紙/布を用いた立体形状IPMCロボットの提案

抄録

An ionic polymer metal composite (IPMC) actuator is one of the electroactive polymer devices. To realize arbitrary 3D-shaped IPMC actuators, we have proposed a novel fabrication method of IPMC actuators. With the support of paper or fabric, IPMC actuators of any three-dimensional shape can be manufactured. In this paper, such IPMCs are called PF-IPMCs. Using the proposed method, a sheet-shaped PF-IPMC actuator have been created from several kinds of paper and fabric. We have compared these basic properties and operations with normal IPMC. In addition, we have selected materials suitable for making three-dimensional shape from the results of the experiment, and have produced three-dimensional PF-IPMC robots. We have conducted motion tests of these robots.