| 摘要 |
Finger units (12, 13) curl and uncurl using joint unit (15) as supports. A wire (21) is disposed along the finger units (12, 13) by way of the joint units (15). A motor (22) takes up the wire (21) to thereby pull the wire (21) in the curl direction and cause the finger units (12, 13) to curl. A polymer actuator (25) disposed at an intermediate point of the wire (21) is formed in an elongated shape by a polymer material, and elastically deforms in response to an application of voltage and performs extension and contraction actions along the axial direction by being restored to the original shape in response the stoppage of the application of voltage. A lock mechanism (A) restricts relative movement of the wire (21) in relation to the motor (22) after the wire (21) has been taken up by the motor (22). The polymer actuator (25) performs extension and contraction actions while relative movement is restricted by the lock mechanism (A), whereby the wire (21) is pulled in the curl direction. |
