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Kunitomo Kikuchi,Shigeki Tsuchitani 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
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 ex-pressed as a parallel combination of a resistor and a capacitor which was derived from the complex impedance mea-surement in the frequencies higher than 5.0Hz.
Variable-focal Length Lens Using IPMC
Ippei SHIMIZU,Kunitomo KIKUCHI,Shigeki TSUCHITANI 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
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.
Development of an Active Micro Catheter using a Polymer Actuator
Takeshi Yokota,Kosaku Maeda,Kunitomo Kikuchi,Shigeki Tsuchitani 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
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 athickness 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.