WO2005027333A1 - Faisceau d'elements structuraux composites a base de polymeres conducteurs - Google Patents

Faisceau d'elements structuraux composites a base de polymeres conducteurs Download PDF

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Publication number
WO2005027333A1
WO2005027333A1 PCT/JP2004/013313 JP2004013313W WO2005027333A1 WO 2005027333 A1 WO2005027333 A1 WO 2005027333A1 JP 2004013313 W JP2004013313 W JP 2004013313W WO 2005027333 A1 WO2005027333 A1 WO 2005027333A1
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WO
WIPO (PCT)
Prior art keywords
conductive polymer
polymer composite
composite structure
bundle
conductive
Prior art date
Application number
PCT/JP2004/013313
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English (en)
Japanese (ja)
Inventor
Tetsuji Zama
Susumu Hara
Original Assignee
Eamex Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Eamex Corporation filed Critical Eamex Corporation
Publication of WO2005027333A1 publication Critical patent/WO2005027333A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/005—Electro-chemical actuators; Actuators having a material for absorbing or desorbing gas, e.g. a metal hydride; Actuators using the difference in osmotic pressure between fluids; Actuators with elements stretchable when contacted with liquid rich in ions, with UV light, with a salt solution

Definitions

  • the present invention relates to a bundle of a conductive polymer composite structure having a structure in which a conductive polymer and a conductive substrate are combined, a driving method thereof, and uses thereof.
  • Conductive polymers such as polypyrrole are known to exhibit electrolytic stretching, which is the phenomenon of stretching due to electrochemical redox! Electrolytic expansion and contraction of this conductive polymer has attracted attention in recent years for applications such as artificial muscles, robot arms, and artificial hand actuators, and has attracted attention not only for small-sized applications such as micromachines but also for large-sized applications. I have.
  • a conductive polymer is generally produced by an electrolytic polymerization method.
  • a monomer component such as pyrrole is added to an electrolytic solution, a working electrode and a counter electrode are set in the electrolytic solution, and a voltage is applied to both electrodes to obtain a conductive property.
  • a method of forming a polymer as a film on a working electrode is performed (for example, see Non-Patent Document 1).
  • the conductive polymer obtained by electrolytic polymerization can be expanded or contracted or bent by applying a voltage to the conductive polymer formed into a film.
  • Non-Patent Document 1 Ed. Naoya Ogata, "Conductive Polymers”, 8th edition, Scientifick, Inc., February 10, 1990, pp. 70-73.
  • An element containing a conductive polymer (hereinafter, referred to as a conductive polymer element) manufactured by an electrolytic polymerization method is used as a drive unit for a large-sized application such as a robot arm of an industrial robot or an artificial muscle such as an artificial hand.
  • a conductive polymer element manufactured by an electrolytic polymerization method
  • the conductive polymer film obtained by electrolytic polymerization is subjected to a process such as lengthening or laminating a plurality of sheets in order to increase the size of the conductive polymer film. It must be an element.
  • a large conductive polymer molded product requires controlling the length of the conductive polymer element.
  • an electrode may be provided on the entire bottom surface.
  • the conductivity of the conductive polymer obtained by the electrolytic polymerization method is usually about 10 Zcm, and the conductivity further decreases in the undoped state, so that a sufficient voltage cannot be applied to the upper part of the element.
  • a conductive polymer composite structure in which a conductive polymer layer is formed by electrolytic polymerization using a spiral conductive substrate as a working electrode.
  • the conductive polymer composite structure may be, for example, a coiled metal spring as a spiral conductive substrate, and may be cylindrical or tubular.
  • each conductive polymer composite structure bundle is formed. Due to the variation in the length of the polymer composite structure and the components for binding, the driving of the conductive polymer composite structure bundle is hindered as a whole, and it is difficult to generate the inherently generated force.
  • an actuator using the conductive polymer composite structure bundle requires a counter electrode in order to cause electrolytic expansion and contraction. Desirably smaller.
  • the invention of the present application provides a helical conductive polymer composite structure having a conductive polymer layer formed on a helical conductive substrate, and a helical conductive polymer composite structure bundle formed on the outside of the bundle. It is a conductive polymer composite structure bundle having a linear body wound around. According to the present invention, it is possible to prevent each conductive polymer composite structure from bending, and to exert the inherent power of the conductive polymer composite structure bundle.
  • the present invention provides a method for producing a conductive polymer composite structure bundle by applying a voltage using the conductive substrate as a working electrode and the linear body as an auxiliary electrode. It is also a method of driving a molecular composite structure bundle.
  • the linear body is an electrically conductive wire, When the conductive wire is used as an auxiliary electrode, a voltage can be easily applied to the conductive polymer layer, so that the conductive polymer composite structure easily generates a large generating force.
  • the present invention is a pressing device, a gripping device, an extruding device, a bending device, a clamping device, a close contact device, or a contact device using the conductive polymer composite structure bundle as a pressing portion. Further, it is a positioning device, a posture control device, an elevating device, a transport device, a moving device, an adjusting device, an adjusting device, a guiding device, or a joint device using a conductive polymer composite structure as a driving unit.
  • the conductive polymer composite structure bundle has a simple structure and can generate a large generating force as compared with a conventional driving device or a pressing device, so that it is light in weight and generates a large generating force. Therefore, it can be suitably used as a pressing portion of each device.
  • FIG. 1 is a partially enlarged perspective view of an embodiment of a conductive polymer composite structure bundle of the present invention.
  • FIG. 2 is a perspective view of a cylindrical conductive polymer composite structure used for the conductive polymer composite structure bundle of FIG. 1.
  • FIG. 3 is a partially enlarged perspective view of the conductive polymer composite structure bundle of FIG. 1 further provided with a wound insulating film on the outside.
  • FIG. 1 is a partially enlarged view of one embodiment of the conductive polymer composite structure bundle of the present invention.
  • the conductive polymer composite structure bundle 1 is a cylindrical conductive polymer shown in Fig. 2.
  • Composite structure 2 is bundled.
  • a conductive polymer layer is formed on a spiral conductive substrate provided with auxiliary metal wires 3 and 3 ′ at both ends.
  • two or more conductive polymer composite structures are bundled in a conductive polymer composite structure bundle 1, and a linear body 4 is spirally wound outside the bundle.
  • each conductive polymer composite structure can expand and contract, and bind both ends of the tubular or columnar conductive polymer composite structure. There is no bending during electrolytic stretching as in the case of binding with parts. Also, the linear body 4 can apply uniform tension to each conductive polymer composite structure.
  • the spiral conductive substrate is not particularly limited.
  • a coiled metal spring can be used.
  • a conductive polymer composite structure can be obtained by forming a conductive polymer layer by electrolytic polymerization using a spiral conductive substrate such as a coiled metal panel as a working electrode.
  • the shape of the conductive polymer composite structure is not particularly limited as long as the space between the wires provided at a predetermined pitch of the spiral conductive substrate is filled with the conductive polymer.
  • a tubular shape or a tube shape is preferred because bundling is easy.
  • a material having a conductivity of 10 3 SZcm or more can be used as the conductive substrate. Even in the case of a conductive polymer composite structure whose size is increased in the length direction or the height direction, a potential sufficient to cause displacement such as expansion and contraction can be applied to the entire device.
  • a conductive substrate containing a conductive metal metals such as Ag, Ni, Ti, Au, Pt, and W, and alloys such as SUS can be used.
  • the conductive substrate preferably contains a simple metal of an element such as Pt, W, Ni, Ta, etc. preferable.
  • the size of the spiral conductive substrate is not particularly limited as the force exemplified for the above-mentioned coiled metal spring.
  • the length of the spiral conductive substrate may be 0.5 to 100 mm.
  • the length can be 50 mm or 100 mm when used for a large actuator.
  • the length can be 5 mm or 10 mm when used in a small actuator or to prevent buckling, and the outer diameter of the coiled shape of the spiral conductive substrate is 3 mm or more.
  • the coil-shaped metal base A large conductive substrate such as a screw-shaped member may be used, or a small conductive substrate such as a coil-shaped metal panel-shaped member having a diameter of several tens of meters may be used.
  • the outer diameter may be 1 mm or 0.5 mm in order to prevent the conductive polymer composite structure from breaking.
  • the conductive polymer film alone does not have sufficient mechanical strength during the application, so the outer diameter or width of the conductive polymer film obtained by electrolytic polymerization is small. It is difficult to cut into actuator elements less than lmm, in particular, actuator elements with outer diameter or width less than 500 ⁇ m. . Therefore, it is preferable that the outer diameter of the shape of the spiral conductive substrate is lmm or less, particularly 500 m or less when bundled.
  • the linear body constituting the spiral conductive substrate is not particularly limited as long as it has a wire diameter that allows stable conduction.
  • the wire diameter can be, for example, 25 ⁇ m or 40 ⁇ m.
  • the conductive polymer contained in the conductive polymer composite structure a known conductive polymer can be used, and polypyrrole, polythiophene, polyarline, polyphenylene, and the like can be used.
  • the conductive polymer that is a conductive polymer containing pyrrole and Z or a pyrrole derivative in the molecular chain is easy to manufacture, and is not only stable as a conductive polymer but also an electrolytic polymer. It is preferable because of its excellent stretching performance.
  • the conductive polymer exhibits an excellent expansion and contraction rate per electrolytic cycle in electrolytic expansion and contraction and can show a displacement rate per specific time, the trifluoromethanesulfonate ion is used.
  • the electrolyte solution is used as an ion as the trifluoromethanesulfonic acid ion and z or the central atom.
  • anion containing multiple fluorine atoms the chemical formula (1)
  • n and m are arbitrary integers.
  • the electrolytic polymerization method for obtaining the conductive polymer composite structure is a conductive polymer composite structure.
  • a known electrolytic polymerization method can be used. Therefore, a known electrolytic solution and a known conductive polymer monomer can be used.
  • any of the constant potential method, the constant current method and the electric sweep method can be used.
  • the electrolytic polymerization has a current density of 0.01-20 mAZcm 2 and a reaction temperature of 70-80. C, preferably a current density of 0.1 to 2 mAZcm 2 , and a reaction temperature of 40 to 40 ° C, and more preferably 20 to 30 ° C.
  • the linear body is not particularly limited as long as it does not hinder the winding operation and is not water-soluble.
  • the linear body is preferably an electrically conductive wire since a voltage can be applied to the conductive polymer layer of the conductive polymer composite structure.
  • the conductive wire is preferably a metal wire because it can be used as an auxiliary electrode, and is more preferably a thin metal wire for saving space.
  • the conductor is preferably a noble metal, which is preferably a conductor having corrosion resistance, or more preferably a metal wire having an alloy force having corrosion resistance.
  • the diameter of the linear body is not particularly limited, but can be appropriately adjusted according to the number of conductive polymer composite structures to be bundled and the material of the linear body.
  • the linear body is a metal wire, it is preferably 0.1 mm or less from the viewpoint of light weight and resource saving.
  • the wire diameter can be, for example, 30-100 / zm.
  • As the wire diameter for example, a gold wire of 30 ⁇ m or 50 ⁇ m can be used.
  • the bundle of conductive polymer composite structures 1 in Fig. 1 is obtained by winding the linear body so that a force for uniformly binding the entire conductive polymer composite structure in the length direction is applied. ! /
  • an auxiliary metal wire 3 as shown in FIG. When 3 ′ is bound, it may be wound near the center of the conductive polymer composite structure bundle. In the conductive polymer composite structure bundle, the auxiliary metal wire may not be provided.
  • the conductive polymer composite structure bundle of the present invention is not particularly limited in the number of conductive polymer composite structures that can be arranged and bundled, for example, four in parallel. In other words, before The number of the conductive polymer composite structures may be 100 or more, such as about 1000, depending on the required force.
  • the conductive polymer composite structure bundle may be formed by bundling conductive polymer composite structures having a cylindrical, cylindrical, or prismatic shape.
  • the conductive polymer composite structure bundle of the present invention is also a conductive polymer composite structure bundle provided with an ion-permeable insulating film wound so that the linear body is on the inside. is there. As shown in FIG. 3, the conductive polymer composite structure bundle 1 is further wound on the outside thereof with an ion-permeable insulating film 5. Since the conductive polymer composite structure bundle includes an ion-permeable insulating film, the insulating film functions as a separator. Therefore, the counter electrode is the conductive polymer composite through the insulating film. It can be installed close to the structure bundle. Therefore, the conductive polymer composite structure bundle provided with the wound insulating film can reduce the size of the actuator using the conductive polymer composite structure bundle as an operating unit.
  • the insulating film is not particularly limited, but is preferably an elastic solution in which an electrolytic solution for electrolytically expanding and contracting the conductive polymer composite structure bundle by applying a voltage is preferable. Preferably have water resistance.
  • the insulating film for example, a nonwoven fabric or a mesh body mainly composed of a polyvinyl alcohol-based synthetic fiber such as vinylon or a polyester fiber can be used.
  • the thickness of the insulating film is not particularly limited as long as the conductive polymer composite structure bundle does not expand and contract.
  • the insulating film is wound if it is wound outside the conductive polymer composite structure bundle so that the counter electrode is not in direct contact with the conductive polymer composite structure bundle and a short circuit does not occur.
  • the method, film thickness, and winding position are not limited.
  • the conductive polymer composite structure bundle of the present invention is a conductive polymer composite structure bundle in which electrode wires are wound on an ion-permeable insulating film wound so that the linear body is on the inside. It is also a polymer composite structure bundle.
  • the electrode wire By winding the electrode wire on the insulating film, when the electrode wire is used as a counter electrode when the conductive polymer composite structure bundle is electrolytically expanded and contracted, the conductive portion, which is an operating portion, is used.
  • the counter electrode can be formed at a position very close to the molecular composite structure bundle, space can be saved, and no special member is required, so that the counter electrode can be easily installed.
  • the conductive polymer composite structure bundle in which the electrode wires are wound is, for example, a helical coiled metal panel having a length of 25 mm, an outer diameter of 0.25 to 0.30 mm, and an inner diameter of 0.15 mm.
  • a known non-woven fabric made of vinylon and polyester is wound around a conductive polymer composite structure bundle in which ten conductive polymer composite structures each having a polypyrrole layer on a conductive substrate are bundled with a linear body. It can be obtained by wrapping and further wrapping a 100 m gold wire as an electrode wire around the outside.
  • the wire diameter of the electrode wire is not particularly limited, as described above.
  • the wire diameter may be 30-100 m.
  • the diameter of the electrode wire may be, for example, a 30 m or 50 m gold wire. Further, the electrode wire is not particularly limited as long as it has electric conductivity, electrical conductivity can be used as the conductive substrate described above can be used 10 3 SZcm more metals.
  • the conductive polymer composite structure bundle and a counter electrode are installed in a state of interposing an electrolyte, and the conductive polymer composite structure bundle is driven. This can be performed by applying a voltage to the counter electrode and subjecting the conductive polymer composite structure bundle to electrolytic expansion and contraction.
  • the electrolyte is not particularly limited, and may be a liquid or a gel. Further, the electrolyte preferably contains ions of the same kind as the ions doped in the conductive polymer constituting the conductive polymer composite structure bundle, and the ions have the same ionic radius as the doped ions. It is more preferable to have a constant in order to keep the expansion and contraction rate of the electrolytic expansion and contraction constant.
  • the present invention provides a helical conductive polymer composite structure in which a conductive polymer layer is formed on a helical conductive substrate.
  • the conductive polymer composite structure bundle has a simple structure as compared with a conventional pressing device, and can generate a large generating force, so that it is lightweight and can generate a large generating force. It can be suitably used as a driving unit or a pressing unit of each device.
  • the conductive polymer composite structure bundle can be used as a pressing portion of the following various devices. Audio / visual equipment for visually impaired persons whose pressing part forms Braille, pressing part of flexible endoscope, pressing part of motorcycle front fork, high frequency orifice in air pressure control type fluid-filled vibration damping device A pressing part that blocks the opening of the passage, a pressing part that presses the end of the valve shaft in the valve deactivating device of the cylinder-controllable engine that can be deactivated, and a plate-shaped member in the injection molding device that is pushed out to the mold side and pressed against By pressing a pressing portion, a pressing portion for pressing an image pickup device of an imaging device such as a television camera, a video camera, or a digital camera toward the lens seat, and a chuck claw end of an information reproducing mechanism having a clamp mechanism.
  • the conductive polymer composite structure bundle can be used as a pressing portion of the following various devices; a pressing portion for pressing a movable spring plate in a direction of contacting a fixed contact in an electromagnetic relay; an NC machine tool Pressing part of a speed reduction mechanism with a large reduction ratio incorporated into a device, etc., pressing part for forming a hollow member of a predetermined shape by abutting against a raw pipe in a hollow product manufacturing apparatus, pressing and spinning to form a hollow member of a predetermined shape Masking plate in a leak tester that measures the amount of leakage from a pressing part that presses and grips a cylindrical article between a plate-like gripping member and a pressing part in a gripping device, and a hole that is drilled in a cylinder block, etc.
  • a pressing portion that presses the flexible tube a pressing portion that presses a flexible tube in a tube pump suitable for dispensing a small amount of a liquid material, and a driving force of a prime mover that is distributed to the front wheels and the rear wheels at a predetermined distribution ratio. More driving the motor force that presses the multiple disc clutch in the drive force distribution device with a predetermined pressing force
  • the pressing portion for transmitting the force to the front wheel and the rear wheel at a distribution ratio corresponding to the predetermined pressing force, the pressing portion of the pusher pressing unit in the coil insertion device, and the end of the seal component in the peeling device for the adhesive seal component.
  • the conductive polymer composite structure bundle can be used as a pressing portion of the following various devices; a driven clutch claw in a planting portion of a rice transplanter can be pressed against a driving clutch claw.
  • Pressing portion pressing portion of a fixed plate that presses a substantially central portion of a hot plate in a hot press device for obtaining a laminate, lead pressing portion forming a bent portion of a lead in a lead forming device of a semiconductor device, and a disk.
  • a pressing part that presses the detection lever for detecting the position of the disc tray in the tray position detection mechanism, a pressing part that makes close contact with the film pressure plate of the film carrier that reads the image, and an underground drainage pipe function regeneration method
  • a pressing part that operates a drilling cone to drill a new strainer hole in the pipe wall of the application device.
  • the conductive polymer composite structure bundle can also be used for the following various devices in addition to the pressing portion of the above device: a boring machine equipped with a shutter position detecting device and a boring bar. , Laser welding equipment, kneaded product extrusion equipment, video tape cassettes, industrial vehicle transmission equipment, plate-shaped body end fixing equipment, reinforcement of concrete structures, repair material coating equipment, sheet folding and laminating equipment, paper ejection Devices, driving devices for moving objects, printers, electric circuit interrupters, heating devices with temperature detection units, liquid crystal display devices, image forming devices, recording devices, bread slicers, two-axis simultaneous tightening tools, powder molding devices, paper sheets Processing equipment, seamless belt fixing device, optical fiber connection device, vacuum press device, shutter device, image stabilization device, image reading device, media storage mechanism, label Pasting device, stencil printing device, press working device, deburring device for work outer peripheral edge, disk device, blade mounting structure, awarding machine of gaming machine, wafer transfer container mounting device, molding die for partial bonding of interior trim, knea
  • the actuator used for the working part in the conductive polymer composite structure bundle can be reduced in weight because the conductive polymer composite structure bundle has a simple structure, and the pressing force is easy. Therefore, it is preferable to use the actuator in a pressing portion of a caropressure device, a gripping device, an extruding device, a bending device, a clamping device, a contact device, and a contact device using the pressing device as a pressing portion.
  • the present invention provides a positioning device, a posture control device, an elevating device, a transport device, a moving device, an adjusting device, an adjusting device, a guiding device using the above-described conductive polymer composite structure bundle as a driving portion, Or a joint device.
  • the driving unit using the conductive polymer composite structure bundle has a simple structure and can generate a large generating force as compared with a conventional driving device, so that it is lightweight and generates a large generating force. Can be suitably used as a driving unit of each device.
  • the actuator used for the operating unit in the conductive polymer composite structure bundle is a driving unit for generating a linear driving force or a driving unit for moving a track-type orbit of an arcuate unit in the following apparatus. It can be suitably used as a driving unit that generates force; OA equipment, antennas, devices for placing people such as beds and chairs, medical equipment, engines, optical equipment, fixtures, side trimmers, vehicles, lifting equipment, foods 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, boarding simulation equipment, Vehicle occupant holding device and aircraft extension device.
  • the actuator of the present invention when used as a drive unit, it has a simple device configuration and can easily generate a pressing force. Therefore, the positioning device, the attitude control device, the elevating device, the transport device, and the moving device It can be suitably used as a drive unit of a device, an adjusting device, an adjusting device, a guiding device, or a joint device.
  • the conductive polymer composite structure bundle of the present invention can prevent deflection of each conductive polymer composite structure, and exerts the inherent power of the conductive polymer composite structure bundle.
  • the structure is simpler than that of a conventional driving device or a pressing device, and a large generating force can be generated. Therefore, it is lightweight and can generate a large generating force. It can be suitably used as a pressing portion or a driving portion.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Analytical Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

La présente invention a trait à un faisceau d'éléments structuraux composites à base de polymères conducteurs constitué d'un faisceau d'éléments structuraux composites à base de polymères conducteurs comportant chacun une base conductrice hélicoïdale et une couche de polymère formée sur la base. Le faisceau d'éléments structuraux composites à base de polymères conducteurs est muni d'un corps linéaire en enroulement hélicoïdal autour du faisceau. Lorsque l'élément structural composite est soumis à une dilatation/rétraction électrolytique, le faisceau peut créer une force de génération que le faisceau comporte de manière intrinsèque sans blocage de l'activation complète en raison de la variation de longueur des éléments structuraux composites à base de polymères conducteurs et des parties pour la liaison. Le corps linéaire est un fil métallique conducteur à travers lequel un courant peut circuler et peut être utilisé comme une électrode auxiliaire pour l'application d'une tension à la couche conductrice de polymère. Par conséquent, le faisceau d'éléments structuraux composites à base de polymères conducteurs peut aisément créer une force de génération de forte intensité.
PCT/JP2004/013313 2003-09-12 2004-09-13 Faisceau d'elements structuraux composites a base de polymeres conducteurs WO2005027333A1 (fr)

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JP2003321681 2003-09-12
JP2003-321681 2003-09-12

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018106926A1 (fr) * 2016-12-08 2018-06-14 Lintec Of America, Inc. Améliorations apportées à des actionneurs de muscle artificiel
EP3333419A3 (fr) * 2016-12-08 2018-09-12 Panasonic Intellectual Property Management Co., Ltd. Dispositif actionneur
US10815976B2 (en) * 2017-11-27 2020-10-27 Panasonic Intellectual Property Management Co., Ltd. Actuator device

Citations (2)

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Publication number Priority date Publication date Assignee Title
JP2002111089A (ja) * 2000-07-24 2002-04-12 Omron Corp アクチュエータおよび歪み素子の製造方法
JP2003518752A (ja) * 1999-12-21 2003-06-10 １．．．リミテッド 電気活性デバイス

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
JP2003518752A (ja) * 1999-12-21 2003-06-10 １．．．リミテッド 電気活性デバイス
JP2002111089A (ja) * 2000-07-24 2002-04-12 Omron Corp アクチュエータおよび歪み素子の製造方法

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018106926A1 (fr) * 2016-12-08 2018-06-14 Lintec Of America, Inc. Améliorations apportées à des actionneurs de muscle artificiel
WO2018106941A1 (fr) * 2016-12-08 2018-06-14 Lintec Of America, Inc. Améliorations apportées à des actionneurs de muscle artificiel
EP3333419A3 (fr) * 2016-12-08 2018-09-12 Panasonic Intellectual Property Management Co., Ltd. Dispositif actionneur
US10480492B2 (en) 2016-12-08 2019-11-19 Panasonic Intellectual Property Management Co., Ltd. Actuator device
JP2020513715A (ja) * 2016-12-08 2020-05-14 リンテック・オブ・アメリカ・インコーポレイテッド 人工筋肉アクチュエータの改良
US10935009B2 (en) 2016-12-08 2021-03-02 Lintec Of America, Inc. Artificial muscle actuators
US11028835B2 (en) 2016-12-08 2021-06-08 Lintec Of America, Inc. Artificial muscle actuators
US11085426B2 (en) 2016-12-08 2021-08-10 Lintec Of America, Inc. Artificial muscle actuators
US11466671B2 (en) 2016-12-08 2022-10-11 Lintec Of America, Inc. Artificial muscle actuators
US11703037B2 (en) 2016-12-08 2023-07-18 Lintec Of America, Inc. Artificial muscle actuators
US10815976B2 (en) * 2017-11-27 2020-10-27 Panasonic Intellectual Property Management Co., Ltd. Actuator device

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