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成果報告書詳細
管理番号20190000000246
タイトル*2018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 可塑化PVCゲルを用いたウェアラブルロボット用ソフトアクチュエータの研究開発
公開日2019/6/19
報告書年度2018 - 2018
委託先名国立大学法人信州大学 国立研究開発法人産業技術総合研究所
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: Strategic Advancement of Multi-Purpose Ultra-Human Robot and Artificial Intelligence Technologies/Future robot technology/Development of a soft actuator using plasticized PVC gel for wearable robots (FY2015-FY2019) FY2018 Annual Report

1. Development of plasticized PVC gel actuators for assist ware application
(1) A PVC gel sheet actuator using flexible electrodes
We proposed a novel sheet actuator composed of poly(vinyl chloride) (PVC) gel sheets and flexible electrodes, which shows an expansion-contraction behavior. We investigated number of stacked layers of actuator and patterning electrodes on a PVC gel sheet. The displacement was increased with increasing the number of stacked layer and saturated at ≧ 4 layers. Moreover, using the patterned electrodes, the manufacturing process was reduced and the actuators showed the same characteristics as conventional actuators. We will improve the characteristics of the actuator for practical applications.
(2) A textile actuator using plasticized PVC gel fibers
A textile actuator is formed by a plain weave using core-sheath PVC gel fibers and conductive material. The output force of fabricated prototype actuator was evaluated. The actuator constructed with 5 mm width cathodes had a greater output forces than that with 1 and 3 mm width cathodes. We will investigate an electro-adhesion stress interface of a PVC gel to an anode, and construct the deformation model considered from its characteristics and geometric calculation.
(3) A yarn actuator using plasticized PVC gel fibers
A yarn actuator is formed of core-sheath PVC gel fiber and conductive fiber. We fabricated a core-sheath fiber by covering the PVC gel around the Ag plated thread with weaving machine, and the movement of fabricated actuator was observed. We will optimize the shape of the gel fiber with modeling driving actuator.

2. Studies of electric-response mechanism of a plasticized PVC gel
To explore the electric response of a plasticized poly(vinyl chloride) (PVC gel) from a molecular point of view is the basics for research and development of the performances of the PVC-gel actuator. In this item, we establish the electric response modelling of the PVC gel from a molecular basis. Based on the proposed modelling, we find materials that develop the performances of the PVC gel actuators, and lower their drive-voltage. In this fiscal year, based on the results reported previously, we applied 4 kinds of ionic liquids (ILs) as additives for the PVC gels to the PVC gel actuator device composed of stainless mech and plated electrodes. We successfully developed the actuator devices which showed a linear motion based on creeping motion on stainless mesh electrode. However, on the contrary of the bending actuator, we found that the additives of ILs are not so effective for lowering the drive voltage. We will further study combinations of various ILs and electrode structures in order to lower the drive voltage based on the proposed modeling.

3. Precise position control method with plasticized PVC gel soft actuator
We constructed new measurement system to analyze the dynamic characteristics of the actuator, and confirmed response behaviors of the actuator, when inputting various electric field wave forms. We will provide precise position control using the mathematical model based on the characteristics of actuators.

4. Mass production of plasticized PVC gel soft actuators and prototyping an assist wear
We fabricated a prototype of new assist wear which can support an erector spinae muscle by using rubber sheets instead of sheet actuators. The myoelectricity of erector spinae was lower than the state when the assist wear wasn’t worn. We will investigate the effect of an assist wear implemented the actuators.
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