複数の釣糸アクチュエータを用いた面状筋の開発

<p>This paper proposes a planar muscle consisting of multiple twisted and coiled polymer fiber actuators (TCPFA). In the authors' previous work, to realize the coexistence of large stroke and large output force, an actuator unit using multiple TCPFAs fabricated by winding the twisted fiber around the mandrel was developed. However, its heat conduction area between TCPFAs and the electric wire for Joule heating is small because of its structure such that the electric wire was wound around multiple TCPFAs arranged on a circumference. To increase the heat conduction area, the planar muscle developed in this paper is fabricated by weaving an electric wire into multiple TCPFAs.</p>