WO2004026758A1 - 駆動体及びその製造方法 - Google Patents
駆動体及びその製造方法 Download PDFInfo
- Publication number
- WO2004026758A1 WO2004026758A1 PCT/JP2003/011959 JP0311959W WO2004026758A1 WO 2004026758 A1 WO2004026758 A1 WO 2004026758A1 JP 0311959 W JP0311959 W JP 0311959W WO 2004026758 A1 WO2004026758 A1 WO 2004026758A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- actuator element
- ion
- exchange resin
- actuator
- bending
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N11/00—Generators or motors not provided for elsewhere; Alleged perpetua mobilia obtained by electric or magnetic means
- H02N11/006—Motors
Definitions
- the present invention relates to an actuator element that can be easily bent and a method for manufacturing the same.
- Actuators used for medical equipment and micromachines are flexible, small and lightweight actuators.
- an actuator there is an actuator using a polymer actuator for an actuator element which can be bent or deformed and functions as a driving section.
- the polymer actuator an actuator element having metal electrodes in a mutually insulated state on the surface of an ion-exchange resin molded product that is a solid electrolyte is known.
- Patent No. 296111 In Japanese Patent Publication No. 25 or Patent No. 3033031, a cylindrical actuator element is described.
- the actuator when the actuator is used for a catheter that is a medical device, the actuator element is inserted into a blood vessel of a human body for treatment and proceeds to a target site via a complicated path, so that the actuator is driven. It is desirable that the displacement at the time is larger. Further, in order to efficiently terminate the treatment using the catheter in a short time, it is desirable that the displacement speed of the actuator element is higher.
- Polymer actuators are not limited to medical equipment, but also include positioning devices such as fingers of robot hands, attitude control devices, elevating devices, transport devices, moving devices, adjusting devices, adjusting devices, guidance devices, and joints. It can also be used for devices, switching devices, reversing devices, winding devices, traction devices, or turning devices.
- an actuator element having metal electrodes in a mutually insulated state on the surface of an ion-exchange resin molded product as a solid electrolyte described above includes an electrode layer and a fixed electrolyte layer as an ion-exchange resin. Therefore, the ability of the actuator element to bend or deform greatly depends on the ease with which the solid electrolyte is deformed or displaced and the flexibility or extensibility of the electrode layer.
- the material of the solid electrolyte is limited in, for example, an actuator element requiring durability, and therefore, the improvement in bending as an actuator element is limited.
- the electrode layer has a structure mainly composed of a metal component in order to secure electrical conductivity, the electrode layer has a small flexibility or elasticity, thereby limiting bending as an actuator element. For this reason, there is a limit to a method of selecting a material constituting the actuator element as a method of improving the bending of the actuator element. That is, it is a problem to easily provide an actuator element having an excellent bending (bending amount) without changing a material mainly constituting the actuator element in the actuator element. Disclosure of the invention
- the present invention includes an uneven surface facing in a direction Akuchiyueta element is bent, c the Akuchiyueta element is Akuchiyueta element before Symbol irregularities to form a wave shape to facilitate bending, the conventional Akuchiyueta element Excellent bending (bending amount) can be realized.
- the actuator element is an actuator element in which a corrugated shape due to the unevenness of the actuator element is formed over the entire outer surface in the circumferential direction, and further, the actuator element has a bellows shape, or an uneven surface.
- the shape is a bellows-like but is Akuchiyueta element formed in a spiral shape Actuator element or surface irregularities are spiral
- the actuator element formed as described above is preferable because the end opposite to the end fixed to the support or the like is easily bent in an arbitrary direction.
- the present invention relates to a method for manufacturing an actuator element, comprising the steps of: winding a wire around an ion-exchange resin molded article to provide spiral irregularities on the surface; Adsorbing a metal complex; depositing a metal on the surface of the ion-exchange resin by applying a reducing agent to the metal complex adsorbed on the ion-exchange resin molded article;
- This is a method of manufacturing an actuator element including a step of cleaning with a cleaning liquid.
- An actuator element having irregularities on the surface facing the bending direction of the actuator element, wherein the irregularities form a waveform for facilitating bending, is easily manufactured by using this manufacturing method.
- FIG. 1 is a schematic perspective view of an embodiment of the actuator element of the present invention.
- FIG. 2 is a schematic vertical sectional view of the actuator element of FIG.
- FIG. 3 is a schematic perspective view of an embodiment of the actuator element of the present invention. BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 1 is a schematic perspective view of an example of an embodiment of an actuator element.
- Actuator element 1 is an actuator element having irregularities on a surface facing the direction in which the actuator element bends, and the irregularities form a waveform shape for facilitating bending.
- the actuator element 1 is tubular and has a convex portion 2 and a concave portion 3. Both end A and end B have openings 4. Since the outer surface of the actuator element having the convex portion 2 and the concave portion 3 has a substantially cylindrical shape, it can face four bending directions.
- Actuator element 1 in FIG. 1 has a recess formed on the outer surface of the actuator element.
- the concavo-convex shape is formed as a continuous concavo-convex pattern that goes around the actuator element along the circumferential direction X.
- the actuator element is formed in a bellows shape as a whole, and a wave shape is formed on the entire element in the direction of an axis perpendicular to the width direction of the bending motion.
- the actuator element of the present invention is not particularly limited as long as it has irregularities on a surface facing the bending direction of the actuator element, and the recess forms a waveform shape for facilitating bending.
- the wavy shape may be formed at a portion near an end which is the tip of the bending motion (for example, near ⁇ in FIG.
- the actuator element of the present invention is used as an actuator such as a catheter or the like, and is used for an application that requires a large bending without being restricted in the direction, the waveform of the actuator element of the present invention is used.
- the shape is formed by continuous concaves and convexes making a round around the actuator element along the circumferential direction.
- the surface may be substantially flat, or may be a curved surface as shown in FIG.
- the waveform shape is formed at least in the vicinity of at least one of both ends of the actuator element.
- a formed portion is provided. Either one of the two ends of the actuator element In the case where the end portion formed in a corrugated shape is provided in the vicinity of the end portion, and the end portion formed in the corrugated shape is fixed to a support or the like, even if the corrugated portion is relatively short, Can be greatly displaced.
- FIG. 1 is a schematic vertical sectional view of the actuator element 1 shown in FIG.
- the actuator element 1 includes an electrode layer 5 and a solid electrolyte layer 6.
- the bellows-shaped tubular actuator element of the present invention is an actuator element that can be bent or deformed, and if it is an actuator element that is wholly or partially formed in a bellows configuration.
- the actuator element of the present invention is formed in a bellows shape, a portion formed in a bellows shape also includes an electrode layer and a solid electrolyte layer. By applying a current to the electrode layer, the solid electrolyte layer is bent or displaced.
- the electrode layer may be formed so that the actuator element 1 can be bent.
- the electrode layer of the actuator element may be two or more electrode layers insulated from each other by providing an insulating groove formed in the axial direction.
- the electrode layer is divided in a state where the electrode layer is circumferentially insulated from each other by an insulating groove formed in the axial direction, because the electrode layer can be freely bent in the direction perpendicular to the axis Y.
- One split electrode layer is formed in the axial direction By being insulated from the other electrode layers by the insulating groove, the actuator element 1 can be freely bent in the direction perpendicular to the axis Y.
- FIG. 3 is a schematic perspective view showing an actuator element 1 ′ formed in a spiral shape, which is an actuator element of the present invention.
- the present invention is an aspect of an actuator element having irregularities on a surface facing an bending direction of an actuator element, wherein the irregularities form a waveform for facilitating bending, and the irregularities on the surface are spiral. It is also a formed actuator device.
- the spirally-shaped tubular actuator element 1 similarly to the bellows-shaped tubular actuator element 1 of FIG. 1, includes a convex portion 2 'and a concave portion 3', and has an end portion A ' Both ends B 'are provided with openings 4'.
- substantially the entire actuator element is formed in a spiral shape.
- the spirally-shaped actuator element of the present invention can make a large bend similarly to the bellows-shaped actuator element, so that it is orthogonal to the width direction of the bending motion like the actuator element 1 ′. Preferably, it is formed almost entirely in the axial direction. Further, in the case where the spirally formed part is a part of the actuator element, the actuator element of the present invention has the same structure as the bellows-shaped actuator element. It is preferable that at least one of the ends has a portion formed in a spiral shape near at least one of the ends.
- Actuator element 1 ′ has an electrode layer on the outer side surface, similarly to actuator element 1 of FIG.
- the actuator element 1 ′ has an insulating groove for the same reason as the actuator element 1 of FIG.
- the actuator element of the present invention has a hollow tubular shape in the actuator element 1 and the actuator element 1 ′ of FIGS. 1 to 3, but is not limited to the hollow tubular shape.
- the actuator element of the present invention is not particularly limited in shape, as long as the actuator element has irregularities on a surface facing a bending direction, and the irregularities form a waveform shape for facilitating bending. , Spherical, cubic, columnar, A three-dimensional shape such as a cone, a rod, a tube, and a tube may be formed in a bellows shape.
- the actuator element of the present invention is preferably a three-dimensionally shaped object having a longitudinal direction, since the bending movement can be facilitated and a larger mechanical energy can be obtained.
- the three-dimensional object having the longitudinal direction include a column, a cone, a rod, a tube, and a tube, and may be hollow.
- the actuator element of the present invention has a hollow tubular or tubular shape, even if the corrugated shape formed by the irregularities provided on the surface facing the bending direction is formed on the outer peripheral surface, it is formed on the inner peripheral surface.
- the corrugated shape is formed on both the outer peripheral surface and the inner peripheral surface because it can bend more greatly. It is particularly preferred that the spiral is formed.
- the method of forming the actuator element which has irregularities on the surface facing the bending direction of the actuator element and forms a waveform shape for facilitating the bending, is particularly limited. Instead, it can be formed by a known forming method.
- the tubular actuator element having the corrugated shape is formed by forming a metal electrode layer by subjecting an ion-exchange resin molded article formed into a bellows-like tubular shape with a mold or the like to a plating by a known method.
- a method of manufacturing an actuator element in which a wire is wound around an ion-exchange resin molded article to provide spiral irregularities on the surface, and the metal complex is adsorbed on the ion-exchange molded article having the irregularities.
- the actuator element can be formed by an easy operation.
- the spirally formed tubular actuator element of the present invention has a spirally formed part as a whole or a part, like the bellows-like tubular actuator element.
- the method of forming the portion formed in the shape is not particularly limited, and it can be formed by a known forming method.
- a bellows-shaped tubular actuator element can be easily obtained by forming a metal electrode layer by applying a plating method to a bellows-shaped tubular ion-exchange resin molded product by a known method as a solid electrolyte tubular body.
- a step of winding a wire of a predetermined diameter on a tubular ion-exchange resin molded article to provide bellows-like irregularities on the surface of the tubular body is performed.
- the actuator element formed in a bellows shape according to the present invention can be produced in a simple method. Can be formed.
- the diameter of the wire may be appropriately selected in order to provide desired irregularities to the tubular actuator element.
- a method of obtaining a spirally formed tubular actuator element there is provided a method of manufacturing an actuator element, in which a wire is wound around an ion-exchange resin molded article to provide spiral irregularities on the surface.
- the bellows-shaped tubular actuator element and the spirally-shaped tubular actuator element of the present invention have a convex portion and a concave portion.
- the bottom of the concave portion may form a corner or a curved surface, but the top of the convex portion and the bottom of the concave portion can easily be plated, and the bending or displacement of the actuator element can be achieved. At this time, it is difficult for the electrode layer to be disconnected at the top or the bottom, and therefore it is preferable that the top of the projection and the bottom of the intervening portion form a curved surface.
- the pitch between the concaves and concaves (d or d ′ in FIG. 1 or FIG. 3) in the actuator element is not particularly limited, but is 0.1 to 0.1 with respect to a diameter of 0.8 mm of the tubular body.
- a thickness of 3 mm is preferable because the plating can be easily applied to the top of the projection and the bottom of the depression.
- the depth of the unevenness (e or e 'in FIG. 1 or 3), which is the difference between the top of the convex portion and the bottom of the concave portion, is not particularly limited, but the thickness of the actuator element (FIG. 1 or FIG. It is preferably 10% to 200% with respect to a—b or a′—b ′) in FIG.
- an actuator element which has irregularities on the surface facing the bending direction of the element, and in which the irregularities form a waveform for facilitating bending, as shown in FIG.
- the solid electrode layer is not particularly limited, and it is preferable to use an ion exchange resin. In particular, it is more preferable that the solid electrolyte layer uses a fluorine-based ion exchange resin for durability.
- the electrode layer is also not particularly limited, and is not particularly limited as long as the layer has electrical conductivity.However, it is possible to easily form the electrode layer by applying a plating to the solid electrolyte. Therefore, a metal electrode layer is preferable, and an electrode layer mainly containing a conductive metal such as copper (Cu), gold (Au), silver (Ag), and gold (Pt) having good conductivity. More preferably, there is.
- the actuator element does not require a large number of parts, it has a simple structure, has a large bending, and is light in weight. It can be suitably used for the pressure part. That is, the actuator element, which has irregularities on the surface facing the bending direction of the actuator element and forms a waveform shape for facilitating the bending, includes a positioning device, a posture control device, a lifting device, and a transport device. It is suitable as a positioning, moving device, adjusting device, adjusting device, guiding device, and joint device. Further, the actuator element is suitable as a pressing device.
- the actuator element is used for OA equipment, antennas, equipment for placing people such as beds and chairs, medical equipment, engines, optical equipment, fixtures, side trimmers, vehicles, lifting equipment, food processing equipment, cleaning equipment, measuring equipment , Inspection equipment, control equipment, machine tools, processing machines, electronic equipment, electron microscopes, electric razors, electric toothbrushes, manipulators, masts, play equipment, amusement equipment, riding simulation equipment, vehicle occupant holding equipment and aircraft accessories
- the equipment extending device it can be suitably used as a driving unit that generates a driving force for moving a track-type orbit formed by an arc portion, or a pressing unit that performs a curved operation.
- the actuator is, for example, a valve, a brake and a lock device used in a general machine including the above-mentioned devices such as an OA device and a measuring device, and a driving force for moving a track-type orbit formed by an arc portion. It can be used as a driving unit that generates the pressure or a pressing unit that performs a curved operation.
- the actuator element may be a driving unit of a positioning device, a driving unit of an attitude control device, a driving unit of a lifting device, a driving unit of a transfer device, in general, in machinery and equipment, in addition to the above-described devices, devices, and instruments.
- the actuator element can be suitably used as a drive unit in a joint device, as a drive unit that applies rotational motion to a joint unit or a joint.
- a, b, c, and d for the ion-exchange resin molded product are shown in Fig. 1.
- the outer shape of the opening, the inner diameter of the opening, the length, and the pitch between the recesses are shown for the bellows or spiral tubular body.
- ion exchange membrane perfluorocarboxylic acid resin, ion exchange capacity 1.8 meq Zg, trade name "Flemion", manufactured by Asahi Glass Co., Ltd.
- a 0.8 mm
- b 0. 5 mm
- a c 20 mm
- N d 1. 5 mm ion exchange resin molded article a is a bellows-shaped tube-like body.
- ion exchange membrane perfluorocarbon resin, ion exchange capacity 1.80 meq / g, trade name “Flemion”, manufactured by Asahi Glass Co., Ltd.
- a 0.6 mm
- b 0.4 mm
- c 2 Omm
- d 1.5 mm
- An ion-exchange resin molded product B as a bellows-like tubular body was obtained.
- ion-exchange membrane perfluorocarboxylic acid resin, trade name “Flemion”, manufactured by Asahi Glass Co., Ltd.
- a cylindrical tubular body is formed by a known injection molding method, and a wire is spirally wound around the tubular body.
- ion exchange membrane perfluorocarboxylic acid resin, trade name “Flemion”, manufactured by Asahi Glass Co., Ltd.
- a cylindrical ion-exchange resin molded product having a diameter of 4 mm and c 20 mm was obtained.
- the temperature of the aqueous solution was set to 60 to 80 ° C., and the phenanthrene gold complex was reduced for 6 hours while gradually adding sodium sulfite.
- (3) washing step the ion-exchange resin molded product having the gold electrode formed on the surface was taken out and washed with water at 70 ° C. for 1 hour to obtain an ion-exchange resin molded product having the gold electrode formed thereon.
- An actuator element was obtained in the same manner as in Example 1 except that ion-exchange resin molded article B or ion-exchange resin molded article C was used instead of ion-exchange resin molded article A.
- An actuator element was obtained by the same method as in Example 1 except that the ion-exchange resin molded product D was used instead of the ion-exchange resin molded product A. Factuator Hatako.
- a lead was attached to each electrode and connected to a power supply.
- fix one end of the actuator element with a support place it in water so that the tip (the other end) is vertically downward, and set it to a 2.0 V vertical 0.1 Hz rectangular wave. , 2.5 V, and 3.Apply a voltage of OV for 30 seconds, and measure the radius of curvature by approximating the curvature from the fixed part of the actuator element support by the support to the tip of the actuator element to a circle, and the following evaluation criteria. evaluated.
- the results are shown in Table 1.
- ⁇ Bending by applying for 30 seconds, good with a radius of curvature of 6 mm or less.
- the radius of curvature is 7 mm or more and 8 mm or less, and it can be practically used as an actuator element such as a catheter.
- the radius of curvature is 9 mm or more, and it is not suitable for actuator elements that require large bending such as catheters.
- the actuator elements of Examples 1 and 2 are tubular actuator elements formed in a bellows shape, and 30 seconds as compared with a conventional actuator element having no irregularities formed on the surface, which is a comparative example. In a short time, a larger bending was obtained than before, and it was good. In particular, at an applied voltage of 3.0 OV, the radius of curvature was approximately twice as small, and a large bending unlike the conventional one was obtained, showing excellent bending.
- the actuator element of the third embodiment is a spirally shaped tubular actuator element, which is 30 seconds shorter than the comparative example which is a conventional actuator element having no irregularities formed on the side surface. Bending that was larger than in the past was obtained in a short time, which was good.
- the actuator element of the present invention which has irregularities on the surface facing the bending direction of the actuator element that is the actuator element of the present invention, and the irregularities form a waveform shape for facilitating bending, is described in Examples 1 to 3. As shown in FIG. Industrial applicability
- the actuator element of the present invention can be used for a drive unit of an actuator, and has a large displacement amount at the same voltage as compared with a conventional actuator element. Therefore, the efficiency of converting electric energy into mechanical energy is high, and the same voltage is applied. As a result, a large driving force as an actuator can be obtained.
- the actuator element since the actuator element has a high displacement speed, the time from when a voltage is applied to the metal electrode of the actuator element to when the deformation is completed is short, so that the response to the deformation instruction is fast, and the operation as the actuator is performed. The property is also good.
- the actuator element of the present invention is a polymer actuator element
- medical instruments such as tweezers, scissors, forceps, a snare, a laser beam, a spatula, a clip, etc.
- Articles used in water, such as supplies can also be suitably used.
- the actuator element does not require a large number of parts, it has a simple structure, a large bending and a light weight. It is suitable as a control device, a lifting device, a transport device, a moving device, an adjusting device, an adjusting device, a guiding device, a joint device, and a pressing device.
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- Micromachines (AREA)
- Chemically Coating (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2003264504A AU2003264504A1 (en) | 2002-09-20 | 2003-09-19 | Driver and method of producing the same |
JP2004537991A JP4575774B2 (ja) | 2002-09-20 | 2003-09-19 | 駆動体及びその製造方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002274929 | 2002-09-20 | ||
JP2002-274929 | 2002-09-20 |
Publications (1)
Publication Number | Publication Date |
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WO2004026758A1 true WO2004026758A1 (ja) | 2004-04-01 |
Family
ID=32025017
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2003/011959 WO2004026758A1 (ja) | 2002-09-20 | 2003-09-19 | 駆動体及びその製造方法 |
Country Status (3)
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JP (1) | JP4575774B2 (ja) |
AU (1) | AU2003264504A1 (ja) |
WO (1) | WO2004026758A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006025507A (ja) * | 2004-07-07 | 2006-01-26 | Daikin Ind Ltd | 高分子アクチュエータ |
JP2009077618A (ja) * | 2007-06-21 | 2009-04-09 | Panasonic Electric Works Co Ltd | 電気的伸縮機構及びアクチュエータ |
WO2013122047A1 (ja) * | 2012-02-14 | 2013-08-22 | 国立大学法人信州大学 | ゲルアクチュエータ及びその製造方法 |
JP2016140407A (ja) * | 2015-01-30 | 2016-08-08 | 国立研究開発法人産業技術総合研究所 | カテーテルシステム |
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JPH06284750A (ja) * | 1993-03-29 | 1994-10-07 | Nippondenso Co Ltd | 積層静電アクチュエータ |
JPH08131545A (ja) * | 1994-11-10 | 1996-05-28 | Terumo Corp | 電気伝導路を有する体内挿入具およびその製造方法 |
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JP3886373B2 (ja) * | 2001-12-18 | 2007-02-28 | 旭硝子エンジニアリング株式会社 | 高分子浸透膜組立体 |
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2003
- 2003-09-19 AU AU2003264504A patent/AU2003264504A1/en not_active Abandoned
- 2003-09-19 JP JP2004537991A patent/JP4575774B2/ja not_active Expired - Fee Related
- 2003-09-19 WO PCT/JP2003/011959 patent/WO2004026758A1/ja active Application Filing
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JPH06284750A (ja) * | 1993-03-29 | 1994-10-07 | Nippondenso Co Ltd | 積層静電アクチュエータ |
JPH08131545A (ja) * | 1994-11-10 | 1996-05-28 | Terumo Corp | 電気伝導路を有する体内挿入具およびその製造方法 |
JPH08216876A (ja) * | 1995-02-14 | 1996-08-27 | Nippondenso Co Ltd | 管内移動装置 |
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EP0943402A2 (en) * | 1998-02-20 | 1999-09-22 | Agency Of Industrial Science And Technology, Ministry Of International Trade And Industry | Polymeric actuators and process for producing the same |
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JP2003266392A (ja) * | 2002-03-15 | 2003-09-24 | Rigaku Corp | 磁界に応答する流体を用いた運動装置 |
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JP2006025507A (ja) * | 2004-07-07 | 2006-01-26 | Daikin Ind Ltd | 高分子アクチュエータ |
JP4661110B2 (ja) * | 2004-07-07 | 2011-03-30 | ダイキン工業株式会社 | 高分子アクチュエータ |
JP2009077618A (ja) * | 2007-06-21 | 2009-04-09 | Panasonic Electric Works Co Ltd | 電気的伸縮機構及びアクチュエータ |
WO2013122047A1 (ja) * | 2012-02-14 | 2013-08-22 | 国立大学法人信州大学 | ゲルアクチュエータ及びその製造方法 |
JPWO2013122047A1 (ja) * | 2012-02-14 | 2015-05-11 | 国立大学法人信州大学 | ゲルアクチュエータ及びその製造方法 |
US10096762B2 (en) | 2012-02-14 | 2018-10-09 | Shinshu University | Gel actuator and method for producing same |
JP2016140407A (ja) * | 2015-01-30 | 2016-08-08 | 国立研究開発法人産業技術総合研究所 | カテーテルシステム |
Also Published As
Publication number | Publication date |
---|---|
JP4575774B2 (ja) | 2010-11-04 |
AU2003264504A1 (en) | 2004-04-08 |
JPWO2004026758A1 (ja) | 2006-01-12 |
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