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成果報告書詳細
管理番号20170000000654
タイトル*平成28年度中間年報 次世代人工知能・ロボット中核技術開発/(革新的ロボット要素技術分野)フレキシブル電極/自由曲面に貼れるナノチューブ面状電極の研究開発
公開日2017/8/1
報告書年度2016 - 2016
委託先名富士化学株式会社  国立大学法人信州大学
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Title: Core technology development for next-generation robots/ Elemental technology for innovative robots/ Development of carbon nanotube sheet electrodes pasted to free-form surface (FY 2016-FY 2017) FY 2016 Annual Report

Carbon nanotubes (CNT) have outstanding electrical, mechanical, thermal properties, and flexibility, which make it possible to utilize in various fields. We focus on these features of CNT, proposing a novel CNT electrode with high flexibility. Our objective in this project is to develop CNT sheet electrodes pasted to free-form surface. To archive this, we have been considering mainly three subjects as follows; (1) Development of CNT dispersed ink with high viscosity for screen printing technology, (2) Fabrication and evaluation of CNT sheet electrodes pasted to free-form surface, (3) Evaluation of CNT sheet electrodes pasted to free-form surface as displacement sensor. We report the results which have been considered in FY 2016.

(1) Development of CNT dispersed ink with high viscosity for screen printing technology
We investigated the increase of viscosity of single wall CNT (SWCNT) dispersion by increasing SWCNT concentration or adding some thickener in SWCNT dispersion. Firstly, 1 wt. % SWCNT was dispersed by changing the concentration of the inorganic dispersant from 5wt. % to 10 wt. %. As a result, it is possible to disperse 1 wt. % SWCNT highly stably, and optimized in the case of 10 wt. %. This SWCNT dispersed ink is so stable to induce no sedimentation through ultracentrifugation. Viscosity of SWCNT dispersed ink showed 20,000 mPa sec, which is 10,000 times larger than that of the inorganic dispersant solution. The SWCNT dispersed ink was coated on PET film, which resistance was less than 1 ohm/square, and also coated on cotton cloth, which was not peeled from it even it was crumbled. Secondary, thickener such as Guar Gum, Carboxymethyl cellulose (CMC), Hydroxyethyl cellulose (HEC) was added in SWCNT dispersion. We can get stable SWCNT dispersion in the case of HEC addition. The Viscosity showed 1,000 mPa sec, which was 50 times increased compared to no addition. We can control the viscosity of SWCNT dispersion to apply screen printing method.

(2) Fabrication and evaluation of CNT sheet electrodes pasted to free-form surface
SWCNT dispersion was coated on stretchable sheet such as polyurethane, silicone rubber. After that, it was hot pressed on stretchable sheet. Transmittance at 550 nm and sheet resistance of SWCNT film made in this way was 100 ohm/square and 70 %, respectively. We measured the changes of resistance of the SWCNT film during 1,000 times stretch by 200 %. Resistance increases drastically due to initial 10 times stretch and then the resistance change becomes reproducible. Focused on the change in the one-time stretch, the resistance increases almost linearly and sharply, indicating the promising potential for a displacement sensor. The SWCNT film was analyzed using scanning electron microscopy (SEM) and Raman spectroscopy. SEM image shows that surface morphology is wavy in a vertical to the stretch direction. The SWCNT crystallinity does not changed even after the 200 % stretch by the Raman spectral examination.

(3) Evaluation of CNT sheet electrodes pasted to free-form surface as displacement sensor
We need to detect sensitively a joint angle change of human body. The joint angle was measured using a goniometer with the SWCNT/polyurethane film pasted on joints such as elbow and knee. The joint angle was measured with the SWCNT/polyurethane film, showing the nonlinear correlation between the goniometer value and resistance of SWCNT/polyurethane film. In the future, the higher conductive and linear response of the SWCNT/polyurethane film is requested to measure the joint angle accurately, and to calibrate based on the model of each joint.
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