Conference Activities & Talks -

高分子アクチュエータを応用した異分野融合型デバイスの開発

菊地邦友  [Invited]

公益財団法人 科学技術交流財団 次世代アクチュエータ材料応用研究会 令和2年度第2回研究会  2021.01.29  

マルチマテリアル技術を用いたソフトアクチュエータ

第18回 若手研究者研究成果発表会  2019.12   一般社団法人和歌山情報サービス産業協会, 公益 財団法人 わかやま産業振興財団

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菊地邦友

微細加工技術を用いたイオン導電性高分子アクチュエータ作製プロセスの開発

菊地邦友  [Invited]

日本MRS研究会「ソフトアクチュエータ産業化研究会」シンポジウム 『ソフトアクチュエータ、ソフトセンサとプロセス技術』  2019.11  

ソフトアクチュエータ・センサの高機能化と応用デバイスに関する研究

菊地邦友

MOBIO産学連携オフィス連続企画 テーマ別大学・高専合同研究シーズ発表会『プラスチック・樹脂（材料・加工）編』  2019.06   ＭＯＢＩＯ入居・連携大学・高専 , ＭＯＢＩＯ（ものづくりビジネスセンター大阪）, 東大阪市, （公財）東大阪市産業創造勤労者支援機構

Development of a power assist suit that supports and transports heavy objects by a link mechanism located inside the wearer's legs

TSUBOI Kazuhiro, HARA Yukimasa, OGAWARA Koichi, SUZUKI Arata, KIKUCHI Kunitomo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019   The Japan Society of Mechanical Engineers

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<p>In this paper, we present a power assist suit that supports and transports heavy objects with a single motor. The leg mechanism of the power assist suit is made of upper and lower parallel links and springs. It is designed to be located inside the wearer's legs so that the power assist suit becomes small and light-weight, and the stability during transportation is improved. We measured the surface electromyogram (EMG) during luggage lifting experiments and confirmed that the burden of the wearer's back and legs is reduced when wearing the developed power assist suit.</p>

Development of a gripper for power assist suits with a ratchet mechanism consisting of linear motion and rotational motion parts

HORIGUCHI Koki, OGAWARA Koichi, SUZUKI Arata, KIKUCHI Kunitomo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019   The Japan Society of Mechanical Engineers

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<p>L-shaped grippers typically used for power assist suits have a problem in stably holding objects of arbitrary shape. To solve this problem, we developed a gripper with a ratchet mechanism consisting of linear motion and rotational motion parts. The gripper can be deformed according to the shape of the wearer's hand and the shape of the object to be held, and the shape of the gripper can be fixed due to the rachet mechanism, thus objects of arbitrary shape can be held stably by this gripper and the burden of the wearers is reduced. We carried out experiments where four types of objects were held by the developed gripper. We showed that the developed gripper has reduced the wearer's burden for two types of objects among four.</p>

Development of a wire drive mechanism for power assist suits that realizes linear luggage lifting movement and nonlinear knee fixation-and-release movement

HARA Yukimasa, TSUBOI Kazuhiro, OGAWARA Koichi, SUZUKI Arata, KIKUCHI Kunitomo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019   The Japan Society of Mechanical Engineers

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<p>In this paper, we present a mechanical design of a wire drive mechanism for power assist suits that realizes linear luggage lifting movement and nonlinear knee fixation-and-release movement using a motor. The nonlinear fixation-and-release movement is realized by a mechanism using a piston and a crankshaft. We developed an algorithm to find the design parameters that minimize the error from the optimal wire movement. We developed a prototype wire drive mechanism and verified that it works as designed. In addition, we carried out lifting experiments and confirmed that luggage up to 20 kg can be lifted. We measured the surface electromyogram (EMG) and confirmed that the burden of the wearer's arms was reduced during luggage lifting.</p>

熱溶解積層法を用いたイオン導電性高分子アクチュエータの作製時におけるマスク材料の影響

内田 周作, 菊地 邦友

第19回計測自動制御学会システムインテグレーション部門講演会 (SI2018)  2018.12   計測自動制御学会 SI (システムインテグレーション) 部門

導電性高分子ヒータにより駆動するコイル型熱可塑性高分子アクチュエータの駆動特性評価

生駒 啓人, 菊地 邦友, 奥崎 秀典

第28回日本MRS年次大会  2018.12   日本MRS

A Finite Element Analysis on Driving Characteristics of a Thermoplastic Polymer Actuator

Ryuto Kakitsuka, Kunitomo Kikuchi, Satoshi Tanaka

The SICE Annual Conference 2018 (SICE 2018)  2018.09   The Society of Instrument and Control Engineers (SICE)

Improvement of Driving Characteristics of Ionic Polymer-Metal Composite Applying Voltages Controlled by Using a Single Board Computer

Ryuichi Fukui, Kunitomo Kikuchi

The SICE Annual Conference 2018 (SICE 2018)  2018.09   The Society of Instrument and Control Engineers (SICE)

形状記憶ポリマーを用いた変形形状維持が可能なイオン導電性高分子アクチュエータの開発

硴塚 龍望, 菊地 邦友, 田中 聡志, 福井 龍一

第36回日本ロボット学会学術講演会 (RSJ2018)  2018.09   一般社団法人日本ロボット学会

Effects of Fabrication Conditions on Driving Characteristics of a Novel Coiled Thermoplastic Polymer Actuator Driven by a Conductive Polymer Heater

Hiroto Ikoma, Kutnitomo Kikuchi, Ryuichi Fukui, Hidenori Okuzaki

The SICE Annual Conference 2018 (SICE 2018)  2018.09   The Society of Instrument and Control Engineers (SICE)

マルチマテリアル技術を用いた絶縁処理が不要なイオン導電性高分子アクチュエータの提案

福井 龍一, 則岡 泰典, 内田 周作, 菊地 邦友

第36回日本ロボット学会学術講演会 (RSJ2018)  2018.09   一般社団法人日本ロボット学会

Development of a fabrication process incorporated with fused deposition molding 3D printing technique for Ionic polymer-metal composite

Taisuke Norioka, Syusake Uchida, Ryuto Kakitsuka, Kunitomo Kikuchi

Japan-China Joint Workshop on Recent Advances on Active Soft Materials 2018 (アクティブソフトマテリアルに関する日中共同ワークショップ2018)  2018.08   The Technical Committee on Soft Material, System Integration division, SICE, The Research Group for Industrialization of Soft Actuator, MRS-J, The Precise Measurement Technology Promotion Foundation

Development of a thermoplastic polymer actuator with PEDOT:PSS as a conductive polymer heater

Ryuto Kakitsuka, Kunitomo Kikuchi, Hidenori Okuzaki

Japan-China Joint Workshop on Recent Advances on Active Soft Materials 2018 (アクティブソフトマテリアルに関する日中共同ワークショップ2018)  2018.08   The Technical Committee on Soft Material, System Integration division, SICE, The Research Group for Industrialization of Soft Actuator, MRS-J, The Precise Measurement Technology Promotion Foundation

Development of a stiffness-controllable ionic polymer-metal composite incorporated with a shape memory polymer

Satoshi Tanaka, Ryuto Kakitsuka, Kunitomo Kikuchi

Japan-China Joint Workshop on Recent Advances on Active Soft Materials 2018 (アクティブソフトマテリアルに関する日中共同ワークショップ2018)  2018.08   The Technical Committee on Soft Material, System Integration division, SICE, The Research Group for Industrialization of Soft Actuator, MRS-J, The Precise Measurement Technology Promotion Foundation

シングルボードコンピュータを用いた印加電圧制御によるイオン導電性高分子金属接合体の揺れ戻り軽減

福井 龍一, 硴塚 龍望, 田中 聡志, 則岡 泰典, 松波 恭平, 菊地 邦友

日本機械学会 関西学生会2017年度学生員卒業研究発表講演会  2018.03   一般社団法人日本機械学会 関西支部

3Dプリンタにより印刷した屈曲動作シート型ナイロンアクチュエータの駆動特性評価

生駒 啓人, 菊地 邦友

第17回和歌山大学システム工学部・近畿大学生物理工学部学生研究成果発表会  2018.03   (一社) 和歌山情報サービス産業協会 (WAKASA), 和歌山大学システム工学部, 近畿大学生物理工学部, （公財）わかやま産業振興財団

印加電圧制御により揺れ戻り軽減されたイオン導電性高分子金属接合体の動作特性評価

福井 龍一, 菊地 邦友

第17回和歌山大学システム工学部・近畿大学生物理工学部学生研究成果発表会  2018.03   (一社) 和歌山情報サービス産業協会 (WAKASA), 和歌山大学システム工学部, 近畿大学生物理工学部, （公財）わかやま産業振興財団

単純構造モデルを用いたコイル型ナイロンアクチュエータの有限要素解析

硴塚 龍望, 菊地 邦友

第17回和歌山大学システム工学部・近畿大学生物理工学部学生研究成果発表会  2018.03   (一社) 和歌山情報サービス産業協会 (WAKASA), 和歌山大学システム工学部, 近畿大学生物理工学部, （公財）わかやま産業振興財団

表面がパターニングされたイオン導電性高分子センサの出力特性評価

内田 周作, 菊地 邦友

日本機械学会 関西学生会2017年度学生員卒業研究発表講演会  2018.03   一般社団法人日本機械学会 関西支部

導電性高分子ヒータを用いたコイル状ナイロナクチュエータの作製条件が駆動特性に与える影響

生駒 啓人, 菊地 邦友, 福井 龍一, 奥崎 秀典

日本機械学会 関西学生会2017年度学生員卒業研究発表講演会  2018.03   一般社団法人日本機械学会 関西支部

導電性高分子を用いたコイル状ナイロンアクチュエータの動作特性

福井 龍一, 生駒 啓人, 硴塚 龍望, 菊地 邦友, 奥崎 秀典

平成29年度 計測自動制御学会関西支部・システム制御情報学会 若手研究発表会  2018.01   計測自動制御学会関西支部, システム制御情報学会

Evaluation of Operation Characteristics of Ionic Polymer-Metal Composite as a Self-Sensing Actuator with Variable Electrode Pattern

UCHIDA Shusaku, KIKUCHI Kunitomo

The Proceedings of Mechanical Engineering Congress, Japan  2018   The Japan Society of Mechanical Engineers

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<p>Ionic polymer-metal composite (IPMC) is one of the most promising soft actuators for practical applications of medical and welfare devices. Also, IPMC can work as a self-sensing actuator because it is a kind of smart material which can generate voltage by its deformation. In this study, effects of separated electrodes at three different sizes on operation characteristics of sensing outputs of self-sensing IPMCs are evaluated with applying a driving voltage to the actuator part. The self-sensing IPMCs have three separated electrodes formed by a machining process which work as an actuator part, a sensor part and a shield part, respectively. In the evaluation, a bridge circuit is used because the outputs of the sensor parts are small. As a result, the sensing outputs can be seen in the IPMC with the smallest cutting grooves because the length and width of the sensor affects the sensor outputs. Moreover, it is confirmed that larger cutting groove can decrease noise from the driving voltage for the actuator part in the sensor outputs. It is suggested that the width and length of separated electrodes of the self-sensing IPMC are important to operate as the self-sensing actuator.</p>

Evaluation of Driving Characteristics of a Nylon Actuator Driven with PEDOT:PSS Heater

IKOMA Hiroto, FUKUI Ryuichi, KIKUCHI Kunitomo, OKUZAKI Hidenori

The Proceedings of Mechanical Engineering Congress, Japan  2018   The Japan Society of Mechanical Engineers

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<p>In this study, we propose a novel coiled thermoplastic polymer actuator with a conductive polymer heater made of PEDOT:PSS. Also, the driving characteristics of the proposed actuator are evaluated. As a result, it was confirmed that the actuator was able to be driven by applying a low voltage with contraction ratios (5.0[%]) as same as those in the previous studies with applying 5.0 [V]. In addition, we evaluate driving characteristics of the actuators fabricated by our proposed method with a hydrophilic treatment and fixing process in the coling. The actuator with the hydrophilic treatment can operate with smaller differences of contraction ratios of the each actuator than that without the treatment. Also, the response speed of the actuator with fixing process in the coling is improved by 12.6[%] compared to that without the process. It is suggested that these improvements are provideed by good conductivity of PEDOT:PSS fabricated by the proposed method because the length of the actuator is variable to provide PEDOTPSS enogh thickness during membrane production. As a conclusion, it is confirmed that the proposed method has a posibility to improve the driving characterisitics of the thermoplastic polymer actuator.</p>

Development of motion mechanism using nylon actuator for realization of hand opening/closing motion auxiliary device

ISHIDA Ryuichi, KIKUCHI Kunitomo

The Proceedings of Conference of Kansai Branch  2018   The Japan Society of Mechanical Engineers

Effect of Moisture Content on Driving Characteristics of a Coiled Nylon Actuator

DOYAMA Haruka, KIKUCHI Kunitomo, TANAKA Satoshi, MATUNAMI Kyouhei, FUKUI Ryuichi

The Proceedings of Conference of Kansai Branch  2018   The Japan Society of Mechanical Engineers

Development of a Dielectric Elastomer Actuator with Conductive Polymer Electrodes

FUKUI Ryuichi, KIKUCHI Kunitomo, OKADA Akihiro, IKOMA Hiroto, KAKITSUKA Ryuto, OKUZAKI Hidenori

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018   The Japan Society of Mechanical Engineers

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<p>In this study, we propose a DEA with conductive polymer electrodes made of PEDOT:PSS-PG because conventional dielectric elastomer actuators use conductive greases or metals for electrode and difficult to drive stably due to their stiffness and deformation. The proposed DEA consists of polymer materials fully. From the characteristics evaluations, the proposed DEA can exhibit 7.3[%] maximum area strain at 5.6[kV]. It drives stably because the dielectric breakdown strength is almost constant in different samples. Also, PEDOT:PSS electrodes have a possibility to be used as transparent electrodes. As these results, the proposed DEA will be helpful to improve driving characteristics of DEA.</p>

Evaluation of Driving Characteristics of Ionic Polymer-Metal Composite Actuators Driven by PWM Control Method

FUKUI Ryuichi, KIKUCHI Kunitomo

The Proceedings of Mechanical Engineering Congress, Japan  2018   The Japan Society of Mechanical Engineers

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<p>Ionic polymer-metal composite (IPMC) is one of the most promising soft actuators. IPMC is expected to be applied to medical devices such as microgrippers for cells because of its high biocompatibility. However, there are some big problems to be solved in IPMC when IPMC work in practical applications including micro grippers. For example, it is difficult to miniaturize the control devices with IPMC. Also, IPMC usually have a back-relaxation after initial large deformation. In this study, we propose a pulse width modulation (PWM) driving method by using a single board computer to make IPMC drive stably with low back-relaxation. In order to achieve our purpose of this study, we designed a driving circuit and evaluated the operation characteristics of the IPMC driven by the proposed method. As a result, the displacement of IPMC is greatly displaced during the first about 5 seconds in the proposed method. However, it is found that the displacement stabilized without back-relaxation compared with the case using the potentiostat. As a conclusion, it is confirmed that the proposed method is useful for IPMC with stable driving.</p>

印加電圧波形の制御により揺れ戻り軽減させたイオン導電性高分子金属接合体の動作特性評価

福井 龍一, 菊地 邦友

第18回 計測自動制御学会システムインテグレーション部門講演会 (SI2017)  2017.12   公益社団法人 計測自動制御学会 SI（システムインテグレーション）部門

Effects of external electric field on spreading of a surfactant on aqueous surface

Shigeki Tsuchitani, Takuya Shuto, Hirofumi Miki, Kunitomo Kikuchi

ABSTRACTS OF PAPERS OF THE AMERICAN CHEMICAL SOCIETY  2017.08   AMER CHEMICAL SOC

Development of a Multimaterial IPMC Fabricated by 3D Printing Technologies

Taisuke Norioka, Kunitomo Kikuchi

2017 International Workshop on Active Materials and Soft Mechatronics (2017AMSM)  2017.08   Inorganic Functional Material Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)

A Finite Element Analysis with a Simple Structure Model for a Thermoplastic Polymer Actuator

Ryuto Kakitsuka, Kunitomo Kikuchi

2017 International Workshop on Active Materials and Soft Mechatronics (2017AMSM)  2017.08   Inorganic Functional Material Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)

Driving Characteristics of Ionic Polymer-Metal Composite in Simulated Body Fluid

Kunitomo Kikuchi, Souta Nakano

2017 International Workshop on Active Materials and Soft Mechatronics (2017AMSM)  2017.08   Inorganic Functional Material Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)

Effects of Wave Shapes of Applied Voltages on Driving Characteristics of Ionic Polymer-Metal Composite

Ryuichi Fukui, Kunitomo Kikuchi

2017 International Workshop on Active Materials and Soft Mechatronics (2017AMSM)  2017.08   Inorganic Functional Material Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)

Driving Characteristics of 3D Printed Thermoplastic Polymer Actuator Using a Nylon Filament

Hiroto Ikoma, Kunitomo Kikuchi

2017 International Workshop on Active Materials and Soft Mechatronics (2017AMSM)  2017.08   Inorganic Functional Material Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)

イオン導電性アクチュエータ用高分子膜に対するイオン含有状態へのカチオン交換時間の影響

土山 春香, 菊地 邦友, 石原 大地, 森 将人

日本機械学会関西学生会平成28年度学生員卒業研究発表講演会  2017.03   日本機械学会関西支部

ナイロンアクチュエータの駆動モデルの検討

硴塚 龍望, 菊地 邦友, 石原 大地

日本機械学会関西学生会平成28年度学生員卒業研究発表講演会  2017.03   日本機械学会関西支部

Finite element analysis of a drive model of a nylon actuator

KAKITSUKA Ryuto, KIKUCHI Kunitomo

The Proceedings of Mechanical Engineering Congress, Japan  2017   The Japan Society of Mechanical Engineers

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<p>Thermoplastic polymer actuators have attracted attentions because of their generation force ( > 10[MPa]), low weight, low cost and reversible contraction ( >10[%]). Nylon actuators are one of the most promising thermoplastic polymer actuators. Therefore, many researchers and engineers have been researching them to apply them to a soft actuator for soft robotics. There are two kinds of Nylon actuator. One is super coiled type actuator such as over-twisted type and mandrill type. The other is sheet type. In this study, a finite element method (FEM) model with a simple structure model for super coiled type Nylon actuator is proposed as an initial stage. This model has a possibility to make it easier to physics based analysis with material properties changed. Mechanical properties of Nylon were taken into consideration for a simple helical structure. In this model, a torque and angle of twist to relax torsion of actuator were applied to a cross section of Nylon fiber to imitate actuator motion caused by heating. As a result, it was confirmed that total length of Nylon actuator contracted with the angle of twist increasing.</p>

Development of a Stiffness Control Mechanism with a PTC Heater for Soft Actuators

TANAKA Satoshi, KIKUCHI Kunitomo, ISHIHARA Daichi

The Proceedings of Conference of Kansai Branch  2017   The Japan Society of Mechanical Engineers

複数カチオンを有するイオン導電性高分子アクチュエータの駆動特性に対するイオン交換時間の影響 (Effects of Ion Exchange Time on Driving Characteristics of IPMC with Multi-kinds of Cations)

森 将人, 土山 春香, 菊地 邦友

第26回日本MRS年次大会  2016.12   日本MRS

イオン導電性高分子金属接合体センサの変形状態に対する出力応答性

石原 大地, 菊地 邦友

第17回計測自動制御学会システムインテグレーション部門講演会(SI2016)  2016.12   計測自動制御学会システムインテグレーション部門

Evaluation of Driving Characteristics of IPMC Sensor with a Transition Metal Ion

Kyohei Matsunami, Kuniomo Kikuchi, Shigeki Tsuchitani, Kinji Asaka

the 10th Asian-Australasian Conference on Composite Materials (ACCM-10)  2016.10   The Korean Society for Composite Materials

Evaluation of Driving Characteristics of Ionic Polymer-metal Composite Containing Two Kinds of Cations

Kunitomo Kikuchi, Masaru Miki, Shigeki Tsuchitani, Kinji Asaka

the 10th Asian-Australasian Conference on Composite Materials (ACCM-10)  2016.10   The Korean Society for Composite Materials

A Novel Approach of Development of a Reverse-operation Soft Gripper Using Ionic Polymer-metal Composite with Micro Printing Techniques

Taisuke Norioka, Kunitomo Kikuchi, Shigeki Tsuchitani, Kinji Asaka

the 10th Asian-Australasian Conference on Composite Materials (ACCM-10)  2016.10   The Korean Society for Composite Materials

クレーン型アームを有し１台のモータで重量物の 支持運搬を補助するパワーアシストスーツの開発

韓 鵬, 武野 友哉, 小川原 光一, 鈴木 新, 菊地 邦友

第34回日本ロボット学会学術講演会  2016.09   日本ロボット学会

作製時荷重が異なるナイロンアクチュエータの駆動特性評価

石田 龍一, 菊地 邦友, 硴塚 龍望, 鈴木 新, 小川原 光一

第34回日本ロボット学会学術講演会  2016.09   日本ロボット学会

IPMC Actuators Fabricated Using MEMS Technology

S. Tsuchitani, K. Kikuchi, I. Shimizu, T. Taniguchi, and H. MIki

CIMTEC 2016 - 7th Forum on New Material  2016.06   National Research Council, Italy

Leg mechanism of power assist robot with single motor

柴原 悠佑, 武野 友哉, 鈴木 新, 小川原 光一, 菊地 邦友

システム制御情報学会研究発表講演会講演論文集  2016.05.25   システム制御情報学会

二種類のカチオンを含有したイオン導電性高分子アクチュエータの動作特性評価

三木優, 菊地邦友, 森岡大地, 石原大地

日本機械学会関西支部 関西学生会 平成27年度学生員卒業研究発表講演会  2016.03   日本機械学会関西支部 (関西学生会)

粘弾性を考慮した誘電エラストマーアクチュエータ－質量系の動的駆動解析

木戸佑輔, 土谷茂樹, 菊地邦友, 幹浩文

日本機械学会関西支部 関西学生会 平成27年度学生員卒業研究発表講演会  2016.03   日本機械学会関西支部 (関西学生会)

遷移金属イオンをカウンターイオンとするイオン導電性高分子アクチュエータの動作特性評価

森将人, 菊地邦友, 森岡大地

日本機械学会関西支部 関西学生会 平成27年度学生員卒業研究発表講演会  2016.03   日本機械学会関西支部 (関西学生会)

金属イオンを含んだイオン導電性高分子金属接合体センサの動作特性

松波恭平, 菊地邦友, 森岡大地, 石原大地

日本機械学会関西支部 関西学生会 平成27年度学生員卒業研究発表講演会  2016.03   日本機械学会関西支部 (関西学生会)

マランゴニ効果を用いた自発運動機構の電界による制御の可能性の検討

首藤拓也, 土谷茂樹, 幹浩文, 菊地邦友

日本機械学会関西支部 関西学生会 平成27年度学生員卒業研究発表講演会  2016.03   日本機械学会関西支部 (関西学生会)

熱制御により剛性制御可能なイオン導電性高分子アクチュエータの開発

田中聡志, 菊地邦友, 森岡大地, 石原大地

日本機械学会関西支部 関西学生会 平成27年度学生員卒業研究発表講演会  2016.03   日本機械学会関西支部 (関西学生会)

ジルコニア粒子分散セルムエラストマーを用いた誘電エラストマーアクチュエータ

赤尾拓哉, 土谷茂樹, 菊地邦友, 幹浩文

日本機械学会関西支部 関西学生会 平成27年度学生員卒業研究発表講演会  2016.03   日本機械学会関西支部 (関西学生会)

ジルコニア粒子を分散させたシリコーンエラストマーを用いた誘電エラストマーアクチュエータ

松下岳史, 土谷茂樹, 菊地邦友, 幹浩文

日本機械学会関西支部 関西学生会 平成27年度学生員卒業研究発表講演会  2016.03   日本機械学会関西支部 (関西学生会)

温度制御により形状維持可能なイオン導電性高分子アクチュエータの有限要素法解析

万戸善久, 菊地邦友, 森岡大地

日本機械学会関西支部 関西学生会 平成27年度学生員卒業研究発表講演会  2016.03   日本機械学会関西支部 (関西学生会)

イオン導電性高分子アクチュエータを用いた逆作動型ソフトグリッパの開発

則岡泰典, 菊地邦友, 森岡大地, 石原大地

日本機械学会関西支部 関西学生会 平成27年度学生員卒業研究発表講演会  2016.03   日本機械学会関西支部 (関西学生会)

Effect of Input State on Outputs of Ionic Polymer-Metal Composite Sensor

ISHIHARA Daichi, KIKUCHI Kunitomo, MORIOKA Daichi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2016   The Japan Society of Mechanical Engineers

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<p>Ionic Polymer-Metal composite (IPMC) sensor is one of the most promising polymer deformation sensor to realize a type of self-sensing actuator. In this research effect of input state on outputs of IPMC sensor is evaluated with three alkali metals (Li⁺, Na⁺, K⁺). As a result, it is suggested that the larger Stokes radius of cation in IPMC improve the sensors outputs. Also, it is thought that the response speed of IPMC sensor is limited due to its stiffness and movement of cation because rapid deformation blocks to generate electric potential difference between cations and anions.</p>

カウンターイオンの異なるイオン導電性高分子金属接合体センサの動作特性評価

石原 大地, 菊地 邦友, 松波 恭平, 森岡 大地

第16回計測自動制御学会システムインテグレーション部門講演会(SI2015)  2015.12   公益社団法人計測自動制御学会

エラストマーとばねの直列引張構造をもつ誘電エラストマーアクチュエータの粘性を考慮した動作解析

岩政 宏紀, 土谷 茂樹, 幹 浩文, 菊地 邦友

第16回計測自動制御学会システムインテグレーション部門講演会(SI2015)  2015.12   公益社団法人計測自動制御学会

イオン液体を用いたイオン 導電性高分子アクチュエータの動作特性評価

森岡 大地, 菊地 邦友, 土谷 茂樹

第16回計測自動制御学会システムインテグレーション部門講演会(SI2015)  2015.12   公益社団法人計測自動制御学会

BaTiO3粒子を分散させた誘電エラストマーアクチュエータ用環動高分子の材料特性に及ぼす粒径の影響

谷口 周平, 土谷 茂樹, 幹 浩文, 菊地 邦友

第16回計測自動制御学会システムインテグレーション部門講演会(SI2015)  2015.12   公益社団法人計測自動制御学会

Analysis on Characteristics of Ionic Polymer-Metal Composite Sensor by Using COMSOL Multiphysics

Daichi Morioka, Daichi Ishihara, Marie Gibert, Kunitomo Kikuchi

COMSOL Conference Tokyo 2015  2015.12   COMSOL Inc, 計測エンジニアリングシステム

Effects of Nozzle Shape on Propulsion of A Chemical Locomotor Using Ionic Liquids

S. Tsuchitani, Y. Shakado, H. Miki, and K. Kikuchi

ASME 2015 International Mechanical Engineering Congress & Exposition  2015.11   ASME (American Society of Mechanical Engineers)

Development of power assist suit for supporting and transporting heavy object with single motor

Tomoya Takeno, Ayano Murakami, Han Peng, Koichi Ogawara, Arata Suzuki, Kunitomo Kikuchi

2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015  2015.09.30  

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© 2015 The Society of Instrument and Control Engineers-SICE. In this paper, we propose a power assist suit for supporting and transporting a heavy object with a single motor that reduces the load on the whole body of a wearer. The effectiveness of the power assist suit was verified by experiments.

Development of a prototype of variable stiffness ion conductive polymer actuator with a shape memory polymer

Daichi Ishihara, Kunitomo Kikuchi, Kazuya Yokoi, Daichi Morioka

2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015  2015.09.30   IEEE

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© 2015 The Society of Instrument and Control Engineers-SICE. In this study, we have developed a variable stiffness ionic polymer-metal composite (IPMC) integrated with a shape memory polymer (SMP) the stiffness of which is controlled by environmental temperature. The experimental results show that the proposed actuator enabled to control and maintain its deformation by changing the stiffness. Therefore, the usability of the proposed actuator was confirmed.

同一カチオンを有するイオン液体を用いたイオン導電性高分子アクチュエータの動作特性評価

森岡 大地, 菊地 邦友, 土谷 茂樹

第33回日本ロボット学会学術講演会 (RSJ2015)  2015.09   一般社団法人 日本ロボット学会

クレーン型アームを有し１台のモータで重量物の支持運搬を補助するパワーアシ ストスーツの開発

韓 鵬, 武野 友哉, 村上 綾乃, 小川原 光一, 鈴木 新, 菊地 邦友

第59回システム制御情報学会研究発表講演会(SCI’15)  2015.05   システム制御情報学会

ロール状誘電エラストマーアクチュエータの作製と評価

吉田和正, 谷口周平 , 菊地邦友, 幹浩文, 土谷茂樹

日本機械学会関西支部 関西学生会 平成26年度学生員卒業研究発表講演会  2015.03   日本機械学会関西支部 関西学生会

形状記憶ポリマー一体型イオン導電性高分子アクチュエータの開発

横井和哉, 菊地邦友, 幹浩文, 森岡大地, 土谷茂樹

日本機械学会関西支部 関西学生会 平成26年度学生員卒業研究発表講演会  2015.03   日本機械学会関西支部 関西学生会

セルフセンシングアクチュエータ実現に向けたイオン導電性高分子変位センサの周波数特性評価

石原大地, 菊地邦友, 土谷茂樹

平成26年度和歌山大学システム工学部・近畿大学生物理工学部学生研究成果発表会  2015.03   和歌山大学システム工学部, 近畿大学生物理工学部, (公財)和歌山産業振興財団, (一社)和歌山情報サービス産業協会

誘電エラストマーアクチュエータとバネの直列アクチュエータの動作解析

岩政宏紀, 谷口周平 , 菊地邦友, 幹浩文, 土谷茂樹

日本機械学会関西支部 関西学生会 平成26年度学生員卒業研究発表講演会  2015.03   日本機械学会関西支部 関西学生会

イオン導電性高分子金属接合体を使用したソフトグリッパの開発

中川雄貴, 菊地邦友, 幹浩文, 森岡大地, 土谷茂樹

日本機械学会関西支部 関西学生会 平成26年度学生員卒業研究発表講演会  2015.03   日本機械学会関西支部 関西学生会

イオン導電性高分子薄膜センサの周波数特性解析

石原大地, 菊地邦友, 幹浩文, 森岡大地, 土谷茂樹

日本機械学会関西支部 関西学生会 平成26年度学生員卒業研究発表講演会  2015.03   日本機械学会関西支部 関西学生会

医療・福祉分野への応用を目指した柔軟物体把持用ソフトグリッパの開発

森岡大地, 菊地邦友, 土谷茂樹

平成26年度和歌山大学システム工学部・近畿大学生物理工学部学生研究成果発表会  2015.03   和歌山大学システム工学部, 近畿大学生物理工学部, (公財)和歌山産業振興財団, (一社)和歌山情報サービス産業協会

2A2-A05 Development of a Soft Gripper Using a Sheet of Ionic Conductive Polymer Actuator Fabricated by MEMS technologies

MORIOKA Daichi, KIKUCHI Kunitomo, NAKAGAWA Yuki, ISHIHARA Daichi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2015   The Japan Society of Mechanical Engineers

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We propose the fabrication process of an IPMC-based soft gripper using a plasma process which is one of the most general MEMS technologies. This method enables the fabrication of the soft gripper from a sheet of IPMC. Also, this gripper can operate in solution. As a result, the operation of the gripper fabricated by the proposed process in solution was confirmed. In order to evaluate the usability of the gripper, the bending performance and the generative force under a constant voltage appliance were measured respectively. From the results, the soft gripper was able to grab a small sample, whose diameter and weigh are 1.0 mm and 12 mg, when 3.5 V was applied in DI water. These results show a feasibility of providing a miniaturized soft gripper using IPMC which has a novel structure

2A2-A04 Frequency Characteristics Evaluation of Ionic Polymer-Metal Composite Sensors with Various Cations

ISHIHARA Daichi, KIKUCHI Kunitomo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2015   The Japan Society of Mechanical Engineers

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This paper describes an evaluation study on frequency characteristics of Ionic polymer-metal composite (IPMC) sensors with Li^+ and Na^+. IPMC was composed of Nafion N117 as an ion exchange membrane and 5times gold plating electrode. To understand the time-domain frequency characteristics of the sensors, the sensor signals were evaluated by wavelet analysis method in air. As a result, the signals with Na^+ was larger than those with Li^+. It is indicated that the IPMC sensor with smaller cations has a kind of noise-reduction effect more effectively than that with the large cations because the size of cation affected the driving characteristics of the IPMC sensors.

同一カチオンを有するイオン液体を用いたイオン導電性高分子アクチュエータの動作特性評価

森岡 大地, 菊地 邦友

第15回 計測自動制御学会 システムインテグレーション部門講演会 (SI2014)  2014.12   計測自動制御学会 システムインテグレーション部門

イオン導電性高分子薄膜センサの動作特性の周波数解析手法の適用

石原 大地, 菊地 邦友

第15回 計測自動制御学会 システムインテグレーション部門講演会 (SI2014)  2014.12   計測自動制御学会 システムインテグレーション部門

静電容量の変化に着目したDEAのセルフセンシングシステムの開発

後藤 昌平, 長瀬 賢二, 土谷 茂樹, 菊地邦友

第15回 計測自動制御学会 システムインテグレーション部門講演会 (SI2014)  2014.12   計測自動制御学会 システムインテグレーション部門

Effects of electric field on friction on silicon dioxide

S. Tsuchitani, T. Hayashida, T. Inoue, H. Miki, and K. Kikuchi

7th International Colloquium Micro-Tribology 2014  2014.09   Polish Society of Tribology, Warsaw University of Technology

Spreading of ionic liquids on aqueous surface

Shigeki Tsuchitani, Taiga Fukutake, Hirofumi Miki, Kunitomo Kikuchi

ABSTRACTS OF PAPERS OF THE AMERICAN CHEMICAL SOCIETY  2014.08   AMER CHEMICAL SOC

Characterization of the Electromechanical Properties of Miniaturized Ionic Conductive Polymer Actuator Fabricated by a Selective Plasma Treatment Method

Kunitomo Kikuchi,Tomohisa Taniguchi, Daichi Morioka, Hirofumi Miki, Shigeki Tsuchitani

IUMRS-ICA (International Union of Materials Research Societies, International Conference in Asia) 2014  2014.08   MRS-J

Effects of anions used in ion-exchange process on operating characteristics of Nafion®-based IPMC with ionic liquids

Daichi Morioka, Kunitomo Kikuchi, Hirofui Miki, Shigeki Tsuchitani

IUMRS-ICA (International Union of Materials Research Societies, International Conference in Asia) 2014  2014.08   MRS-J

Effects of repeated plating process on electro-mechanical response of a perfluorocarboxylic ionic polymer actuator containing ionic liquids

Kunitomo Kikuchi, Changhon Kim, Daichi Morioka, Hirofumi Miki, Shigeki Tsuchitani

EuroEAP 2014: 4th international conference on Electromechanically Active Polymer (EAP) transducers & artificial muscles  2014.06   European Scientific Network for Artificial Muscles - ESNAM

Dielectric elastomer actuators using Slide-Ring Material with increased permittivity

Shigeki Tsuchitani, Tokiharu Sunahara, Hirofumi Miki, Kunitomo Kikuchi

EuroEAP 2014: 4th international conference on Electromechanically Active Polymer (EAP) transducers & artificial muscles  2014.06   European Scientific Network for Artificial Muscles - ESNAM

相互侵入高分子網目構造を有する誘電エラストマーアクチュエータの開発

湯川 候士, 菊地 邦友, 土谷 茂樹, 幹 浩文

日本機械学会関西支部関西学生会 平成25年度学生員卒業研究発表講演会  2014.03   日本機械学会関西支部

酸化チタンを分散させた誘電エラストマーとこれを用いたアクチュエータの作製

堀 大, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成25年度学生員卒業研究発表講演会  2014.03   日本機械学会関西支部

2液型セルムエラストマーを用いた誘電エラストマーアクチュエータの作製と特性評価

谷口 周平, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成25年度学生員卒業研究発表講演会  2014.03   日本機械学会関西支部

イオン液体を用いたイオン導電性高分子アクチュエータの動作特性に対するアニオンの影響

森岡 大地, 菊地 邦友, 土谷 茂樹, 幹 浩文

日本機械学会関西支部関西学生会 平成25年度学生員卒業研究発表講演会  2014.03   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の動作特性に及ぼす柔軟電極の効果に関する解析

松藤 裕起, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成25年度学生員卒業研究発表講演会  2014.03   日本機械学会関西支部

イオン導電性変位センサの動作特性に対する速度および変位量の影響

藤本 勇輝, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成25年度学生員卒業研究発表講演会  2014.03   日本機械学会関西支部

J1110101 Effects of electric field on lubrication properties of ultra thin ionic liquid film

HAYASHIDA Takahiro, TSUCHITANI Shigeki, MIKI Hirofumi, KIKUCHI Kunitomo

The Proceedings of Mechanical Engineering Congress, Japan  2014   The Japan Society of Mechanical Engineers

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Friction and wear arise in contact sliding parts of machines, increases in wear and deformation of the sliding parts caused by frictional heat. Induce mechanical failure lubricants are used to prevent these problems, but lubricant is evaporated or decomposed by frictional heat. In recent years, ionic liquids are attracting much attention as new lubricants. Ionic liquids have various non-conventional physical and chemical characteristics. We used three types of imidazolium ionic liquids: BMI-PF_6 (1-Butyl-3-methylimidazolium hexafluorophosphate), HMI-PF_6 (1-Hexyl-3-methylimidazolium hexafluorophosphate), OMI-PF_6 (1-Octyl-3-methylimidazolium hexafluorophosphate) with different alkyl chain length. They were coated on Si substrates with SiO_2 layer on the surface. We measured frictional force between the substrate coated with the ionic liquid and AFM (atomic force microscope) conductive tip as voltages were applied between them. It was confirmed that frictional force increased by applying voltages. The sample coated with HMI-PF_6 exhibited the largest increase in frictional force when voltages are applied.

J1130101 Optimal design of mechanism of self-motion using ionic liquid

SHAKADO Yoshifumi, TSUCHITANI Shigeki, MIKI Hirofumi, KIKUCHI Kunitomo

The Proceedings of Mechanical Engineering Congress, Japan  2014   The Japan Society of Mechanical Engineers

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Recently, the self-motion mechanism has attracted attention as a new motion mechanism. By realizing micro self-moving bodies which don't need energy supply from the outside and one equipped with a power source, applications of them to environmental sensing device, and transportation equipments of small objects on water surface, are possible. Since it has been reported that the self-motion on water surface in possible by using an ionic liquid [BMIM][PF_6] (1-butyl-3-methylimidazolium hexafluorophosphate) an a fuel which causes surface tension gradient on water surface and generate propulsion force, we focused on self-motion using ionic liquids. To establish method to control driving force, driving time and moving direction of this micro self-motion mechanism powered by ionic liquids. We measured driving force of a locomotion which has a nozzle to report ionic liquid on water surface and evaluated effects of the shape of the nozzle.

J1130102 Effect of magnetic field on the convection of aqueous solution of magnetic ionic liquid

MUKAI Daiki, TSUCHITANI Shigeki, MIKI Hirofumi, KIKUCHI Kunitomo

The Proceedings of Mechanical Engineering Congress, Japan  2014   The Japan Society of Mechanical Engineers

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Recentlt, self-motion is attracting attentions as a new motion mechanism that does not require energy supply from outside. Micro self-motion mechanism, in expected to be applied to transportations of small bodies in the water and environmental sensing devices. Among them, driving method using surface tension gradient on water surface are known. By using ionic liquids with ampliphilic chemical structure which can modify surface tention of water surface, the object can be driven by converting chemical energy into mechanical energy directly. We already, confirmed that small objects depositing an imidazolium-based ionic liquid [bmim][PF_6] (1-butyl-3-methylimidaz-olium hexafluorophosphate) moved spontaneously on water surface. In this study, by using a magnetic ionic liquid [bmim][FeCl_4](1-buthyl-3-methylimidazoium Tetrachloroferrate) containing a magnetic anion, we examined a potential application to control the direction of the self-motion by applying magnetic field.

イオン液体を含有したフレミオンベースのＩＰＭＣの電気機械特性に与える電極めっき回数の影響

金 壯憲,菊地 邦友,幹 浩文,土谷 茂樹

第14回 計測自動制御学会 システムインテグレーション部門講演会 (SI2013)  2013.12   公益社団法人計測自動制御学会システムインテグレーション部門

チタン酸バリウム粒子を分散させた誘電エラストマーアクチュエータ用環動高分子の電気機械的特性評価

砂原 時春,土谷 茂樹,菊地 邦友,幹 浩文

第14回 計測自動制御学会 システムインテグレーション部門講演会 (SI2013)  2013.12   公益社団法人計測自動制御学会システムインテグレーション部門

微細パターンを有するイオン導電性高分子アクチュエータの作製精度向上と特性評価

谷口 智久,菊地 邦友,幹 浩文,土谷 茂樹

第14回 計測自動制御学会 システムインテグレーション部門講演会 (SI2013)  2013.12   公益社団法人計測自動制御学会システムインテグレーション部門

Dielectric elastomers with photopolymerized interpenetrating networks

Shigeki Tsuchitan, Satoshi Oda, Kunitomo Kikuchi, Hirofumi Miki

EuroEAP 2013: Third international conference on Electromechanically Active Polymer (EAP) transducers & artificial muscles  2013.06   the ‘European Scientific Network for Artificial Muscles (ESNAM)’ - COST Action MP1003

Evaluation of driving characteristics of miniaturized ionic polymer actuator fabricated by a selective plasma treatment method

Kunitomo Kikuchi, Tomohisa Taniguchi, Hirofumi Miki, Shigeki Tsuchitani

EuroEAP 2013: Third international conference on Electromechanically Active Polymer (EAP) transducers & artificial muscles  2013.06   the ‘European Scientific Network for Artificial Muscles (ESNAM)’ - COST Action MP1003

ポリピロールアクチュエータを用いた空気中駆動可能な能動マイクロカテーテルの開発

石原 拓明, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成24年度学生員卒業研究発表講演会  2013.03   日本機械学会関西支部

高分解能を有した触覚センサのためのPVDF微細加工技術の開発

神田 宗章, 土谷 茂樹, 幹 浩文, 菊地 邦友

日本機械学会関西支部関西学生会 平成24年度学生員卒業研究発表講演会  2013.03   日本機械学会関西支部

有限要素解析によるイオン導電性高分子アクチュエータの形状効果の検討と評価

廣田 滉平, 菊地 邦友, 土谷 茂樹, 幹 浩文

日本機械学会関西支部関西学生会 平成24年度学生員卒業研究発表講演会  2013.03   日本機械学会関西支部

イオン導電性高分子金属接合体のセンサ特性における寸法・湿度の影響

田中 雄一郎, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成24年度学生員卒業研究発表講演会  2013.03   日本機械学会関西支部

マイクロカテーテル用小型一酸化窒素センサの開発

向井 大生, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成24年度学生員卒業研究発表講演会  2013.03   日本機械学会関西支部

ポリピロールをアクチュエータとするダイヤフラム型マイクロポンプの研究

林田 隆寛, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成24年度学生員卒業研究発表講演会  2013.03   日本機械学会関西支部

フォトレジストSU-8への機能性付与

釈迦戸 祥史, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成24年度学生員卒業研究発表講演会  2013.03   日本機械学会関西支部

DEAの動作特性に及ぼすプレストレインの効果に関する解析

若狭 淳, 土谷 茂樹, 菊地 邦友, 幹浩文

日本機械学会関西支部関西学生会 平成24年度学生員卒業研究発表講演会  2013.03   日本機械学会関西支部

環動高分子を用いた誘電エラストマーアクチュエータの開発

砂原時春、菊地邦友、幹浩文、土谷茂樹

平成24年度和歌山大学システム工学部・近畿大学生物理工学部大学院生研究成果発表会  2013.02   (公財)和歌山産業振興財団、(一社)和歌山情報サービス産業協会

ドライプロセス加工によるイオン導電性高分子アクチュエータのパターン化

谷口智久、菊地邦友、幹浩文、土谷茂樹

平成24年度和歌山大学システム工学部・近畿大学生物理工学部大学院生研究成果発表会  2013.02   (公財)和歌山産業振興財団、(一社)和歌山情報サービス産業協会

イオン液体を動力源とする自発運動機構に関する研究

福武大河、菊地邦友、幹浩文、土谷茂樹

平成24年度和歌山大学システム工学部・近畿大学生物理工学部大学院生研究成果発表会  2013.02   (公財)和歌山産業振興財団、(一社)和歌山情報サービス産業協会

J114014 Study on Mechanism of Self-motion Powered an Ionic Liquid

FUKUTAKE Taiga, TSUCHITANI Shigeki, KIKUCHI Kunitomo, MIKI Hirofumi

The Proceedings of Mechanical Engineering Congress, Japan  2013   The Japan Society of Mechanical Engineers

　View Summary

Recently, as a new motion mechanism, the self-motion mechanism has attracted attention. By realizing micro self-motion mechanism being not required energy supply from the outside and equipped with a power source, the application in the water is expected to environmental sensing device, transport of small objects and so on. Self-motion mechanism uses the surface tension of water (cohesive force of water), and it is the mechanism to convert chemical energy to mechanical energy directly. However in the water, since the effect of viscous resistance is increased by reducing the moving body, it is required for self-motion mechanism that energy sources to generate the movement of high efficiency, large driving force, and long time. Then, since it has been reported that the self-motion of the object by attaching the ionic liquid [BMIM][PF_6] (1-butyl-3-methylimidazolium hexafluorophosphate) on the water, we focused on self-motion using ionic liquids. Thus, we intended to establish a method to control micro self-motion mechanism powered by ionic liquids. In this study, we measured the surface tension and observed the Spreading by using four ionic liquids.

918 Effects of electric field on lubrication properties of ionic liquid thin films.

TOGANO Takeshi, TUCHITANI Shigeki, KIKUCHI Kunitomo, MIKI Hirofumi

The Proceedings of Conference of Kansai Branch  2013   The Japan Society of Mechanical Engineers

誘電エラストマーアクチュエータ用環動高分子材料の電気機械的特性評価

砂原 時春, 土谷 茂樹, 菊地 邦友, 幹 浩文

第13回 計測自動制御学会 システムインテグレーション部門講演会(SI2012)  2012.12   計測自動制御学会 (システムインテグレーション部門)

微細構造を有するパター ン化IPMCの作製手法の開発

谷口 智久, 菊地 邦友, 幹 浩文, 土谷 茂樹

第13回 計測自動制御学会 システムインテグレーション部門講演会(SI2012)  2012.12   計測自動制御学会 (システムインテグレーション部門)

UV重合を利用した相互侵入高分子網目構造を有する誘電エラストマーの電気・機械特性評価

小田 慧, 菊地 邦友, 幹 浩文, 土谷 茂樹

第13回 計測自動制御学会 システムインテグレーション部門講演会(SI2012)  2012.12   計測自動制御学会 (システムインテグレーション部門)

イオン導電性高分子アクチュエータにおけるデンドライ ト状電極のカチオン濃度分布への影響

廣田 滉平, 菊地 邦友, 谷口 智久, 金 壯憲, 幹 浩文, 土谷 茂樹

第13回 計測自動制御学会 システムインテグレーション部門講演会(SI2012)  2012.12   計測自動制御学会 (システムインテグレーション部門)

EFFECTS OF ELECTRIC FIELD ON FRICTION OF THIN IONIC LIQUID FILMS

Shigeki Tsuchitani, Takeshi Togano, Kunitomo Kikuchi and Hirobumi Han

6th International Colloquium MICRO-TRIBOLOGY 2012  2012.09   Warsaw University of Technology (Faculty of Mechatronics, Institute of Micromechanics and Photonics), Polishi Society of Tribology

Active catheter using a conductive polymer actuator driven in air

Shigeki Tsuchitani, Yuu Hanayama, Kunitomo Kikuchi, Hirofumi Han

EuroEAP 2012: Second international conference on Electromechanically Active Polymer (EAP) transducers %26 artificial muscles  2012.05   European Scientific Network for Artificial Muscles

Novel Inkjet Mechanism Using Pulsed Thermalmagnetic Driving

H. Han, S. Murai, K. Kikuchi, S. Tsuchitani and Y. Kosimoto

INTERMAG 2012: IEEE International Magnetics Conference  2012.05   the Magnetics Society of the Institute of Electrical and Electronics Engineers (IEEE)

Improvement of a formation method of patterned electrodes for IPMC by Selective plasma treatment

Kunitomo Kikuchi, Tomohisa Taniguchi, Hirofumi Han, Shigeki Tsuchitani

EuroEAP 2012: Second international conference on Electromechanically Active Polymer (EAP) transducers %26 artificial muscles  2012.05   European Scientific Network for Artificial Muscles

誘電エラストマーアクチュエータの電気的特性評価

秋山 将人, 菊地 邦友, 幹 浩文, 土谷 茂樹

日本機械学会関西支部関西学生会 平成23年度学生員卒業研究発表講演会  2012.03   日本機械学会関西支部

プラズマ照射によるイオン交換膜の改質を用いたイオン導電性高分子アクチュエータのパターン電極の作製と評価

谷口 智久, 菊地 邦友, 幹 浩文, 土谷 茂樹

日本機械学会関西支部関西学生会 平成23年度学生員卒業研究発表講演会  2012.03   日本機械学会関西支部

PDMSを用いた静電駆動型マイクロポンプの作製

福武 大河, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成23年度学生員卒業研究発表講演会  2012.03   日本機械学会関西支部

ロボット用ロール型誘電エラストマーアクチュエータの開発

砂原 時春, 菊地 邦友, 土谷 茂樹, 幹 浩文

日本機械学会関西支部関西学生会 平成23年度学生員卒業研究発表講演会  2012.03   日本機械学会関西支部

PVDF-HFP多孔質体を駆動電解質として用いた空気中駆動型アクチュエータの開発

福原 佑樹, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成23年度学生員卒業研究発表講演会  2012.03   日本機械学会関西支部

積層型誘電エラストマーアクチュエータの開発

田中 慎也, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成23年度学生員卒業研究発表講演会  2012.03   日本機械学会関西支部

円筒露光装置の開発

大西 清隆, 土谷 茂樹, 菊地 邦友, 幹 浩文

日本機械学会関西支部関西学生会 平成23年度学生員卒業研究発表講演会  2012.03   日本機械学会関西支部

IPMC の電気機械的特性に与えるイオン交換時の溶媒の影響

金 壯憲、菊地 邦友、土谷茂樹

平成23年度和歌山大学システム工学部・近畿大学生物理工学部大学院生研究成果発表会  2012.02   社団法人和歌山情報サービス産業協会（WAKASA）

イオン液体潤滑膜のマイクロトライボロジー ～電圧印加時におけるイオン液体の摩擦力特性

栂野 剛志、菊地 邦友、土谷茂樹

平成23年度和歌山大学システム工学部・近畿大学生物理工学部大学院生研究成果発表会  2012.02   社団法人和歌山情報サービス産業協会（WAKASA）

誘電エラストマーを用いた収縮駆動アクチュエータの開発

小田 慧、菊地 邦友、土谷茂樹

平成23年度和歌山大学システム工学部・近畿大学生物理工学部大学院生研究成果発表会  2012.02   社団法人和歌山情報サービス産業協会（WAKASA）

Thermal-magnetic inkjet mechanism for the application of micro pattern fabrication on the highly unlevel microarea

Hirofumi Han, K. Kikuchi, S. Tsuchitani

2012 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2012  2012  

　View Summary

We proposed a novel type of inkjet mechanism (thermal-magnetic driving) employing the magnetic material Curie temperature. In the magnetic circuit composed of N-S of magnet poles, the magnetizing field through temperature-sensitive magnetic fluid inside the circuit will show no-gradient uniform vector field. When the temperature-sensitive magnetic fluid inside the circuit was getting a rapid temperature rise locally, its magnetization will disappear locally, so that results in a precipitous magnetic gradient and pumping force (Maxwell stress). There, the moving elements like piezo-plates are absolutely unnecessary, and a high temperature rise like in the thermal bubble type inkjet is also not necessary. By employing a low Curie-temperature magnetic fluid (Ferrite or FeNiCr nanoparticle), it is possible to generate enough of ejecting power at 50-120°C. In the proposed inkjet system, magnetic fluid ink was used to alleviate the bursting phenomenon of the ink-drop and enlarge the flying distance of ink-drop. The pumping power was realized by the Maxwell stress generated from the precipitous magnetic gradient of the magnetic fluid in the inkjet head. The working mechanism was verified by the analysis software COMSOL MULTIPHYSICS simulation and the optimal structure was analyzed. The fabrication process was also discussed. The detailed simulation results will be presented in the conference presentation. © 2012 IEEE.

高分子アクチュエータを用いたパワーアシストグローブに関する基礎検討

小田 慧, 泉谷 惇嗣, 木下 雄樹, 菊地 邦友, 幹 浩文, 丸 典明, 土谷 茂樹, 安積 欣志

第12回 計測自動制御学会 システムインテグレーション部門講演会 (SI2011)  2011.12   計測自動制御学会

IPMC の電気機械特性に与えるイオン交換時の溶媒の影響

金 壯憲, 中村 佳寛, 岡本 正臣, 菊地 邦友, 幹 浩文, 土谷 茂樹, 安積 欣志

第12回 計測自動制御学会 システムインテグレーション部門講演会 (SI2011)  2011.12   計測自動制御学会

IPMCにおけるSF6プラズマを用いた電極のパターンめっきの作製と評価

谷口 智久, 清水 一平, 菊地 邦友, 幹 浩文, 土谷 茂樹, 安積 欣志

第12回 計測自動制御学会 システムインテグレーション部門講演会 (SI2011)  2011.12   計測自動制御学会

Equivalent Circuit and Its Effects on Actuation of Flemion-based IPMC

Shigeki Tsuchitani, Masaomi Okamoto, Kunitomo Kikuchi

6th World congress on Biomimetics, Articial Muscles and Nano-Bio  2011.10   the Université de Cergy-Pontoise and the Université Paris Diderot

周波数領域型低コヒーレンス干渉計を用いたSi基板の非接触温度分布計測

堤隆嘉, 太田貴之, 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  

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

　View Summary

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

　View Summary

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

　View Summary

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

　View Summary

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  

　View Summary

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

　View Summary

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  

MEMS技術を用いたイオン導電性高分子アクチュエータのマイクロ化に関する研究

平岡太吾, 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  

誘電エラストマーアクチュエータ用柔軟電極の形成

高松健太郎, 菊地邦友, 土谷茂樹

日本機械学会関西支部平成21年度関西学生会学生員卒業研究発表講演会講演前刷集  2010.03   日本機械学会関西支部

樹脂表面への無電解重合によるポリピロール膜の形成

花山由宇, 菊地邦友, 土谷茂樹

日本機械学会関西支部平成21年度関西学生会学生員卒業研究発表講演会講演前刷集  2010.03   日本機械学会関西支部

IPMCを用いたマイクロロボットの駆動および外部磁場によるエネルギ供給に関する研究

島村典尚, 三輪昌史, 菊地邦友, 土谷茂樹

日本機械学会中国四国支部総会・講演会講演論文集  2010.02.24  

マイクロ光造形法を用いたマイクログリッパの開発

高橋喜彦, 三輪昌史, 菊地邦友, 土谷茂樹, 越本泰弘

日本機械学会中国四国支部総会・講演会講演論文集  2010.02.24  

Evaluation of operating characteristics of Flemion®-based IPMC with ionic liquids operated in water

Masaomi Okamoto, Kunitomo Kikuchi, Shigeki Tsuchitani

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings  2010  

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In this paper, we describe evaluation results of operating characteristics of Ionic Polymer-Metal Composite (IPMC) with ionic liquids. This actuator has a feature of large displacement under low driving voltage drive, although its generation power was small. We prepared IPMC by incorporating ion liquid into it and evaluated moving performance in water. The performance has been improved compared to IPMC with alkali metallic ion. ©2010 IEEE.

1006 A Study on Micro Robot System using IPMC Actuator and energy supply method using external magnetic field

SHIMAMURA Norihisa, MIWA Masamumi, KIKUTI Kunitomo, TUTITANI Shigeki

The Proceedings of Conference of Chugoku-Shikoku Branch  2010   The Japan Society of Mechanical Engineers

誘電エラストマーアクチュエータ用ゴム状柔軟電極の開発

木下雄樹, 菊地邦友, 土谷茂樹

日本ロボット学会学術講演会予稿集(CD-ROM)  2010  

Development of flexible rubber electrode for dielectric elastomer actuator

Yuuki Kinoshita, Shigeki Tsuchitani, Kunitomo Kikuchi

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings  2010  

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Dielectric elastomer actuator (DEA) is expected as an artificial muscle. In this study, fabrication methods of two types of rubber electrodes for DEA were proposed. Moreover, effect of rubber materials on rubber electrodes, effect of amount of solvent (heptane) in rubber materials on performance of DEA, and effect of conducting materials (Ketjen Black and multi wall carbon nanotube) on rubber electrodes were evaluated. The activated relative area strain increased with increase in the hardness of the rubber. The maximum area strain was 38.28% when 4kV was applied. On the other hand, the fabrication method using low solvent has a possibility to fabricate DEA efficiently. ©2010 IEEE.

1005 Study on Mechanism of Self-motion Using Ionic Liquids

TAKAGI Nobuhiro, KIKUCHI Kunitomo, TSUCHITANI Shigeki

The Proceedings of Conference of Kansai Branch  2010   The Japan Society of Mechanical Engineers

615 Research on making to micro of ionic conductive polymer actuator that uses MEMS technology

HIRAOKA Daigo, KIKUCHI Kunitomo, TSUCHITANI Shigeki

The Proceedings of Conference of Kansai Branch  2010   The Japan Society of Mechanical Engineers

617 Make the Powerful IPMC with Flemion Membranae

OKAMOTO Masaomi, TSUCHITANI Shigeki, KIKUCHI Kunitomo

The Proceedings of Conference of Kansai Branch  2010   The Japan Society of Mechanical Engineers

Fabrication of ionic polymer-metal actuator of microcantilever type

Ippei Shimizu, Kunitomo Kikuchi, Shigeki Tsuchitani

2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings  2010  

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In this study, in order to develop fabrication process of ionic polymer-metal composite (IPMC) actuator of microcantilever type, we evaluated actuation characteristics of a thin film type IPMC. Though its displacement was smaller than that of IPMCs fabricated by using the commercial ionic polymer (Nafion) film, the actuation of the thin film type IPMCs was confirmed. It depended on the thickness of the Nafion layer. We can expect the realization of MEMS devices integrated with the thin film type micro IPMCs fabricated by the propose method. ©2010 IEEE.

911 Development of Microgripper Using the Micro-Sterolithography

TAKAHASHI Yoshihiko, MIWA Masafumi, KIKUTI Kunitomo, TUTITANI Sigeki, KOSHIMOTO Yasuhiro

The Proceedings of Conference of Chugoku-Shikoku Branch  2010   The Japan Society of Mechanical Engineers

Ionic Conductive Polymer Actuators Fabricated using MEMS Technology

Shigeki Tsuchitani, Kunitomo Kikuchi, Daigo Hiraoka, and Ippei Shimizu

4th Conference on Articificial Muscle - 5th World Congress on Biomimetics, Artificial Muscles and Nano-Bio -  2009.11   ・Research lnstitute for Cell Engineering, Institute of Advanced Industrial Science and Technology(AIST), ・Kansai Center, Institute of Advanced Industrial Science and Technology(AIST), ・RIKEN Advanced Science Institute

Electricity and mechanical characteristic of poly pyrrole made on various electrodes

杉戸 亮, 豊島 隆延, 菊地 邦友

知能メカトロニクスワークショップ講演論文集  2009.09.26   〔精密工学会〕

Operation of polypyrrole actuator in air

豊嶋 隆延, 菊地 邦友, 土谷 茂樹

知能メカトロニクスワークショップ講演論文集  2009.09.26   〔精密工学会〕

誘電エラストマーアクチュエータを用いた人工筋肉の開発

木下雄樹, 菊地邦友, 土谷茂樹

第14回 知能メカトロニクスワークショップ 講演論文集  2009.09   精密工学会

ポリピロールアクチュエータの空気中動作

豊嶋隆延, 菊地邦友, 土谷茂樹

日本機械学会関西支部平成20年度関西学生会学生員卒業研究発表講演会講演前刷集  2009.03   日本機械学会関西支部

高分子アクチュエータを用いた能動カテーテルの作製

前田幸作, 横田武志, 菊地邦友, 土谷茂樹

日本機械学会関西支部平成20年度関西学生会学生員卒業研究発表講演会講演前刷集  2009.03   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を用いた人工筋肉の開発

木下雄樹, 菊地邦友, 土谷茂樹

日本機械学会関西支部平成20年度関西学生会学生員卒業研究発表講演会講演前刷集  2009.03   日本機械学会関西支部

Effects of environmental humidity on electrical properties of ionic polymer-metal composite with ionic liquid

Kunitomo Kikuchi, Shigeki Tsuchitani

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings  2009  

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In this study, electrical properties of ionic polymer-metal composite (IPMC) with an ionic liquid (IL) as a solvent, were evaluated in air. 1-ethyl-3-methyl-imidazolium tetrafluoroborate (EMIBF4) was used as an IL. As a first approximation for the initial several seconds after application of the step voltage (0.5 or 1.5V), IPMC was explained by a simple equivalent circuit model expressed as a serial combination of the membrane resistor and the electrical double layer capacitor. The membrane resistance decreased with increasing environmental humidity. On the other hand, as for the double layer capacitance, at the lowest humidity of 20%RH, it was almost same between the two different voltages. In addition, the estimated membrane resistance agreed relatively well with the resistance of this equivalent circuit expressed as a parallel combination of a resistor and a capacitor which was derived from the complex impedance measurement in the frequencies higher than 5.0Hz. © 2009 SICE.

Development of an active micro catheter using a polymer actuator

Takeshi Yokota, Kosaku Maeda, Kunitomo Kikuchi, Shigeki Tsuchitani

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings  2009   The Japan Society of Mechanical Engineers

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Basic technologies to realize an active micro catheter using polypyrrole (PPy) as an actuator are being developed. The catheter is composed of a resin tube, a thin metal film for polymerization of PPy, and a PPy deposited on the electrode. From a finite element analysis, it was proved that a silicone tube with a diameter of 0.5mm and a thickness of 0.05mm is the best for our specification. Copper film for electropolymerizing PPy, was deposited by RF sputtering on the silicone tube. The copper film was patterned by a laser machining. PPy was polymerized on the copper film, which was deposited on the half side of the silicone tube. When a voltage of 1.5V was applied to the PPy vs. a titanium electrode in a NaCl solution, the tube bent with a radius of curvature of 12cm. © 2009 SICE.

912 Research on making of Ionic Polymer Metal Composite micro

HIRAOKA Daigo, KIKUCHI Kunitomo, TSUCHITANI Shigeki

The Proceedings of Conference of Kansai Branch  2009   The Japan Society of Mechanical Engineers

2P1-M04 Development of Microgripper Using the Micro-Sterolithography

TAKAHASHI Yoshihiko, MIWA Masafumi, KIKUTI Kunitomo, TUTITANI Sigeki, KOSHIMOTO Yasuhiro

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009   The Japan Society of Mechanical Engineers

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Recently, the miniaturization of the industrial product is remarkable, and it is predicted that further miniaturization is realized. And, a manipulator which handles those miniaturized industrial products is also desired to be miniaturized small size. In this study, the development of micro gripper fabricated by micro-stereolithography (μ SL) was done. Using micro-stereolithography, elastic modulus of the specific portion of a fabricated minute structure was controlled by changing some fabrication conditions. And test micro gripper with controlled elastic modulus of joint part was developed. The control method of elastic modulus was realized by changing the intensity of the curing laser light and lamination pitch of photopolymer resin.

Variable-focal length lens using IPMC

Ippei Shimizu, Kunitomo Kikuchi, Shigeki Tsuchitani

ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings  2009   〔精密工学会〕

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We fabricated a liquid lens type variable-focal length lens(VFLL), which is composed of a container with a movable silicon plate having a pupil (diameter: 4mm) covered by a thin polydimethylsiloxane (PDMS) film, a liquid enclosed in the container and a plural IPMCs fixed above the container for pushing the silicon plate downward. By applying a force to the silicon plate by IPMCs, the PDMS film of the pupil deforms upward. As a result, the focal length of the liquid lens decreases. The proposed method for fabricating VFLL has a large potential to realized very small VFLL. © 2009 SICE.

1P1-B03 A Study on Micro Robot System using IPMC Actuator and energy supply method using external magnetic field

SHIMAMURA Norihisa, MIWA Masafumi, KIKUTI Kunitomo, TUTITANI Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009   The Japan Society of Mechanical Engineers

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In this study, drive system for micro-robot using IPMC(Ionic Polymer Metal Composite) and energy supply method using external magnetic field are approached. Last fiscal year, driving test for thrust measurement of fish robot with the IPMC fin actuator and the drive circuit design for energy supply by external magnetizing field had been done. Based on last fiscal year's research, performance assessment of the drive IC and the drive circuit were done in this fiscal year. In addition, to check whether to obtain assumed voltage and current, performance assessment of magnetic field impression device was done. As a result, the problem of the drive circuit and the improvement point of the magnetic field impression device became clear.

Operation characteristics of ionic polymer-metal composite using ionic liquids

Kunitomo Kikuchi, Masafumi Miwa, Shigeki Tsuchitani

Materials Research Society Symposium Proceedings  2008.09   MATERIALS RESEARCH SOCIETY

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Operating characteristics of ionic polymer-metal composite (IPMC) using ionic liquids (ILs) as solvent were measured in air. Among three kinds of IL (1-ethyl-3-methyl-imidazolium tetrafluoroborate (EMIBF4), l-buthyl-3-methyl-imidazolium tetrafluoroborate (BMIBF4), and 1-buthyl-3-methyl-imidazolium hexafluorophosphate (BMlPF6)), IPMC using BMIPF6 exhibited the largest curvature of 3.3 m1 under an application of a rectangular wave voltage (±2.0V) with a frequency of 0.5Hz. It was found that the behavior of IPMC using ILs changed depending on environmental humidity. The maximum curvature during the voltage application, and the initial response speed of curvature were larger with increasing environmental humidity and voltage height. Time dependence of the curvature well corresponds to that of the transported charge due to movement of counter ions. Therefore, it is possible to explain the curvature response by the behavior of the transported charge. © 2009 Materials Research Society.

Bilayer microactuator of two kinds of polypyrroles doped with different dopants

Shigeki Tsuchitani, Kosei Chikatani, Kunitomo Kikuchi

Materials Research Society Symposium Proceedings  2008.09   MATERIALS RESEARCH SOCIETY

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Conjugated polymers such as polypyrrole and polyaniline, have excellent features as actuator, such as flexibility, light weight and large deformation under low application voltage. We fabricated a bilayer microactuator of two kinds of polypyrrole (PPy) films doped with two different dopants, i.e., dodecylbenzene sulfonate (DBS -) and p-phenol sulfonate (PPS -), on a silicon substrate using micromachining technology and electrochemical deposition of PPy. The fabricated actuators was 0.5mm long, 0.2mm wide and 1μm thick. In the fabrication of the microactuator, PPy(PPS) and PPy(DBS) were successively deposited on a patterned Au electrode, a part of which adhered to the silicon substrate through an adhesion layer of Cr. The fabricated microactuator was actuated in an aqueous solution of sodium hexafluorophosphate (1mol/l) by applying a voltage of +0.7V to PPys versus a counter electrode (Pt). In the first voltage application, the Au layer underneath the PPy layers peeled away from the silicon substrate except the contacting part with the Cr layer and bent about 90 degree in about 18s, since adhesion force between Au and Si is enough smaller than that between Au and Cr. After the second voltage application, the microactuator bent stably having a response speed of about 5s. © 2009 Materials Research Society.

Evaluation of Environmental Humidity on Displacement Characteristics of Ionic Polymer Actuator using Ionic Liquid

T. Yokota, K. Kikuchi, and S. Tsuchitani

SICE Annual Conference 2008  2008.08   The Society of Instrument and Control Engineers (SICE)

イオン液体を溶媒とするイオン導電性高分子アクチュエータの動作特性 -基本特性-

西本公大, 菊地邦友, 土谷茂樹

日本機械学会関西支部平成19年度関西学生会学生員卒業研究発表講演会講演前刷集  2008.03   日本機械学会関西支部

イオン導電性高分子アクチュエータのマイクロ化

平岡太吾, 菊地邦友, 土谷茂樹

日本機械学会関西支部平成19年度関西学生会学生員卒業研究発表講演会講演前刷集  2008.03   日本機械学会関西支部

イオン液体による物体の水上での自発運動

&#39641;木敦裕, 山口晃史, 菊地邦友, 土谷茂樹

日本機械学会関西支部平成19年度関西学生会学生員卒業研究発表講演会講演前刷集  2008.03   日本機械学会関西支部

ポリピロールを用いたバイモルフアクチュエータの作製

杉戸亮, 菊地邦友, 土谷茂樹

日本機械学会関西支部平成19年度関西学生会学生員卒業研究発表講演会講演前刷集  2008.03   日本機械学会関西支部

Evaluation of basic operating characteristics of ion conductive polymer actuator using ionic liquid

Takeshi Yokota, Kunitomo Kikuchi, Shigeki Tsuchitani

Proceedings of the SICE Annual Conference  2008   IEEE

　View Summary

Nafion®-based ionic polymer-metal composites (IPMCs), whose counter ions are exchanged using ionic liquids, are fabricated. EMIBF4, BMIBF4, and BMIPF6 are used as ionic liquids. During long-term (180min.) operation in air, changes in curvature of IPMCs are about 10% of the initial one. This change is enough smaller than that of conventional IPMCs using metallic counter ion. The curvature is larger in IPMC having lower charge transfer resistance, which is evaluated measuring frequency dependent complex impedance of IPMC. Furthermore, charge transfer resistance of IPMC decreases with increase in environmental humidity. © 2008 SICE.

Evaluation of basic operating characteristics of ion conductive polymer actuator using ionic liquid

Kunitomo Kikuchi, Masafumi Miwa, Shigeki Tsuchitani

Proceedings of the SICE Annual Conference  2008   IEEE

　View Summary

Nafion®-based ionic polymer-metal composites (IPMCs), whose counter ions are exchanged using ionic liquids, are fabricated. EMIBF4, BMIBF4, and BMIPF6 are used as ionic liquids. During long-term (180min.) operation in air, changes in curvature of IPMCs are about 10% of the initial one. This change is enough smaller than that of conventional IPMCs using metallic counter ion. The curvature is larger in IPMC having lower charge transfer resistance, which is evaluated measuring frequency dependent complex impedance of IPMC. Furthermore, charge transfer resistance of IPMC decreases with increase in environmental humidity. © 2008 SICE.

201 Development of Variable-focal Length Lens Using IPMC

YOSHIMURA Hiroyuki, KIKUCHI Kunitomo, TSUCHITANI Shigeki

The Proceedings of Conference of Kansai Branch  2008   The Japan Society of Mechanical Engineers

Inner Structure/Elastic Modulus Control of Micro Cantilever

M. Miwa, T. Michinomoto, K. Kikuchi, S. Tsuchitani, S. Yoneyama

Journal of JSEM  2008  

203 Displacement Characteristics of Ionic Polymer-Metal Composite with Ionic Liquids as Solvent : The Effects of different kinds of ILs on Displacement Characteristics of IPMC

KIKUCHI Kunitomo, TSUCHITANI Shigeki

The Proceedings of Conference of Kansai Branch  2008   The Japan Society of Mechanical Engineers

202 Operating characteristic of polymer actuator that used ionic liquid solvent : -Influence of humidity change on operation characteristic

YOKOTA Takeshi, KIKUCHI Kunitomo, TSUTITANI Shigeki

The Proceedings of Conference of Kansai Branch  2008   The Japan Society of Mechanical Engineers

2A1-A15 A Study on Micro Robot System using IPMC Actuator

SHIMAMURA Norihisa, MIWA Masahumi, KIKUTI Kunitomo, TUTITANI Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008   The Japan Society of Mechanical Engineers

　View Summary

In this study, a soft actuator for micro-robot using IPMC(Ionic Polymer Metal Composite) which bends with applied voltage and energy supply method using external magnetic field are studied. And driving test for a fish robot with IPMC fin actuator and a drive circuit design for the fish robot were done. In driving experiment, the fin only of IPMC and the fin that had combined PET seat with IPMC were used. As a result, the generation of the impellent was proven.

ドライフィルムレジストを用いたイオン導電性高分子金属接合体のパターン電極接合

菊地邦友, 三輪昌史, 土谷茂樹

第 8 回 計測自動制御学会 (SICE) システムインテグレーション部門講演会(SI 2007)論文集  2007.12   計測自動制御学会 システムインテグレーション部門

Evaluation of displacement characteristics and generation force of IPMCs with various counter ions

H. Yoshimura, K. Kikuchi, A. Yamaguchi, M. Miwa, and S. Tsuchitani

International Conference on Advanced Technology in Experimental Mechanics 2007 (ATEM'2007)  2007.09   日本機械学会 (材料力学部門)

Variable-focal length lens using a soft actuator

K. Kikuchi, M. Miwa and S. Tsuchitani

International Conference on Advanced Technology in Experimental Mechanics 2007 (ATEM'2007)  2007.09   日本機械学会材料力学部門

Development of Formation Method of Patterned Electrodes in Ionic Polymer Metal Composite

K. Kikuchi, M. Miwa and S. Tsuchitani

International Conference on Machine Design and Tribology (ICMDT 2007)  2007.07   日本機械学会基礎潤滑設計部門

ポリピロールを用いたマイクロベンディングアクチュエータの開発

横田 武志, 近谷 厚生, 菊地 邦友, 三輪 昌史, 土谷 茂樹

日本機械学会関西支部関西学生会 平成18年度学生員卒業研究発表講演会  2007.03   日本機械学会関西支部

イオン導電性高分子金属接合体を用いたオートフォーカス機構の開発

山口 晃史, 菊地 邦友, 三輪 昌史,土谷 茂樹

日本機械学会関西支部関西学生会 平成18年度学生員卒業研究発表講演会  2007.03   日本機械学会関西支部

1419 Development of Drug・Delivery・System(DDS) that uses polymer actuators : Development of micro pump for medicine discharge

CHIKATANI Kousei, KIKUCHI Kunitomo, MIWA Masafumi, TSUCHITANI Shigeki

The Proceedings of Conference of Kansai Branch  2007   The Japan Society of Mechanical Engineers

1421 Development of Variable-focal length lens using Ionic Conductive Polymer Gel Actuators

KIKUCHI Kunitomo, MIWA Masafumi, TSUCHITANI Shigeki

The Proceedings of Conference of Kansai Branch  2007   The Japan Society of Mechanical Engineers

1416 Development of Wireless Micro Robot Using IPMC

YOSHIMURA Hiroyuki, KIKUCHI Kunitomo, MIWA Masafumi, TSUCHITANI Shigeki, KOSHIMOTO Yasuhiro

The Proceedings of Conference of Kansai Branch  2007   The Japan Society of Mechanical Engineers

1504 Jointing Patterned Electrodes to Ionic Conductive Polymer Gel Actuators

KIKUCHI Kunitomo, MIWA Masafumi, TSUCHITANI Shigeki, ASAKA Kinji

The Proceedings of Conference of Kansai Branch  2006   The Japan Society of Mechanical Engineers