| 摘要 |
A hardness-variable actuator (10) mounted to a flexible member and capable of presenting different hardness to the flexible member is provided with: a shape storage member (20), the phase of which can change between a first phase and a second phase; and an inducing member (30) for causing a change of phase between the first phase and the second phase in the shape storage member (20). When in the first phase, the shape storage member (20) assumes a soft state in which the shape storage member (20) can readily deform in accordance with an external force, and consequently presents a relatively low hardness to the flexible member. When in the second phase, the shape storage member (20) assumes a rigid state in which the shape storage member (20) exhibits a tendency to assume a stored shape stored in advance in opposition to an external force, and consequently presents a relatively high hardness to the flexible member. The hardness-variable actuator (10) is further provided with a hardness calculating means (60, 84) for calculating the hardness of the hardness-variable actuator (10). |
