Flexible actuator

A flexible actuator comprising:

• a long movable part that is bent by a liquid moving toward a main liquid chamber;
• a reservoir where the liquid moves to and from said main liquid chamber;
• a pump that moves the liquid between the reservoir and said main liquid chamber;
• and
• a pump driving unit that controls the pump,
• wherein said movable part includes said main liquid chamber and said reservoir placed along a length, a plurality of frame members aligned at predetermined intervals along lengths of said main liquid chamber and said reservoir, and a resilient core member that holds the alignment of the frame members.

A flexible actuator comprising:

• a plurality of flat expanded hollow portions made of a flexible elastic material and provided at predetermined intervals along a length;
• a long tube in which a liquid chamber is formed by a connection tube that communicates between the plurality of expanded hollow portions and extends along the length;
• a plurality of flat frame members that longitudinally hold the plurality of expanded hollow portions of said tube with surface contact;
• and
• a connection that holds said adjacent frame members so as to swing against each other,
• wherein said actuator includes at least one spring member for recovering rotating angle between said frame members, and said spring member is placed to produce a spring force in a compressing direction of the expanded hollow portions of said tube by said adjacent frame members.

A flexible actuator comprising:

• a first actuator that bends in a predetermined direction;
• and
• a second actuator joined to a base of the first actuator,
• wherein said first actuator includes:
• a plurality of flat expanded hollow portions made of a flexible elastic material and provided at predetermined intervals along a length;
• a long tube in which a liquid chamber is formed by a connection tube that communicates between the plurality of expanded hollow portions and extends along the length;
• a plurality of flat frame members that longitudinally hold the plurality of expanded hollow portions of said tube with surface contact;
• and a connection that holds said adjacent frame members so as to swing against each other, and said second actuator is placed between said frame member at the base of said first actuator and an actuator mounting portion, and the entire first actuator is slanted in a direction different from a bending direction of said first actuator.