WO2023112881A1

WO2023112881A1 - Active element and method for producing same

Info

Publication number: WO2023112881A1
Application number: PCT/JP2022/045625
Authority: WO
Inventors: 佑記舟洞; 加恵金原; 大貴加藤
Original assignee: 国立大学法人東海国立大学機構; 株式会社Tism
Priority date: 2021-12-15
Filing date: 2022-12-12
Publication date: 2023-06-22

Abstract

The present invention addresses the problem of providing an active element that has a high degree of freedom of design and that is suitable for a variety of portions and/or movements of a movable body, and a method for producing the active element.　The problem can be overcome via an active element (1) containing an artificial muscle filament (3), the active element (1) including: a substrate (2); the artificial muscle filament (3), which is stretchable; holding parts (4) for holding first prescribed portions (31) of the artificial muscle thread (3) in a relaxed state so that the first prescribed portions (31) do not move relative to the substrate (2) when the artificial muscle filament (3) is stretched; and a guide part (5) for holding a second prescribed portion (32) of the relaxed artificial muscle thread (3) so as to be capable of sliding relative to the substrate (2) in at least the stretching direction when the artificial muscle thread (3) is stretched. At least two holding parts (4) are formed for one artificial muscle filament (3), and the guide part (5), which is formed between adjacent holding parts (4), is included in the the active element (1).

Description

ACTIVE BODY AND METHOD FOR MAKING THE SAME

The present disclosure relates to an active body and a manufacturing method thereof.

　Conventionally, there has been known an active body that is worn on the human body and that induces a predetermined action to the worn human body. For example, Patent Literature 1 discloses an active body composed of McKibben artificial muscle yarn and weaving yarn woven together with the McKibben artificial muscle yarn. The active body described in Patent Document 1 is an active woven fabric in which weaving threads are woven together with a plurality of McKibben artificial reinforcement threads arranged in the same direction. When clothes made using the active body described in Patent Document 1 are worn on the human body, the clothes produce motion force capable of assisting the movements of the human body (shoulder movements, abdominal muscle movements, back muscle movements, etc.). Let

In addition, Patent Document 2 discloses an active body in which various types of artificial muscle threads are held on a base material made of cloth, plastic, metal, or the like. In the active body described in Patent Document 2, a plurality of McKibben artificial muscle threads arranged parallel to each other in the same direction are held on a base material by a holding part, and the force of contraction of the plurality of McKibben artificial muscle threads , a force is generated that bends the substrate.

JP 2016-156116 A JP 2019-98122 A

Since the active body described in Patent Document 1 is constructed as a woven fabric, the active body can be made larger depending on the arrangement of the parts of a movable body such as a human body, an animal, or a doll to which motion force is to be applied by artificial filaments. Or, a plurality of active bodies must be layered so that a plurality of artificial rebar threads extend in different directions, respectively. In addition, in the active body described in Patent Document 2, since a plurality of McKibben artificial muscle threads are arranged in parallel, there is a limit to the direction of force applied from the holding part to the base material due to the expansion and contraction of the artificial muscle threads. However, it was not possible to provide suitable exercise force to various parts of the body using artificial muscle threads. As described above, the active bodies described in

Patent Documents

1 and 2 have a problem in that the degree of freedom in designing suitable for the part of the movable body to be exercised by the artificial muscle threads is low.

The present disclosure has been made in order to solve such problems. and a second predetermined portion of the non-stretchable artificial muscle thread is held so as to be slidable with respect to the base material at least in the stretching direction when the artificial muscle thread is stretched and stretched. It was newly found that by including the guide portion, it is possible to provide an active body with a high degree of freedom in design suitable for various parts of the movable body, and a manufacturing method thereof.

An object of the present disclosure is to provide an active body with a high degree of design freedom suitable for various parts and movements of a movable body, and a method of manufacturing the same.

The present disclosure relates to the following active bodies and methods for producing the same.

(1) An active body comprising an artificial muscle thread, the active body comprising:
a substrate;
a stretchable artificial muscle thread;
a holding part that holds a first predetermined portion of the artificial muscle thread when it is not stretched so that it does not move relative to the base material when the artificial muscle thread is stretched;
a guide portion that holds a second predetermined portion of the artificial muscle thread when it is not stretched so as to be slidable with respect to the base material at least in the stretching direction when the artificial muscle thread is stretched;
including
At least two holding portions are formed for one artificial muscle thread,
including a guide portion formed between the adjacent holding portions,
Active body.
(2) At least two holding portions formed for one artificial muscle thread and guide portions formed between the adjacent holding portions are formed on the same surface of the substrate. ,
The active body according to (1) above.
(3) the substrate is a sheet member;
The active body according to (1) or (2) above, wherein the guide portion holds the second predetermined portion in contact with the surface of the base along a predetermined curved path.
(4) the holding portion is a first stitch composed of a plurality of seams sewn to the base material;
The first stitch is arranged so as to straddle the first predetermined portion that abuts on the surface of the base material.
The active body according to any one of (1) to (3) above.
(5) the guide portion is a second stitch composed of a plurality of seams sewn to the base material;
The second stitch is arranged to straddle the second predetermined portion that abuts on the surface of the base material,
the width of the seam forming the second stitch is greater than the width of the seam forming the first stitch;
The active body according to (4) above.
(6) the artificial muscle thread is an artificial muscle thread that contracts in the axial direction as it expands in the radial direction;
The smaller the width of the plurality of stitches forming the second stitch, the greater the pressing force of the second predetermined portion against the second stitch due to the expansion of the artificial muscle thread when the artificial muscle thread contracts. , the shrinkage rate of the second predetermined portion decreases;
The active body according to (5) above.
(7) the width of each of the plurality of seams forming the second stitch is one of at least two widths;
The active body according to (5) or (6) above.
(8) at least two guide portions are formed;
The two or more guide portions include guide portions with different lengths,
The active body according to any one of (1) to (7) above.
(9) at least two guide portions are formed;
The two or more guide portions include a plurality of guide portions having different seam widths,
The active body according to any one of (5) to (7) above.
(10) A method for producing an active body including a base material and stretchable artificial muscle threads,
In order to hold the first predetermined portion of the artificial muscle thread when it is not stretched so as not to move relative to the base material when the artificial muscle thread is stretched or stretched, the first portion of the artificial muscle thread contacts the surface of the base material. 1 a holding portion producing step of sewing a thread to the base material so as to straddle a predetermined portion;
In order to hold the second predetermined portion of the artificial muscle thread when it is not stretched and slidable with respect to the base material at least in the stretching direction when the artificial muscle thread is stretched, it is brought into contact with the surface of the base material. a guide portion producing step of sewing a thread to the base material so as to straddle the contacting second predetermined portion;
including
At least two or more holding portions are formed for one artificial muscle thread by performing the holding portion producing step for one artificial muscle thread at least twice,
including a guide portion formed in the guide portion manufacturing step between the adjacent holding portions;
The width of the seams sewn by the guide part producing step is larger than the width of the seams sewn by the holding part producing step,
A method for producing an active body.

Since the active body and the manufacturing method thereof of the present disclosure include the holding portion and the guide portion, it is possible to increase the degree of freedom in design suitable for various parts and movements of the movable body.

FIG. 1(A) is a diagram showing an example of the first embodiment of the active body when the artificial muscle threads are not stretched, and FIG. It is a figure for demonstrating the artificial muscle thread of time. FIG. 2A is a diagram showing an example of a holding portion that holds an active body according to the first embodiment, and FIG. 1 is an example of a cross-sectional view of a cross section of one predetermined portion; FIG. FIG. 3A is a diagram showing an example of a guide portion that holds an active body according to the first embodiment, and FIG. 2 is an example of a cross-sectional view of a cross section of a predetermined portion; FIG. 4A is a diagram showing an example of the first embodiment of the active body when the artificial muscle threads are contracted, and FIG. It is a figure for demonstrating an artificial muscle thread. FIG. 5 is a diagram showing an example of an active body attached to the human body according to the first embodiment. FIG. 6A is a diagram showing an example of an active body according to the second embodiment, and FIG. 6B is a diagram showing an example of an active body according to the third embodiment. FIGS. 7A and 7B are diagrams showing another example of the active body according to the third embodiment. FIG. 8A is a diagram showing an example of an active body according to the fourth embodiment, and FIG. 8B is a diagram showing an example of an active body according to the fifth embodiment. FIG. 9(A) is a diagram showing an example of the sixth embodiment of the active body when the artificial muscle thread is not contracted, and FIG. 9(B) is a diagram when the artificial muscle thread is contracted. FIG. 11 is a diagram showing an example of a sixth embodiment of the active body of FIG. FIG. 10(A) is an example of a cross-sectional view of the guide portion and the second predetermined portion of the active body when the artificial muscle thread is not contracted in the sixth embodiment, and FIG. ) is an example of a cross-sectional view of the guide portion and the second predetermined portion of the active body when the artificial muscle thread is contracted (expanded in the radial direction) in the sixth embodiment. FIG. 11 is a diagram showing an example of an operation flow of a method for manufacturing an active body.

Various embodiments of the present disclosure will be described below with reference to the drawings. However, it should be noted that the technical scope of the present disclosure is not limited to those embodiments, but extends to the inventions recited in the claims and their equivalents.

(First embodiment)
The active body 1 according to the first embodiment can be applied to a movable body such as a human body, an animal, or a doll, and has a function of guiding the movement of the movable body. An active body 1 according to a first embodiment will be described below with reference to FIGS. 1 to 5. FIG.

(active body 1)
The active body 1 attaches the base material 2, the stretchable artificial muscle thread 3, and the first predetermined portion 31 of the non-stretchable artificial muscle thread 3 to the base material 2 when the artificial muscle thread 3 is stretched. The holding part 4 that holds the non-relative movement and the second predetermined portion 32 of the non-stretching artificial muscle thread 3 are slidable with respect to the base material 2 at least in the stretching direction when the artificial muscle thread 3 is stretched. and a guide portion 5 that is held in. At least two holding portions 4 are formed for one artificial muscle thread 3 and include guide portions 5 formed between adjacent holding portions 4 .

The base material 2, the artificial thread 3, and the holding part 4 included in the active body 1 are, for example, one or more types of the base material 2 and artificial fibers included in the active body 1 described in Japanese Patent Application Laid-Open No. 2019-98122. It may be composed of the thread 3 and the holding portion 4 . The base material 2, the artificial muscle thread 3, and the holding part 4 included in the active body 1 are not limited to those described in Japanese Patent Application Laid-Open No. 2019-98122, and the base material 2, the artificial muscle thread 3, and the holding part 4, which will be described later. Anything that realizes the function of

FIG. 1(A) is a diagram showing an example of the first embodiment of the active body 1 when the artificial muscle threads 3 are not stretched. The base material 2 is made of a material that maintains its shape when the artificial muscle thread 3 is not stretched, that is, maintains its shape when no force is applied to the holding part 4, and changes its shape when the artificial muscle thread 3 is stretched. There are no particular restrictions. The base material 2 is a sheet member, and is made of, for example, a soft material such as fiber base fabric, soft resin, rubber, or paper. The fiber substrate is woven, knitted, non-woven, or the like. The fiber material constituting the fiber base fabric includes natural fibers such as cotton or wool, regenerated fibers such as rayon and cuprammonium rayon, and synthetic fibers such as polyamide, polyester, or acrylic. The fiber base fabric may be various woven fabrics in which these fibrous materials are combined, or woven fabrics of a single fibrous material. The base material 2 may be made of a hard material such as metal or hard resin. In this case, the base material 2 has a plurality of element members made of metal, hard resin, or the like, and the shape can be changed by using a connection mechanism that connects adjacent element members so that they can move relative to each other. A base material 2 is constructed. The base material 2 is applied to clothing worn by the movable body, supporters worn by the movable body, furniture such as legless chairs and sofas on which the movable body sits, and bedding such as beds and futons on which the movable body lies. may be

The artificial muscle thread 3 has an elongated shape in which the length during operation is stretched and/or contracted more than the length during non-operation, such as McKibben artificial muscle thread, carbon nanotube muscle fiber, and elongated rubber artificial muscle. is. The artificial muscle thread 3 may be an artificial muscle thread using a dielectric elastomer, an artificial muscle thread made of a shape memory alloy (SMA), a shape memory polymer (SMP), or the like, and elongated or contracted along the longitudinal direction by heating. Further, the artificial muscle threads 3 are not limited to the above examples, and may be other artificial muscle threads.

FIG. 1(B) is a diagram for explaining the non-stretchable artificial muscle thread 3 according to the first embodiment. The first predetermined portion 31 is a predetermined arbitrary portion of the artificial muscle thread 3, and at least two first predetermined portions 31 are defined for one artificial muscle thread 3. As shown in FIG. The second predetermined portion 32 is a predetermined arbitrary portion of the artificial muscle thread 3 and is the portion between two adjacent first predetermined portions 31 .

The holding part 4 (FIG. 1(A)) is a member that holds the first predetermined portion 31 of the artificial muscle thread 3 so that it does not move relative to the base material 2 when the artificial muscle thread 3 expands and contracts. In the example shown in FIG. 1A, there are two holders 4 for holding the artificial muscle thread 3, but one artificial muscle thread 3 may be held by three or more holders 4. good. FIG. 2A is a diagram showing an example of a holding portion 4 that holds the active body 1 according to the first embodiment, and FIG. 4 is an example cross-sectional view of a cross section of a portion 4 and a first predetermined portion 31. FIG.

In the example shown in FIG. 2(A), the holding portion 4 is a first stitch made up of a plurality of seams 41 sewn on the base material 2 . As shown in FIG. 2(B), each seam 41 constituting the first stitch is arranged so as to straddle the first predetermined portion 31 that contacts the surface 21 of the base material 2 . For example, if the base material 2 is a sheet member made of a soft material, the first predetermined portion 31 may be sewn to the base material 2 with thread by a known embroidery technique. In this case, the seams 41 are formed by two first needle holes 22 provided at positions corresponding to both sides in the radial direction of the first predetermined portion 31 among the plurality of first needle holes 22 provided in the base material 2 . It is the thread on the surface 21 side that connects between them. The thread is nylon thread, polyester thread, or the like. As a known embroidery technique, the zigzag stitching embroidery technique described in Japanese Patent Application Laid-Open No. 2008-302070 or Japanese Patent Application Laid-Open No. 2007-501 may be used. The embroidery technique used to configure the holding portion 4 is not limited to the zigzag embroidery technique, and any embroidery technique that can form the stitches 41 arranged to straddle the first predetermined portion 31 can be used. Any embroidery technique may be used.

The holding part 4 is not limited to the first stitch formed by the embroidery technique, and may be any member that holds the first predetermined part 31 so as not to move relative to the base material 2 when the artificial muscle thread 3 expands and contracts. Any member may be used. For example, the holding part 4 may be a fastening member that fastens the first predetermined portion 31 that is secured to the surface 21 of the base material 2 . Alternatively, the holding portion 4 may be an adhesive layer provided between the surface 21 of the base material 2 and the first predetermined portion 31 .

The guide part 5 holds the second predetermined portion 32 of the artificial muscle thread 3 slidably at least in the stretching direction with respect to the base material 2 when the artificial muscle thread 3 is stretched and stretched. It is a member that FIG. 3A is a diagram showing an example of the guide portion 5 that holds the active body 1 according to the first embodiment, and FIG. It is an example of a cross-sectional view of a cross section of a portion 5 and a second predetermined portion 32 .

In the example shown in FIG. 3(A), the guide portion 5 is a second stitch made up of a plurality of seams 51 sewn on the base material 2 . As shown in FIG. 3B, each seam 51 forming the second stitch is arranged to straddle the second predetermined portion 32 that contacts the surface 21 of the base material 2 . Further, the seam 51 is set such that the width w2 of the seam 51 forming the second stitch is larger than the width w1 of the seam 41 forming the first stitch. For example, if the base material 2 is a sheet member made of a soft material, the second predetermined portion 32 may be sewn to the base material 2 with thread by a known embroidery technique similar to that for the holding part 4. . In this case, the stitches 51 are formed by two second needle holes 23 provided at positions corresponding to both sides in the radial direction of the second predetermined portion 32 among the plurality of second needle holes 23 provided in the base material 2 . It is the thread on the surface 21 side that connects between them.

The width w1 of the seam 41 is set so that the first stitch presses the first predetermined portion 31 and the base material 2 so that the first predetermined portion 31 does not move relative to the base material 2 when the artificial muscle thread 3 expands and contracts. It is the length that produces the pressure. In this case, thread tension is generated in each of the plurality of seams 41 forming the first stitch.

The width w2 of the seam 51 is set so that the second predetermined portion 32 is slidable relative to the base material 2 at least in the stretching direction when the artificial muscle thread 3 is stretched. It is a length that produces a pressing force that crimps 2 together. In this case, thread tension is generated in each of the plurality of seams 51 forming the second stitch.

When the thread tension of the seam 41 and the thread tension of the seam 51 are the same, the width w2 is greater than the width 1w, so the pressing force caused by the second stitch is smaller than the pressing force caused by the first stitch. Further, if the thread tension of the seam 51 is not changed, the smaller the width w2 of the seam 51, the greater the pressing force generated by the second stitch (the greater the width w2 of the seam 51, the greater the pressing force generated by the second stitch. Decrease).

The thread tension of the seam 41 and the thread tension of the seam 51 may not be the same. In this case, the width w2 of the seam 51 is set so that the second stitch is slidable relative to the base material 2 at least in the stretching direction when the artificial muscle thread 3 is stretched or stretched. may be of any length as long as it produces a pressing force for holding the base material 2 . In addition, during the time from when the artificial muscle thread 3 starts to stretch until it ends, the second predetermined portion 32 can slide at least in the stretching direction with respect to the base material 2, and the artificial muscle thread 3 Even if the thread tension of the seam 51 and the width w2 of the seam 51 are set so that the second stitch generates a pressing force to the extent that the second predetermined portion 32 does not move relative to the base material 2 after the expansion and contraction of good.

FIG. 4(A) is a diagram showing an example of the first embodiment of the active body 1 when the artificial muscle threads 3 are contracted. The artificial muscle thread 3 shown in FIG. 4(A) is an example of the artificial muscle thread that contracts according to the compressed air, voltage, etc., output by the drive unit 6 (FIG. 5).

As shown in FIG. 4(A), the length between the two holding parts 4 becomes shorter as the artificial muscle thread 3 contracts. Moreover, since each of the two holding portions 4 is held by the base material 2 , the base material 2 is deformed according to the shortening of the length between the two holding portions 4 . When the pressing force for crimping the second predetermined portion 32 and the base material 2 is generated by the guide portion 5, the shrinkage rate of the second predetermined portion 32 is reduced by this pressing force.

FIG. 4(B) is a diagram for explaining the artificial muscle thread 3 when stretched according to the first embodiment. The artificial muscle thread 3 between the first predetermined portion 31 and the second predetermined portion 32 is contracted at a shrinkage rate specific to the artificial muscle thread 3 . On the other hand, the second predetermined portion 32 is contracted by the pressing force generated by the guide portion 5 at a contraction rate smaller than the contraction rate specific to the artificial muscle thread 3 . In this way, when the artificial muscle thread 3 expands and contracts when a pressing force is generated by the guide part 5, the longer the length of the guide part 5, the more the artificial muscle thread 3 stretches or stretches between the two first predetermined portions 31. The amount of contraction decreases, and the shorter the length of the guide part 5, the greater the amount of elongation or contraction of the artificial muscle thread 3 between the two first predetermined portions 31.

Note that when the guide portion 5 is formed so as to generate a pressing force for crimping the second predetermined portion 32 and the base material 2, as described above, the extension of the artificial muscle thread 3 between the two first predetermined portions 31 The effect is that the volume or shrinkage can be adjusted. Alternatively, the guide portion 5 may be formed for the purpose of holding the artificial muscle thread 3 on a predetermined path of the base material 2 when the artificial muscle thread 3 expands and contracts. In that case, the guide portion 5 may be formed so that a pressing force is less likely to be generated between the artificial muscle thread 3 and the base material 2 . For example, although illustration is omitted, a sheet-like guide piece may be placed so as to loosely contact or have a gap with the second predetermined portion 32 of the artificial muscle thread 3, and the end of the guide piece may be fixed to the base material 2. .

FIG. 5 is a diagram showing an example of the active body 1 attached to the human body H according to the first embodiment. The substrate 2 is, for example, a garment that can be worn by the human body H. The clothes are shirts, trousers, socks, etc., and may be worn directly on the skin of the human body H or may be worn without directly touching the skin of the human body H. In the example shown in FIG. 5, the base material 2 is an undershirt that exerts a predetermined pressure on the human body H when worn.

By means of the holding part 4 and the guide part 5, the non-stretching artificial muscle thread 3 is arranged on the base material 2 on the predetermined path on the body surface of the human body H. The predetermined path on the body surface of the human body H on which the non-stretchable artificial muscle thread 3 is arranged is, for example, a path that straddles at least one joint of the human body H. In the example shown in FIG. 5, the artificial muscle thread 3 is located on a path that straddles the shoulder joint (scapulohumeral joint) and passes through at least the biceps brachii muscle and the deltoid muscle (back side). Note that the predetermined path on the body surface of the human body H on which the artificial muscle thread 3 is arranged in the non-stretchable state is the path on the body surface of the human body H corresponding to the rotation direction of the rotatable joint (for example, the facet joint). It may be a route or the like in which the artificial muscle thread 3 is arranged diagonally with respect to the body surface of the abdomen so as to support the twisting motion of the abdomen by rotation. That is, the holding part 4 and the guide part 5 hold the artificial muscle thread 3 on the predetermined path of the base material 2 even if the human body H moves according to the kinetic force on the human body H due to the expansion and contraction of the artificial muscle thread 3. can do. As described above, the active body 1 according to the first embodiment can hold the artificial muscle thread 3 at a desired position on the surface of the base material 2 without causing deviation. Therefore, it is possible to provide an active body with a high degree of freedom in design suitable for various parts and movements of the movable body.

Here, when the human body H is taken as an example, the various parts and movements include, for example, the following.
1. Upper limb 1-1. Shoulder girdle: flexion, extension, fist up, pull down (down)
1-2. Shoulder: flexion (front fist up), extension (back fist up), abduction (side fist up), adduction, external rotation, internal rotation, horizontal flexion, horizontal extension 1-3. Elbow: flexion, extension 1-4. Forearm: pronation, supination2. Fingers 2-1. Hand: flexion (palm flexion), extension (dorsiflexion), radial flexion, ulnar flexion 2-2. Thumb: radial abduction, ulnar adduction, volar abduction, volar adduction, ulnar flexion (MCP), extension (MCP), flexion (IP), extension (IP)
2-3. Fingers: flexion (MCP), extension (MCP), flexion (PIP), extension (PIP), flexion (DIP), extension (DIP), abduction, adduction3. Lower limbs 3-1. Hip: flexion, extension, abduction, adduction, external rotation, internal rotation 3-2. Knee: flexion, extension 3-3. Foot: flexion (plantar flexion), extension (dorsiflexion)
3-4. Foot: roll over, roll over, roll inside, roll inside 3-5. Thumb (toe): flexion (MTP), extension (MTP), flexion (IP), extension (IP)
3-6. Toes: flexion (MTP), extension (MTP), flexion (PIP), extension (PIP), flexion (DIP), extension (DIP)
4. Trunk 4-1. Neck: flexion (forward bending), extension (back bending), rotation (left rotation, right rotation), lateral bending (left bending, right bending)
4-2. Thoracolumbar: flexion (forward bending), extension (back bending), rotation (left rotation, right rotation), lateral bending (left bending, right bending)
References: "Display and Measurement of Range of Motion of Joints", Japanese Orthopedic Association, Japanese Society of Rehabilitation Medicine (1995).
https://www.japanpt.or.jp/upload/jspt/obj/files/publiccomment/4_rom_20140612.pdf

The drive unit 6 shown in FIG. 5 is a device that outputs compressed air, voltage, etc. for extending and/or contracting the artificial muscle threads 3 . In the example shown in FIG. 5 , the drive unit 6 is an air compressor that outputs compressed air for contracting the McKibben artificial muscle thread, which is the artificial muscle thread 3 . A transmission member 7 is provided between one end of the artificial muscle thread 3 and the output mechanism of the driving section 6 to transmit the compressed air, voltage, etc. output by the driving section 6 to the artificial muscle thread 3 . In the example shown in FIG. 5, the transmission member 7 is a polyurethane tube for delivering compressed air to the artificial filaments 3 . When the artificial muscle thread 3 is a carbon nanotube muscle fiber, the driving part 6 is a voltage generator and the transmission member 7 is a voltage cable. Further, when the artificial muscle thread 3 is an extensible rubber artificial muscle, the driving part 6 is an air compressor, and the transmission member 7 is a polyurethane tube. Further, when the artificial muscle thread 3 is an artificial muscle thread using a dielectric elastomer, the drive unit 6 is a voltage generator and the transmission member 7 is a voltage cable. Further, when the artificial muscle thread 3 is an artificial muscle thread made of SMA, SMP, or the like, the driving unit 6 is a voltage generator, and the transmission member 7 applies a voltage to the heater installed near the artificial muscle thread. voltage cable.

In the examples shown in FIGS. 1 to 5, at least two holding portions 4 are formed for one artificial muscle thread 3 and guide portions 5 are formed between adjacent holding portions 4. It is formed on the same surface of the material 2. If the active body 1 is a garment and, for example, the user selects the garment to be worn and then forms the artificial muscle thread 3, the holding portion 4, and the guide portion 5, then at least two By forming the holding portions 4 formed at least one and the guide portions 5 formed between adjacent holding portions 4 on the same surface of the base material 2, the convenience of manufacturing the active body 1 is improved. Alternatively, when the base material 2 , the artificial muscle thread 3 , the holding part 4 and the guide part 5 are integrally manufactured, at least part of the artificial muscle thread 3 , the holding part 4 and the guide part 5 are formed from the base material 2 . They do not have to be formed on the same plane.

Although one artificial muscle thread 3 is provided in the examples shown in FIGS. 1 to 5, a plurality of artificial muscle threads 3, such as two or more, three or more, may be formed. In addition, "at least two holding portions 4 formed for one artificial muscle thread 3 and guide portions 5 formed between adjacent holding portions 4" shown in Figs. 1 to 5 are At least one or more should be included in the active body 1 . For example, when three or more holding portions 4 are formed on one artificial muscle thread 3 or when a plurality of artificial muscle threads 3 are used, one guide portion 5 formed between adjacent holding portions 4 is provided. If included, the guide portion 5 may not be included between the adjacent holding portions 4 . In other words, in the active member 1, at least one or more guide portions 5 may be formed between the holding portions 4 at required locations. Also, the number of "guide portions 5" formed between adjacent holding portions 4 may be one as shown in FIGS. may be

(Second embodiment)
FIG. 6A is a diagram showing an example of an active body 1a according to the second embodiment. An active body 1a according to the second embodiment includes a base material 2, an artificial muscle thread 3, a holding portion 4a, and a guide portion 5a. The artificial muscle thread 3 according to the first embodiment may be provided in the active body 1a according to the second embodiment. Note that the base material 2 may be different from the base material 2 according to the first embodiment. The artificial muscle thread 3 is held by the two holding parts 4a so as not to move relative to the base material 2, and is slidable relative to the base material 2 by the guide part 5a between the two holding parts 4a. retained.

As shown in FIG. 6(A), the guide portion 5a guides the second predetermined portion 32 of the artificial muscle thread 3 in contact with the surface 21 of the substrate 2 according to the second embodiment along a linear path. The second predetermined portion 32 of the artificial muscle thread 3 in contact with the surface 21 of the base material 2 is held along a predetermined curved path, unlike the guide portion 5 which is held along a curved path. The curved path is not limited to the example shown in FIG. 6A, and may be an S-shaped curved path, a U-shaped curved path, or the like. With the active body 1a according to the second embodiment, the artificial muscle thread 3 can be arranged on the surface of the base material 2 in a curved shape, and the artificial muscle thread 3 can be stretched and contracted in a curved shape by the guide portion 5a. Therefore, it is possible to apply kinetic force to various parts and movements of the movable body.

(Third Embodiment)
FIG. 6B is a diagram showing an example of an active body 1b according to the third embodiment. An active body 1b according to the third embodiment includes a base material 2, an artificial muscle thread 3, a holding portion 4b, and a guide portion 5b. Note that the base material 2 according to the third embodiment may be different from the base material 2 according to the first embodiment. The artificial muscle thread 3 is held by the two holding parts 4b so as not to move relative to the base material 2, and is slidable relative to the base material 2 by the guide part 5b between the two holding parts 4b. retained.

The guide portion 5b according to the third embodiment is a second stitch composed of a plurality of stitches, and the width of each of the plurality of stitches constituting the second stitch is one of at least two widths. is the width of The guide portion 5b shown in FIG. 6(B) is composed of a plurality of stitches each having two widths, and the second predetermined portion 32 of the artificial muscle thread 3 in contact with the surface 21 of the base material 2 is positioned in a predetermined direction. hold along the path of The guide portion 5b may hold the second predetermined portion 32 of the artificial muscle thread 3 along a predetermined curved path instead of a predetermined linear path.

FIG. 7(A) is a diagram showing another example of the active body 1b according to the third embodiment. The active body 1c differs from the active body 1b only in the guide portion 5c. The widths of the plurality of seams of the guide portion 5c shown in FIG. 7A are configured to increase in order.

FIG. 7(B) is a diagram showing another example of the active body 1b according to the third embodiment. The active body 1d differs from the active body 1b only in the guide portion 5d. The widths of the plurality of seams of the guide portion 5d shown in FIG. 7B are configured so as to gradually decrease and then increase. The

guide portions

5c and 5d may hold the second predetermined portion 32 of the artificial muscle thread 3 not only along a predetermined linear path but also along a predetermined curved path.

With the active bodies 1b to 1d according to the third embodiment, it is possible to provide the second predetermined portions 32 with different stretch ratios by one artificial muscle thread 3. This makes it possible to apply kinetic force to various parts and movements of the movable body.

(Fourth embodiment)
FIG. 8A is a diagram showing an example of an active body 1e according to the fourth embodiment. An active body 1e according to the fourth embodiment includes a base material 2, an artificial muscle thread 3, a holding portion 4b, and a guide portion 5e. At least one of the guide portions 5 to 5d according to the first to third embodiments may be provided in the active body 1e according to the fourth embodiment. Note that the base material 2 may be different from the base material 2 according to the first embodiment. The artificial muscle thread 3 and the holding portion 4b according to the fourth embodiment are the same as those of the third embodiment. The guide portion 5e may hold the second predetermined portion 32 of the artificial muscle thread 3 along a predetermined curved path instead of the predetermined linear path.

In the active body 1e according to the fourth embodiment, at least two or more guide portions 5e are formed, and the two or more formed guide portions 5e include those having different lengths. The active member 1e according to the fourth embodiment can efficiently hold the artificial muscle thread 3 at a desired position on the surface of the base material 2 without causing any displacement. As a result, the artificial muscle threads 3 are less likely to deviate from the predetermined path of the base material 2, and more desired motion force can be applied to various parts and movements of the movable body.

(Fifth embodiment)
FIG. 8B is a diagram showing an example of the active body 1f according to the fifth embodiment. An active body 1f according to the fifth embodiment includes a base material 2, an artificial muscle thread 3, a holding portion 4b, and a guide portion 5f. At least one of the guide portions 5 to 5e according to the first to fourth embodiments may be provided in the active body 1f according to the fifth embodiment. Note that the base material 2 may be different from the base material 2 according to the first embodiment. The artificial muscle thread 3 and the holding portion 4b according to the fifth embodiment are the same as those of the third embodiment. The guide portion 5f may hold the second predetermined portion 32 of the artificial muscle thread 3 along a predetermined curved path instead of a predetermined linear path.

In the active body 1f according to the fifth embodiment, at least two guide portions 5f are formed, and each of the guide portions 5f is a second stitch composed of a plurality of seams. Two or more guide portions 5f (second stitches) have different stitch widths. With the active body 1f according to the fifth embodiment, the artificial muscle thread 3 can be efficiently held at a desired position on the surface of the base material 2 without causing any deviation, and one artificial muscle thread can be held. The thread 3 can provide the second predetermined portion 32 with different stretch ratios. As a result, the artificial muscle threads 3 are less likely to deviate from the predetermined path of the base material 2, and more desired motion force can be applied to various parts and movements of the movable body.

(Sixth embodiment)
An active body 1g according to the sixth embodiment includes a base material 2, an artificial muscle thread 3a, a holding portion 4, and a guide portion 5. As shown in FIG. FIG. 9(A) is a diagram showing an example of the sixth embodiment of the active body 1g when the artificial muscle threads 3a are not contracted. The artificial muscle thread 3a is, for example, a McKibben artificial muscle thread that expands in the radial direction when compressed air is introduced thereinto and contracts in the axial direction in accordance with the expansion in the radial direction.

FIG. 9(B) is a diagram showing an example of the sixth embodiment of the active body 1g when the artificial muscle threads 3a are contracted. The artificial muscle thread 3a shown in FIG. 9(B) has a long columnar shape extending with the left-right direction as the axial direction. inflate to

FIG. 10A is an example of a cross-sectional view of the guide portion 5 and the second predetermined portion 32a of the active body 1g when the artificial muscle thread 3a is not contracted in the sixth embodiment, 4 is a cross-sectional view similar to FIG. 3(B); FIG. FIG. 10B is a cross-sectional view of the guide portion 5 and the second predetermined portion 32a of the active body 1g when the artificial muscle thread 3a is contracted (expanded in the radial direction) in the sixth embodiment. It is an example of a figure. In the example shown in FIGS. 10A and 10B, the guide portion 5 is a second stitch made up of a plurality of seams 51 sewn to the base material 2 . The guide part 5 may hold the second predetermined portion 32a of the artificial muscle thread 3a along a predetermined curved path instead of the predetermined linear path.

As shown in FIG. 10B, when the artificial muscle thread 3a expands in the radial direction (for example, the width of the second predetermined portion 32a increases from L1 to L2), the seams forming the second stitch A pressing force P1 is generated against 51 and the surface 21 of the substrate 2 . The thread tension of the seam 51 increases according to the generated pressing force P1, and the substrate 2 near the second needle hole 23 is pulled upward on the surface. Furthermore, as the thread tension of the seam 51 increases, the pressing force P2 with which the second stitch presses the second predetermined portion 32a against the base material 2 also increases.

In this way, the active member 1g uses the artificial muscle threads 3a that contract in the axial direction according to the expansion in the radial direction. Compared to the case of using thread, the shrinkage rate of the second predetermined portion 32a is reduced. Further, the smaller the width of the plurality of seams 51 forming the second stitch, the greater the pressing force of the second predetermined portion 32a against the second stitch due to the expansion of the artificial muscle thread 3a when the artificial muscle thread 3a contracts. , the shrinkage rate of the second predetermined portion 32a decreases. Similarly, as the width of the plurality of seams 51 forming the second stitch increases, the pressing force of the second predetermined portion 32a against the second stitch due to expansion of the artificial muscle thread 3a when the artificial muscle thread 3a contracts decreases. As a result, the shrinkage rate of the second predetermined portion 32a increases.

With the active body 1g according to the sixth embodiment, even if the pressing force by the guide portion 5 is reduced to a level that does not generate the pressing force of the guide portion 5 when the artificial muscle thread 3a is not contracted, the force is reduced when the artificial muscle thread 3a is contracted (in the radial direction). 2), a pressing force is generated by the guide portion 5, and a kinetic force can be exerted on the base material 2 without the artificial muscle thread 3a being lifted from the base material 2.

The active body 1 according to the first to sixth embodiments includes a holding portion 4 and a guide portion 5, and one or two guide portions 5 are provided between the holding

portions

4 and 4 at required locations. One or more are formed. Therefore, in the active body 1 according to the first to sixth embodiments, since the artificial muscle thread 3 is less likely to deviate from the predetermined path of the base material 2, there is a degree of freedom in design suitable for various parts and movements of the movable body. can be raised.

Further, when the guide portion 5 is formed so as to generate a pressing force for crimping the second predetermined portion 32 and the base material 2, the guide portion 5 has (1) a function of guiding the artificial muscle thread 3, and (2) It has two different functions: a stretching amount adjusting function for adjusting the stretching amount or the shrinking amount of the artificial muscle thread 3 . In this case, by appropriately designing the location, number, and width (adjustment of the pressing amount) of the guide portions 5, one artificial muscle thread 3 can be moved in various ways. Therefore, compared with an active body in which the artificial muscle threads 3 are regularly arranged, a desired movement can be performed with fewer artificial muscle threads 3 .

(Embodiment of method for manufacturing active body)
FIG. 11 is a diagram showing an example of an operation flow of a method for manufacturing active bodies 1 to 1g including base material 2 and stretchable

artificial muscle threads

3, 3a. The

artificial muscle threads

3 and 3a are collectively referred to as the artificial muscle thread 3, and the active bodies 1 to 1g are collectively referred to as the active body 1 hereinafter.

In this manufacturing method, first, in order to hold the first predetermined portion 31 of the non-stretchable artificial muscle thread 3 so as not to move relative to the base material 2 when the artificial muscle thread 3 is stretched and stretched, the base material A holding portion producing step of sewing a thread to the base material 2 so as to straddle the first predetermined portion 31 abutting on the surface 21 of the base material 2 is performed (step S110). At least two or more holding portions 4 are formed for one artificial muscle thread 3 by performing the holding portion forming step for one artificial muscle thread 3 at least twice.

Next, in order to hold the second predetermined portion 32 of the non-stretchable artificial muscle thread 3 slidably with respect to the base material 2 at least in the stretching direction when the artificial muscle thread 3 is stretched and stretched, the base material 2 is A step of fabricating a guide portion is performed to sew a thread to the base material 2 so as to straddle the second predetermined portion 32 abutting on the surface 21 of the guide (step S120), and the method of fabricating the active body 1 is completed. In addition, in the guide part producing step, the guide part 5 is produced between the adjacent holding parts 4, and the width of the seam 51 sewn in the guide part producing step is the width of the seam sewn in the holding part producing step. Greater than 41.

Note that step S120 may be performed before step S110. Alternatively, step S110 may be performed once, then step S120 may be performed, and step S110 may be performed again. If the holding portion 4 and the guide portion 5 can be formed at desired positions on the base material 2, the number and order of steps S110 and S120 may be appropriately set.

According to the active bodies of the various embodiments disclosed in this specification, since the holding part and the guide part are included, it is possible to increase the degree of design freedom suitable for various parts and movements of the movable body. Therefore, it is useful for the nursing care industry, sporting goods industry, clothing industry, and the like.

Reference Signs List 1, 1a to 1g active body 2

base material

3, 3a artificial thread 31 first

predetermined portion

32, 32a second predetermined

portion

4, 4a,

4b holding portion

5, 5a ~ 5f... guide part, 6... drive part, 7... transmission member

Claims

An active body comprising an artificial filament, the active body comprising:
a substrate;
a stretchable artificial muscle thread;
a holding part that holds a first predetermined portion of the artificial muscle thread when it is not stretched so that it does not move relative to the base material when the artificial muscle thread is stretched;
a guide portion that holds a second predetermined portion of the artificial muscle thread when it is not stretched so as to be slidable with respect to the base material at least in the stretching direction when the artificial muscle thread is stretched;
including
At least two holding portions are formed for one artificial muscle thread,
including a guide portion formed between the adjacent holding portions,
Active body.
At least two holding portions formed for one artificial muscle thread and guide portions formed between the adjacent holding portions are formed on the same surface of a base material,
The active body of Claim 1.
The base material is a sheet member,
2. The active body according to claim 1, wherein said guide portion holds said second predetermined portion in contact with the surface of said base material along a predetermined curved path.
The base material is a sheet member,
3. The active body according to claim 2, wherein said guide portion holds said second predetermined portion in contact with the surface of said base material along a predetermined curved path.
The holding portion is a first stitch composed of a plurality of seams sewn to the base material,
The first stitch is arranged so as to straddle the first predetermined portion that abuts on the surface of the base material.
The active body according to any one of claims 1-4.
The guide portion is a second stitch composed of a plurality of seams sewn to the base material,
The second stitch is arranged to straddle the second predetermined portion that abuts on the surface of the base material,
the width of the seam forming the second stitch is greater than the width of the seam forming the first stitch;
6. Active body according to claim 5.
The artificial muscle thread is an artificial muscle thread that contracts in the axial direction as it expands in the radial direction,
The smaller the width of the plurality of stitches forming the second stitch, the greater the pressing force of the second predetermined portion against the second stitch due to the expansion of the artificial muscle thread when the artificial muscle thread contracts. , the shrinkage rate of the second predetermined portion decreases;
7. Active body according to claim 6.
The width of each of the plurality of seams forming the second stitch is one of at least two widths.
7. Active body according to claim 6.
The width of each of the plurality of seams forming the second stitch is one of at least two widths.
8. Active body according to claim 7.
At least two guide portions are formed,
The two or more guide portions include guide portions with different lengths,
The active body according to any one of claims 1-4.
At least two guide portions are formed,
The two or more guide portions include guide portions with different lengths,
6. Active body according to claim 5.
At least two guide portions are formed,
The two or more guide portions include guide portions with different lengths,
7. Active body according to claim 6.
At least two guide portions are formed,
The two or more guide portions include guide portions with different lengths,
8. Active body according to claim 7.
At least two guide portions are formed,
The two or more guide portions include a plurality of guide portions having different seam widths,
7. Active body according to claim 6.
A method for producing an active body including a base material and stretchable artificial muscle threads, comprising:
In order to hold the first predetermined portion of the artificial muscle thread when it is not stretched so as not to move relative to the base material when the artificial muscle thread is stretched or stretched, the first portion of the artificial muscle thread contacts the surface of the base material. 1 a holding portion producing step of sewing a thread to the base material so as to straddle a predetermined portion;
In order to hold the second predetermined portion of the artificial muscle thread when it is not stretched and slidable with respect to the base material at least in the stretching direction when the artificial muscle thread is stretched, it is brought into contact with the surface of the base material. a guide portion producing step of sewing a thread to the base material so as to straddle the contacting second predetermined portion;
including
At least two or more holding portions are formed for one artificial muscle thread by performing the holding portion producing step for one artificial muscle thread at least twice,
including a guide portion formed in the guide portion manufacturing step between the adjacent holding portions;
The width of the seams sewn by the guide part producing step is larger than the width of the seams sewn by the holding part producing step,
A method for producing an active body.