Conference Activities & Talks -

レーザ吸収分光法を用いたマイクロホローカソード放電中の準安定He原子密度と温度測定

井上真里, 太田貴之, 家苗毅司, 堤隆嘉, 菊地邦友, 土谷茂樹, 伊藤昌文, 堀勝

応用物理学会学術講演会講演予稿集(CD-ROM)  2011.08.16  

プラズマアグリカルチャー（V）-蛍光観察によるミドリカビ胞子内部の酸化の検証-

森 拓海, 太田 貴之, 菊地 邦友, 土谷 茂樹, 伊藤 昌文, 井関 紗千子, 堀 勝

第72回応用物理学会学術講演会  2011.08   公益社団法人 応用物理学会

Formation of a patterned electrode for ion conductive polymer actuator using a plasma treatment method as a MEMS technology

Kunitomo Kikuchi, Shigeki Tsuchitani, Ippei Shimizu

EuroEAP 2011: First international conference on Electromechanically Active Polymer (EAP) transducers %26 artificial muscles  2011.06   European Scientific Network for Artificial Muscles

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Ionic polymer-metal composite (IPMC) is one of the most attractive soft actuators because it have several unique characteristics such as low driving voltage and large strain. Therefore, it allows the material to fulfill specific needs for medical device applications. IPMC consists of a polyelectrolyte membrane and thin noble metal electrodes formed on the both surfaces of the membrane. By fabricating IPMC with patterned electrodes, it will be capable of complex motions such as peristaltic movement. In spite of numerous challenges in order to utilize IPMC in medical devices, there are many technological subjects to fabricate it. Conventionally, the most reliable formation method is a chemical gold plating method. For this reason, we already developed a formation method of patterned electrode using photolithography techniques and the chemical plating method. However, in this method, the side wall of the IPMC was also plated when it was not covered by the photo resist, and the both electrodes are short-circuited. To solve this problem, we developed a new formation method of patterned electrode using SF6 plasma treatment. In this method, during the plating, the electrode cannot be formed on the SF6 plasma-irradiated areas of the membrane probably by decreasing of ion-exchange group due to fluorine termination process to the polymer chains. Therefore, the cutting process of the side wall does not need, and this method can be easily incorporated with micro machining technologies.

Electromechanical properties of Flemion-based ionic polymer actuators ion-exchanged with ionic liquids

Masaomi Okamoto, Shigeki Tsuchitani, Kunitomo Kikuchi

EuroEAP 2011: First international conference on Electromechanically Active Polymer (EAP) transducers %26 artificial muscles  2011.06   European Scientific Network for Artificial Muscles

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Ionic polymer metal composite (IPMC) is a very attracting soft actuator having large strain under low application voltage. It consists of an ionic polymer membrane and thin electrodes formed on the both sides of the membrane. By applying voltage in water, it bends by movement of hydrated counter ions and accompanying electroosmotic water flow. We fabricated Flemion-based IPMCs by incorporating ionic liquids (EMIBF4, BMIBF4, BMIPF6) exchanging counter ion, and also an IPMC with Li as counter ion. Various heights of step voltages (0.5 to 2.0V) were applied to the IPMCs in water, andresponses of bending curvature and driving current were measured. Effects of the kind of the ionic liquid and the voltage height on the responses were evaluated. The responses of bending curvature 1/R and electric charge Q transferred by counter ion, which was obtained by integrating the driving current, were well corresponded, and seemed to consist of two stages%3b the first is accumulation process of counter ion to the electrical double layer between the electrode and the ionic polymer with response times less than 5s, and the second stage is slower process longer than 10min. 1/R - Qcurves tended to saturate with increase in the charge Q in the IPMCs including the ionic liquids, though the IPMC with Li had no such tendency. This saturation is considered to arise from the water flow of the opposite direction to that of the movement of the counter ion due to pressure gradient in the IPMCs.

ポリピロールとバッキーゲルを用いたバイモルフアクチュエータの動作特性評価

豊嶋 隆延, 菊地 邦友, 土谷 茂樹

日本機械学会関西支部第86期定時総会講演会  2011.03   日本機械学会関西支部

円筒露光装置の作製と精度の向上

池野 一輝, 土谷 茂樹, 菊地邦友

日本機械学会関西支部関西学生会 平成22年度学生員卒業研究発表講演会  2011.03   日本機械学会関西支部

イオン導電性高分子金属接合体(IPMC)の性能向上

中村 佳寛, 土谷 茂樹, 菊地 邦友

日本機械学会関西支部関西学生会 平成22年度学生員卒業研究発表講演会  2011.03   日本機械学会関西支部

誘電エラストマーアクチュエータ用柔軟電極の改善

泉谷 惇嗣, 土谷 茂樹, 菊地 邦友

日本機械学会関西支部関西学生会 平成22年度学生員卒業研究発表講演会  2011.03   日本機械学会関西支部

誘電エラストマーを用いたロボット用アクチュエータの開発

金 壯憲, 土谷 茂樹, 菊地 邦友

日本機械学会関西支部関西学生会 平成22年度学生員卒業研究発表講演会  2011.03   日本機械学会関西支部

イオン液体を用いたポリピロールの空気中駆動

金 龍一, 土谷 茂樹, 菊地 邦友

日本機械学会関西支部関西学生会 平成22年度学生員卒業研究発表講演会  2011.03   日本機械学会関西支部

IPMCを用いたセルフセンシングアクチュエータの開発

小田 慧, 土谷 茂樹, 菊地邦友

日本機械学会関西支部関西学生会 平成22年度学生員卒業研究発表講演会  2011.03   日本機械学会関西支部

1A2-D04 Development of an Active Micro Catheter using a Conducting Polymer Actuator(Nano/Micro Bio System)

HANAYAMA Yuu, KIKUCHI Kunitomo, TSUCHITANI Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2011   The Japan Society of Mechanical Engineers

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Much research has focused on producing actively controllable tip catheter for more minimally invasive intravascular treatment. In this work, we designed 4-electrode type active micro catheter using polypyrrole (PPy). We used SEPLEGYDA [○!R]for a seed layer in electrochemical deposition of PPy. SEPLEGYDA[○!R] is low hardness and easy to form a conducting layer compared to metal electrode layer. As a result of a finite element analysis, 4-electrode type active micro catheter achieved the minimum radius of curvature of 16.4mm which is sufficient for intravascular treatment. To realize 4-electrode type active micro catheter, we fabricated unimorph (1-electrode) type active micro catheter to establish a basic fabrication technologies. When a step voltage of 1.0V was applied to the PPy in a NaCl solution, the catheter bent with a radius of curvature of 580mm.

1A2-H08 Development of Multi-DOF Ion Conductive Polymer Actuator : Electrode Patterning on Ion Conductive Polymer by Microfabrication Technique(MEMS and Nano-Technology)

KIKUCHI Kunitomo, SHIMIZU Ippei, TSUCHITANI Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2011   The Japan Society of Mechanical Engineers

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Polymer actuators are attracting considerable interest due to their special characteristics, including high flexibility and low weight. Ionic polymer-metal composite (IPMC) are polymer actuators that exhibit remarkable bending at driving voltages lower than 2 or 3 V. They have the potential to be used as soft robotic actuators. IPMC consists of a thin ion-exchange membrane with noble metal electrodes formed on both surfaces. Highly durable IPMCs will be fabricated using an electroless chemical plating technique to form metal electrodes. In this research, we have been developed a fabrication method of IPMC with patterned electrode which will be capable of a peristaltic movement. In this paper, we describe a fabrication method for patterning electrodes by the electroless chemical plating technique with SF_6 plasma treatment and the results of performance evaluation of IPMC with SF_6 plasma treatment.

Development of an active micro catheter using a conducting polymer actuator and silicone tube

Yuu Hanayama, Kunitomo Kikuchi, Shigeki Tsuchitani

2011 IEEE/SICE International Symposium on System Integration, SII 2011  2011  

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In this paper, we proposed a structure of an active catheter using polypyrrole (PPy). PPy is one of conducting polymer actuators that are suitable for microactuator for medical use. We fabricated an active catheter of two actuator type which was coated with an electrolyte gel. It was driven in air, and a radius of curvature of 146mm was obtained. In order to enlarge the bending displacement of the catheter, we used thin metal films as electrode for polymerization of PPy. A trimorph actuator with an Au electrode and an electrolyte gel to drive PPy in air, exhibited 6.4 times larger curvature than that using a conducting polymer as electrode. We simulated the operation of the active catheter with the Au electrode to optimize various sizes by a finite element analysis. © 2011 IEEE.

729 Bending Characteristic of Bimorph Actuator Consisting of Polypyrrole and Bucky Gel

TOYOSHIMA Takanobu, KIKUTI Kunitomo, TSUCHITANI Shigeki

The Proceedings of Conference of Kansai Branch  2011   The Japan Society of Mechanical Engineers

PVDF film micro fabrication for the robotics skin sensor having flexibility and high sensitivity

Hiro Han, Yuusaku Nakagawa, Yasuyuki Takai, Kunitomo Kikuchi, Shigeki Tsuchitani

Proceedings of the International Conference on Sensing Technology, ICST  2011  

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This paper provide a novel and potential method to realize a flexible and high sensitive, high resolution skin sensor useful for the application of robotic skin. MEMS technology was applied and by etching process 140∼300/40- μm of micro structures were realized easily directly on the elongated and polarized polyvinylidene fluoride (β - PVDF) film that will be used as the sensing element in the skin sensor. The effects of PVDF film etching condition, especially the experienced temperature history to the PVDF important sensing parameter of piezoelectric constant was evaluated by experiment. PVDF film etching characteristics were introduced also. N,N′-dimethyl acetamide (DMA, C 4H 9NO) solution was used as the wet etching etchant, and O 2 gas for the RIE dry etching process. Under the temperature of less than 55°C , the PVDF film piezoelectric constant was got almost no change, and at the range over 55°C , the constant start to deteriorate linearly according with the temperature rise about 0.3×10 -12; (C/N)/°C. At about 100°C , there was only 50% of deterioration on the PVDF film piezoelectric constant. Such a strong piezoelectric activity will be useful to the sensitivity of the skin sensor. By photo mask design and control of the process condition, much fine and complex micro structure could be fabricated directly on the PVDF film without noticeable degradation of its piezoelectric constant, and it will be useful to realize the required soft and high sensitive, high-resolution skin sensor. © 2011 IEEE.

Fabrication of a Planer-type Ionic Polymer Actuator Fabricated with MEMS Technology

K. Kikuchi, S. Tsuchitani and I. Shimizu

2010 MRS Fall Meeting  2010.11   Materials Research Society

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イオン導電性高分子アクチュエータをMEMS技術を用いて加工し、プレーナー型アクチュエータを試作した。

Flemionを用いたイオン液体系IPMCの動作特性評価

岡本真臣, 土谷茂樹, 菊地邦友

第28回日本ロボット学会学術講演会  2010.09   日本ロボット学会

Flemion膜を用いた高発生力IPMCの作製

岡本真臣, 土谷茂樹, 菊地邦友

日本機械学会関西支部定時総会講演会講演論文集  2010.03.16  

イオン液体を用いた自発運動機構に関する研究

高木敦裕, 菊地邦友, 土谷茂樹

日本機械学会関西支部定時総会講演会講演論文集  2010.03.16