Soft Actuators: Materials, Modeling, Applications, and Future Perspectives

492 Pages·2014·19.77 MB·English

by  Kinji Asaka

Kinji Asaka
Hidenori Okuzaki Editors
Soft Actuators
Materials, Modeling, Applications,
and Future Perspectives
Soft Actuators

Kinji Asaka (cid:129) Hidenori Okuzaki
Editors
Soft Actuators
Materials, Modeling, Applications,
and Future Perspectives
Editors
KinjiAsaka HidenoriOkuzaki
NationalInstituteofAdvanced UniversityofYamanashi
IndustrialScienceandTechnology Kofu,Japan
(AIST)
Osaka,Japan
ISBN978-4-431-54766-2 ISBN978-4-431-54767-9(eBook)
DOI10.1007/978-4-431-54767-9
SpringerTokyoHeidelbergNewYorkDordrechtLondon
LibraryofCongressControlNumber:2014949897
©SpringerJapan2014
Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionor
informationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar
methodologynowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerpts
inconnectionwithreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeing
enteredandexecutedonacomputersystem,forexclusiveusebythepurchaserofthework.Duplication
ofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheCopyrightLawofthe
Publisher’s location, in its current version, and permission for use must always be obtained from
Springer.PermissionsforusemaybeobtainedthroughRightsLinkattheCopyrightClearanceCenter.
ViolationsareliabletoprosecutionundertherespectiveCopyrightLaw.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexempt
fromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.
While the advice and information in this book are believed to be true and accurate at the date of
publication,neithertheauthorsnortheeditorsnorthepublishercanacceptanylegalresponsibilityfor
anyerrorsoromissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,with
respecttothematerialcontainedherein.
Printedonacid-freepaper
SpringerispartofSpringerScience+BusinessMedia(www.springer.com)
Preface
Avarietyofsoftactuatorshassofarbeendevelopednotonlyfromthefundamental
viewpointofbasicmaterialscience,chemistry,physics,andbiologybutalsofrom
the engineering viewpoint for the practical applications to light-weight, low-cost,
no-noise, less-pollution, and high-efficiency micro- and macro-artificial muscles
and soft robotic systems. This book “Soft Actuators: Materials, Modeling, Appli-
cations,andFuturePerspectives”reviewscurrentandcomprehensiveresearchand
developmentofsoftactuators, andencompasses interdisciplinary studies ofmate-
rials science and chemistry, mechanics, electronics, robotics, and bioscience. The
topicsofthisbookupdatetheprecedingbook(inJapanese)entitled“SoftActuators
which Drive Future Technologies -Recent R&D Activities Focused on Polymers
and Biomaterials-” edited by Prof. Yoshihito Osada (Riken) and Prof. Takahisa
Taguchi(AIST)publishedbyCMCPublishingCo.,Ltd.in2010.
Chapters 1 and 2 of this book provide an overview of the current status of
materials, properties, applications, and market of soft actuators, including back-
ground and history of soft actuators with typical references as milestones of the
progress. Chapters 3–5 describe thermo-driven soft actuators using temperature-
responsivegelsandnanofibers.Electro-drivensoftactuators,whicharealsoknown
as electro-active polymer (EAP) actuators, utilizing ionic and electric conductive
polymers, carbon nanotubes, ionic liquid gels, dielectric elastomers and gels, and
piezoelectricpolymerswereintensivelydiscussedinChaps.6–15.Ontheotherhand,
light-driven soft actuators based on photochromism, photoisomerization, and
photoredoxreactionweredescribedinChaps.16–18,whileChaps.19 and20cover
the topics on magneto-driven actuators, both of which enable operation of soft
actuators by remote control. Furthermore, various motion models and control
methods of soft actuators were examined in Chaps. 21–26, which are crucially
important for the practical applications to Braille displays, soft micro-robots for
medical applications, micro-pumps, and transducers evaluated in Chaps. 27–32.
Finally,Chaps.33–35focusonnext-generationbio-actuatorsbasedonbiomaterials
toprovidefutureperspectivesforartificialmuscletechnologyofbio-nanomachines.
v
vi Preface
Thesetopicscoveredinthisbooknotonlypromotefurtherresearchanddevel-
opment of soft actuators, but also lead the way to their utilization and industriali-
zation.Readerscanobtaindetailed,usefulinformationaboutmaterials,methodsof
synthesis,fabrication, andmeasurements.Thenew ideas offered in thisbook will
provide inspiration and encouragement to researchers and developers as they
explorenewfieldsofapplicationsforsoftactuators.
Osaka,Japan KinjiAsaka
Kofu,Japan HidenoriOkuzaki
June2014
Contents
PartI Introduction
1 ProgressandCurrentStatusofMaterialsandProperties
ofSoftActuators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
HidenoriOkuzaki
2 CurrentStatusofApplicationsandMarkets
ofSoftActuators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
KinjiAsakaandKayoNakamura
PartII MaterialsofSoftActuators:Thermo-Driven
SoftActuators
3 ElectromagneticHeating. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
TakeshiYamauchi
4 Thermo-ResponsiveNanofiberMatsFabricated
byElectrospinning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
HidenoriOkuzaki
5 Self-OscillatingGels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
RyoYoshida
PartIII MaterialsofSoftActuators:Electro-Driven
SoftActuators
6 IonicConductivePolymers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
KunitomoKikuchiandShigekiTsuchitani
7 ConductingPolymers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
KeiichiKaneto
vii
viii Contents
8 Humidity-SensitiveConductingPolymerActuators. . . . . . . . . . . . 111
HidenoriOkuzaki
9 CarbonNanotube/IonicLiquidComposites.. . . .. . . .. . . . .. . . .. 127
TakushiSugino,KenjiKiyohara,andKinjiAsaka
10 IonGelsforIonicPolymerActuators. . . . . . . . . . . . . . . . . . . . . . . 141
MasayoshiWatanabe,SatoruImaizumi,TomohiroYasuda,
andHisashiKokubo
11 IonicLiquid/Polyurethane/PEDOT:PSSComposite
Actuators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
HidenoriOkuzaki
12 DielectricGels. . . . . . . . . . . . .. . . . . . . . . . . . .. . . . . . . . . . . . .. . 169
ToshihiroHirai
13 DielectricElastomers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
SeikiChiba
14 DevelopmentofActuatorsUsingSlideRingMaterials
andTheirVariousApplications. . . . . . . . . . . . . . . . . . . . . . . . . . . 197
HiromitsuTakeuchi
15 PiezoelectricPolymers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
YoshiroTajitsu
PartIV MaterialsofSoftActuators:Light-Driven
SoftActuators
16 Spiropyran-FunctionalizedHydrogels. . . .. . . . .. . . .. . . . .. . . .. 219
KimioSumaru,ToshiyukiTakagi,ShinjiSugiura,
andToshiyukiKanamori
17 PhotomechanicalEnergyConversionwithCross-Linked
Liquid-CrystallinePolymers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Jun-ichiMamiya
18 PhotoredoxReaction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
TetsuTatsuma
PartV MaterialsofSoftActuators:Magneto-Driven
SoftActuators
19 MagneticFluidCompositeGels. . . . . . . . . . . . . . . . . . . . . . . . . . . 255
ToshihiroHirai
20 MagneticParticleCompositeGels. . . . . . . . . . . . . . . . . . . . . . . . . 271
TetsuMitsumata
Contents ix
PartVI Modeling
21 MolecularMechanismofElectricallyInducedVolume
ChangeofPorousElectrodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
KenjiKiyohara,TakushiSugino,andKinjiAsaka
22 MaterialModeling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
YutakaToi
23 DistributedParameterSystemModeling. . . . . . . . . . . . . . . . . . . . 313
KentaroTakagi,GouNishida,BernhardMaschke,
andKinjiAsaka
24 ModelingandFeedbackControlofElectro-Active
PolymerActuators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
NorihiroKamamichi,KentaroTakagi,andShigenoriSano
25 MotionDesign-AGelRobotApproach. . . . . . . . . . . . . . . . . . . . . . 343
MihokoOtake
26 MotionControl. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
MinoruHashimoto
PartVII Applications
27 ApplicationofNano-CarbonActuatortoBrailleDisplay. . . . . . . . 371
IsaoTakahashi,TomomasaTakatsuka,andMunemitsuAbe
28 UnderwaterSoftRobots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
KentaroTakagi,Zhi-WeiLuo,andKinjiAsaka
29 IPMCActuator-BasedMultifunctionalUnderwater
Microrobots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
ShuxiangGuoandLiweiShi
30 MedicalApplications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
TadashiIhara
31 MicroPumpDrivenbyaPairofConductingPolymer
SoftActuators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435
MasakiFuchiwaki
32 ElastomerTransducers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
MikioWakiandSeikiChiba
PartVIII Next-GenerationBio-Actuators
33 TissueEngineeringApproachtoMakingSoftActuators. . . . . . . . 463
ToshiaFujisato,ShunyaTakagi,TomohiroNakamura,
andHiroshiTsutsui