A)に示すように、各アクチュエータ54が長くなり、線状アクチュエータ52の全長は長くなる。 When releasing the application of voltage to the actuators 54, (A), the each actuator 54 becomes longer, the total length of the linear actuator 52 is prolonged. また、各アクチュエータ54に電圧を印加すると、各アクチュエータ54が短くなると共に、チューブ56が収縮するため、線状アクチュエータ52の全長は短くなる。 When a voltage is applied to each actuator 54, with each actuator 54 is shortened, because the tube 56 is contracted, the total length of the linear actuator 52 is shortened.

【0011】この線状アクチュエータ52を利用して屈曲可能に構成したカテーテルを図5に示す。 [0011] A catheter configured to be bent by use of the linear actuator 52 in Fig. カテーテル64の外観を(A)に、(A)に図示される破線で切った断面を(B)に示す。 The appearance of the catheter 64 (A), a shown in a cross section taken along the broken line illustrated in (A) (B). カテーテル64は、(B)に示すように、可撓性のチューブ66を有し、その内周面に複数の線状アクチュエータ52がその長さ方向に沿って設けられている。 The catheter 64, (B), the flexible tube 66, a plurality of linear actuator 52 is provided along its length on the inner peripheral surface thereof. これにより、図中の上半分の線状アクチュエータ52に対して下半分の線状アクチュエータ5 Thus, the linear actuator 5 of the lower half with respect to the linear actuator 52 of the upper half of FIG.
2を短くすると、(C)に示すようにカテーテル64の先端部が下方に曲がる。 When 2 to shorten, it bends downward distal end of the catheter 64 as shown in (C). 逆に、上半分の線状アクチュエータ52に対して下半分の線状アクチュエータ52を長くすると、(D)に示すようにカテーテル64の先端部が上方に曲がる。 Conversely, increasing the linear actuator 52 of the lower half with respect to the linear actuator 52 of the upper half, the distal end of the catheter 64 as shown in (D) is bent upwards.

【0012】本発明の静電型アクチュエータの第四実施例を図6に示す。 [0012] The fourth embodiment of the electrostatic actuator of the present invention shown in FIG. 本実施例の静電型アクチュエータは、 Electrostatic actuator of the present embodiment,
(A)に示すように、導電性と弾性を有している円柱状の中心電極68と、その周囲に螺旋状に巻かれた弾性を有する帯状電極70とを有している。 (A), the a columnar center electrode 68 has conductivity and elasticity, and a strip-shaped electrode 70 having elasticity helically wound around it. 帯状電極70はその表面が絶縁されている。 Strip electrode 70 has its surface are insulated. また、その内側には(B)に示すように段部70aが設けられていて、これにより中心電極68の周りに一定のピッチで巻かれる。 Also, on its inner side have a stepped portion 70a is provided (B), the which is wound at a constant pitch around the center electrode 68 by. この中心電極68と帯状電極70との間に(C)に示すように電圧が印加されると、帯状電極70の各部が中心電極68 When a voltage is applied as shown in (C) between the center electrode 68 and the strip-shaped electrodes 70, center each part of the strip electrodes 70 electrodes 68
に引き付けられるため、帯状電極70の下端が段部70 Because they are attracted to the step portion 70 is the lower end of the strip electrodes 70
aの上を接しながら移動して、帯状電極70は中心電極68を締め付ける。 Move while contacting the top of a, the strip electrodes 70 tightening the center electrode 68. 中心電極68は帯状電極70により締め付けられると軸方向に伸び、その長さがhからh' When the center electrode 68 is clamped by the band-shaped electrodes 70 extend in the axial direction, h 'whose length is from h
に変化する。 Changes. 電圧印加を解除すると、帯状電極70による締め付けがなくなるので、中心電極68は元の長さh When releasing the voltage application, the fastening by the strip electrode 70 is eliminated, the center electrode 68 is the original length h
に戻る。 Back to.

【0013】本発明の静電型アクチュエータの第五実施例を図7に示す。 [0013] The fifth embodiment of the electrostatic actuator of the present invention shown in FIG. 本実施例の静電型アクチュエータは、 Electrostatic actuator of the present embodiment,
(A)に示すように、その長さ方向に沿って厚さが周期的に変化する絶縁性弾性体72を有し、その上下面に断面V字状の上部電極74と下部電極76が互い違いに設けられている。 (A), a has an insulating elastic body 72 thickness along its length direction changes periodically, are V-shaped cross section of the upper electrode 74 and lower electrode 76 on its upper and lower surfaces alternately It is provided to. この上部電極74と下部電極76の間に電圧を印加すると、上部電極74と下部電極76の間に働く静電引力により、(B)に示すように、絶縁性弾性体72が押しつぶされて長さが変化するとともに、先端部78が上方に移動する。 When a voltage is applied between the upper electrode 74 and the lower electrode 76, the electrostatic attractive force between the upper electrode 74 and the lower electrode 76, (B), the length being crushed insulating elastic body 72 is, together with changes, tip 78 is moved upward.

【0014】本発明の静電型アクチュエータの第六実施例を図8に示す。 [0014] The sixth embodiment of the electrostatic actuator of the present invention shown in FIG. 本実施例の静電型アクチュエータは、 Electrostatic actuator of the present embodiment,
その断面構造を(A)に示すように、断面V字状の上部電極82と下部電極84を有し、上部電極82と下部電極84の端部が絶縁性弾性体86を介してほぼ平行に設けられている。 As shown the cross-sectional structure (A), a has a V-shaped cross section of the upper electrode 82 and the lower electrode 84, substantially parallel to the end portion of the upper electrode 82 and the lower electrode 84 through the insulating elastic body 86 It is provided. 上部電極82と下部電極84の間に電圧を印加すると、両者間の静電引力により、(B)に示すように、絶縁性弾性体86を押し潰して上部電極82と下部電極84が接近する。 When a voltage is applied between the upper electrode 82 and the lower electrode 84, the electrostatic attraction between them, (B), the upper electrode 82 and lower electrode 84 approaches crushed an insulating elastic body 86 . これにより、(A)の状態では柔軟であったアクチュエータが、(B)の状態では堅くなる。 Thus, the actuator was flexible and in the state (A), stiffer in the state of (B). 電圧印加を解除すると、アクチュエータは(A)の状態となり、再び柔軟になる。 When releasing the voltage application, the actuator is a state of (A), again becomes flexible.

【0015】本発明の静電型アクチュエータの第七実施例を図9に示す。 [0015] The seventh embodiment of the electrostatic actuator of the present invention shown in FIG. 本実施例の静電型アクチュエータは、 Electrostatic actuator of the present embodiment,
その断面構造を(A)に示すように、断面U字状の上部電極88と下部電極90を有し、上部電極88と下部電極90は平行に配置される側壁部に取り付けられる絶縁性弾性体92を介して接続されている。 As shown the cross-sectional structure (A), a has a U-shaped cross section of the upper electrode 88 and the lower electrode 90, upper electrode 88 and lower electrode 90 is attached to the side wall portion which is arranged parallel to the insulating elastic body It is connected via a 92. 上部電極88と下部電極90の間に電圧を印加すると、(B)に示すように、上部電極88と下部電極90の側壁が静電引力により絶縁性弾性体86を押し潰して接近する。 When a voltage is applied between the upper electrode 88 and the lower electrode 90, (B), the by electrostatic attraction sidewalls of the upper electrode 88 and lower electrode 90 approaches crushed an insulating elastic body 86. この結果、アクチュエータの全長が長くなるとともに、(A) As a result, the overall length of the actuator becomes longer, (A)
の状態では柔軟であったアクチュエータが堅くなる。 Actuator stiffer was flexible in the state. また、電圧印加を解除すると、アクチュエータは(A)の状態となり、短くなるとともに再び柔軟になる。 Further, when releasing the voltage application, the actuator is a state of (A), again becomes flexible with shortened.

【0016】 [0016]

【発明の効果】本発明によれば、微小な管径を有するカテーテル型医療機器の先端屈曲機構に適用可能な小型で簡単な構成の静電型アクチュエータが提供される。 According to the present invention, the electrostatic actuator of a simple structure in applicable small catheter medical device tip bending mechanism having a small tube diameter is provided.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】本発明の静電型アクチュエータの基本的な構成を示す。 It shows the basic structure of the electrostatic actuator of the present invention; FIG.

【図2】本発明の第一実施例の静電型アクチュエータを示す。 Figure 2 shows the electrostatic actuator of the first embodiment of the present invention.

【図3】本発明の第二実施例の静電型アクチュエータを示す。 Figure 3 shows the electrostatic actuator of the second embodiment of the present invention.

【図4】本発明の第三実施例である、図2または図3の静電型アクチュエータを用いて構成した線状アクチュエータを示す。 4 is a third embodiment of the present invention, showing a linear actuator constituted by using the electrostatic actuator of FIG. 2 or FIG. 3.

【図5】図4の線状アクチュエータを利用して構成した屈曲可能なカテーテルを示す。 [5] using the linear actuator of FIG. 4 shows a bendable catheter constructed.

【図6】本発明の第四実施例の静電型アクチュエータを示す。 6 shows an electrostatic actuator of the fourth embodiment of the present invention.

【図7】本発明の第五実施例の静電型アクチュエータを示す。 7 shows an electrostatic actuator of the fifth embodiment of the present invention.

【図8】本発明の第六実施例の静電型アクチュエータを示す。 8 shows an electrostatic actuator of the sixth embodiment of the present invention.

【図9】本発明の第七実施例の静電型アクチュエータを示す。 9 shows an electrostatic actuator of the seventh embodiment of the present invention.

【符号の説明】 DESCRIPTION OF SYMBOLS

12,14…電極、16…絶縁性弾性体、18…駆動回路。 12 ... electrode, 16 ... insulated elastic body 18 ... driving circuit.

Claims (1)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】 一部を対向させてほぼ平行に配置される導電性部材と、 導電性部材の間に介在する絶縁性弾性体と、 導電性部材に選択的に電圧を印加する手段とを備えている静電型アクチュエータ。 A conductive member disposed substantially parallel to, 1. A is opposed portions, an insulating elastic body interposed between the conductive member, and means for selectively applying a voltage to the conductive member electrostatic actuator has.
JP5573792A 1992-03-13 1992-03-13 Electrostatic type actuator Granted JPH05253175A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP5573792A JPH05253175A (en) 1992-03-13 1992-03-13 Electrostatic type actuator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP5573792A JPH05253175A (en) 1992-03-13 1992-03-13 Electrostatic type actuator

Publications (1)

Publication Number Publication Date
JPH05253175A true true JPH05253175A (en) 1993-10-05

Family

ID=13007172

Family Applications (1)

Application Number Title Priority Date Filing Date
JP5573792A Granted JPH05253175A (en) 1992-03-13 1992-03-13 Electrostatic type actuator

Country Status (1)

Country Link
JP (1) JPH05253175A (en)

Cited By (14)

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FR2772209A1 (en) * 1997-12-05 1999-06-11 Centre Nat Rech Scient Electrostatic microactuators, microcatheters dimensional active operator thereof and method of manufacture
EP1178597A1 (en) * 1999-04-14 2002-02-06 NUNUPAROV, Martyn Sergeevich Electrostatic devices for mechanical blocking
US6909220B2 (en) * 1994-04-19 2005-06-21 Applied Elastomerics, Inc. High strain tear resistant gels and gel composites for use as artificial muscle actuators
US7033318B2 (en) 2002-11-29 2006-04-25 Pentax Corporation Photothermal actuator and apparatus comprising photothermal actuator
US7223329B2 (en) 1998-12-14 2007-05-29 Masayoshi Esashi Active slender tubes and method of making the same
US7362889B2 (en) 2002-05-10 2008-04-22 Massachusetts Institute Of Technology Elastomeric actuator devices for magnetic resonance imaging
US7411331B2 (en) * 2002-05-10 2008-08-12 Massachusetts Institute Of Technology Dielectric elastomer actuated systems and methods
US7538445B2 (en) 2006-05-05 2009-05-26 Sri International Wave powered generation
US7551419B2 (en) 2006-06-05 2009-06-23 Sri International Electroadhesion
US7554787B2 (en) 2006-06-05 2009-06-30 Sri International Wall crawling devices
US7557456B2 (en) 2006-05-05 2009-07-07 Sri International Wave powered generation using electroactive polymers
US7598652B2 (en) 2004-03-12 2009-10-06 Sri International Mechanical meta-materials
JP2010004736A (en) * 2002-03-05 2010-01-07 Sri Internatl Electroactive polymer devices for controlling fluid flow
US8125755B2 (en) 2007-07-26 2012-02-28 Sri International Selectively rigidizable and actively steerable articulatable device

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6909220B2 (en) * 1994-04-19 2005-06-21 Applied Elastomerics, Inc. High strain tear resistant gels and gel composites for use as artificial muscle actuators
FR2772209A1 (en) * 1997-12-05 1999-06-11 Centre Nat Rech Scient Electrostatic microactuators, microcatheters dimensional active operator thereof and method of manufacture
WO1999030410A1 (en) * 1997-12-05 1999-06-17 Centre National De La Recherche Scientifique (Cnrs) Electrostatic microactuators, active three-dimensional microcatheters using same and method for making same
US7223329B2 (en) 1998-12-14 2007-05-29 Masayoshi Esashi Active slender tubes and method of making the same
EP1178597A1 (en) * 1999-04-14 2002-02-06 NUNUPAROV, Martyn Sergeevich Electrostatic devices for mechanical blocking
EP1178597A4 (en) * 1999-04-14 2010-08-04 Martyn Sergeevich Nunuparov Electrostatic devices for mechanical blocking
JP2010004736A (en) * 2002-03-05 2010-01-07 Sri Internatl Electroactive polymer devices for controlling fluid flow
US7362889B2 (en) 2002-05-10 2008-04-22 Massachusetts Institute Of Technology Elastomeric actuator devices for magnetic resonance imaging
US7411331B2 (en) * 2002-05-10 2008-08-12 Massachusetts Institute Of Technology Dielectric elastomer actuated systems and methods
US7033318B2 (en) 2002-11-29 2006-04-25 Pentax Corporation Photothermal actuator and apparatus comprising photothermal actuator
US8164232B2 (en) 2004-03-12 2012-04-24 Sri International Mechanical meta-materials
US8436508B2 (en) 2004-03-12 2013-05-07 Sri International Mechanical meta-materials
US7598652B2 (en) 2004-03-12 2009-10-06 Sri International Mechanical meta-materials
US7598651B2 (en) * 2004-03-12 2009-10-06 Sri International Mechanical meta-materials
US7557456B2 (en) 2006-05-05 2009-07-07 Sri International Wave powered generation using electroactive polymers
US7649276B2 (en) 2006-05-05 2010-01-19 Sri International Wave powered generation
US7538445B2 (en) 2006-05-05 2009-05-26 Sri International Wave powered generation
US8125758B2 (en) 2006-06-05 2012-02-28 Sri International Electroadhesive devices
US7872850B2 (en) 2006-06-05 2011-01-18 Sri International Wall crawling robots
US8111500B2 (en) 2006-06-05 2012-02-07 Sri International Wall crawling robots
US7773363B2 (en) 2006-06-05 2010-08-10 Sri International Electroadhesion
US7554787B2 (en) 2006-06-05 2009-06-30 Sri International Wall crawling devices
US7551419B2 (en) 2006-06-05 2009-06-23 Sri International Electroadhesion
US8665578B2 (en) 2006-06-05 2014-03-04 Sri International Electroadhesive devices
US8388519B2 (en) 2007-07-26 2013-03-05 Sri International Controllable dexterous endoscopic device
US8125755B2 (en) 2007-07-26 2012-02-28 Sri International Selectively rigidizable and actively steerable articulatable device
US8488295B2 (en) 2007-07-26 2013-07-16 Sri International Selectively rigidizable and actively steerable articulatable device

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