| 摘要 |
PROBLEM TO BE SOLVED: To provide a flexible actuator which performs precise holding motions to a small object when it is used as an imitated finger of a robot. SOLUTION: The flexible actuator comprises a first actuator AC1 bendable to a specific direction, and a second actuator AC2 slanting the first actuator to a base end side which is different from a bending direction of the first actuator. The first actuator comprises a tube 20, a plurality of skeleton members 11a to 11g and a pointed end skeleton member 12 lined up to a longitudinal direction of the tube, and a connection member 40 retaining adjacent skeleton members and the pointed end skeleton member in a oscillation-free state, respectively. The second actuator comprises a connection member 50 retaining a distance between the skeleton member most close to a base end and base skeleton member in a predetermined interval, a bulged hollow portion 62 inserted between the lower surface of the skeleton member most close to the base end and the upper surface of the base skeleton member, and a spring member 63 generating spring force to a direction compressing the bulged hollow portion 62. COPYRIGHT: (C)2004,JPO
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