導電性高分子を用いたソフトアクチュエータの伸縮メカニズム

Abstract

Soft actuators are prospective power devices for human friendly robots owing to their noiseless and simple structure. Herein, we have discussed the mechanisms of electrochemical strain and stress as induced by the ions. Electrochemical oxidation and reduction in conducting polymers induces reversible deformation (electrochemical strain) due to insertion and exclusion of ions. The strain was found to depend on the ions, whose volume and radius were estimated. The results indicated that the radii of the inserted ions were between those of crystalline ions and hydrated ions in aqueous electrolyte. The contraction force (electrochemical stress) was observed to be tens of MPa, and was related to the elasticity of the polymers.