# US 2018/0320670 A1 · Actuator device and method for driving the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0320670 A1 - Document ID: US20180320670A1 - Status: Published application - Kind: A1 - Application number: 16/038,809 - Filed: 2018-07-18 - Published: 2018-11-08 - Earliest claimed: 2017-01-24 - Assignees: Panasonic Intellectual Property Management Co., Ltd. - Applicants: Panasonic Intellectual Property Management Co., Ltd. - Inventors: YURIKO KANEKO; MAKI HIRAOKA; KUNIHIKO NAKAMURA - Web page: https://patentgrep.com/patent/US20180320670A1 ## CPC - H10N 30/857: Macromolecular compositions - F03G 7/0121: {Electroactive polymers} - H10N 30/081: by coating or depositing using masks, e.g. lift-off - H10N 30/098: Forming organic materials - H10N 30/2027: {having cylindrical or annular shape} - H10N 30/2042: {Cantilevers, i.e. having one fixed end} - H10N 30/802: {Circuitry or processes for operating piezoelectric or electrostrictive devices not otherwise provided for, e.g. drive circuits} - H10N 30/87: Electrodes or interconnections, e.g. leads or terminals - H10N: ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR - F03G: SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR (arrangements in connection with power supply in vehicles from force of nature B60K16/00; electric propulsion with power supply in vehicles from force of nature B60L8/00) ## Abstract The actuator device according to the present invention comprises an actuator and an AC power supply capable of applying a high-frequency voltage to the actuator. The actuator comprises a flexible tube formed of a polymer, an inner electrode, and an outer electrode. In a cross section perpendicular to a longitudinal direction of the flexible tube, the inner electrode is in contact with at least a part of an inner periphery of the flexible tube. In the cross section, a part of an outer periphery of the flexible tube is coated with the outer electrode. In operation, the AC power supply applies a high-frequency voltage having a frequency of not less than 1 MHz to the actuator to deform the actuator in a direction from the inner electrode toward the outer electrode in the cross section. The AC power supply stops the application of the high-frequency voltage to the actuator to return the actuator to the original position thereof. ## Claims ### Claim 1 An actuator device, comprising: an actuator; and an AC power supply capable of applying a high-frequency voltage to the actuator, wherein the actuator comprises a flexible tube formed of a polymer, an inner electrode, and an outer electrode; the inner electrode is in contact with at least a part of an inner periphery of the flexible tube in a cross section perpendicular to a longitudinal direction of the flexible tube; in the cross section, a part of an outer periphery of the flexible tube is coated with the outer electrode; in the cross section, the part of the outer periphery of the flexible tube coated with the outer electrode faces the at least the part of an inner periphery of the flexible tube which is in contact with the inner electrode so as to interpose a part of the flexible tube therebetween; and the AC power supply, in operation, applies the high-frequency voltage having a frequency of not less than 1 MHz to the actuator to deform the actuator in a direction from the inner electrode toward the outer electrode in the cross section, and stops the application of the high-frequency voltage to the actuator to return the actuator to the original position thereof. ### Claim 2 (depends on 1) The actuator device according to claim 1, wherein the inner electrode is formed along a longitudinal direction of the flexible tube. ### Claim 3 (depends on 1) The actuator device according to claim 1, wherein the outer electrode is formed along a longitudinal direction of the flexible tube. ### Claim 4 (depends on 1) The actuator device according to claim 1, wherein the high-frequency voltage has a frequency of not more than 100 MHz. ### Claim 5 (depends on 1) The actuator device according to claim 1, wherein the AC power supply is capable of applying the high-frequency voltage intermittently to the actuator so as to satisfy the following mathematical formula (I): 6 Hz≤1/(ON period+OFF period)≤26 Hz (I) where the ON period is defined as a period during which the high-frequency voltage is applied to the actuator; and the OFF period is defined as a period during which the high-frequency voltage is not applied to the actuator. ### Claim 6 (depends on 1) The actuator device according to claim 1, wherein in the cross section, the inner electrode is in contact with whole circumference of the inner periphery of the flexible tube so as to fill an inside of the flexible tube. ### Claim 7 (depends on 1) The actuator device according to claim 1, wherein a part of the outer periphery of the flexible tube which is not coated with the outer electrode is exposed. ### Claim 8 (depends on 1) The actuator device according to claim 1, wherein the following mathematical formula (II) is satisfied: 25%≤coating ratio≤75% (II) where the coating ratio=(in the cross section, a length of the part of the outer periphery of the flexible tube which is coated with the outer electrode)/(in the cross section, a length of the other part of the outer periphery of the flexible tube which is not coated with the outer electrode). ### Claim 9 (depends on 1) The actuator device according to claim 1, wherein the outer electrode comprises: a first outer electrode portion which is formed along a longitudinal direction of the flexible tube and coats the part of the outer periphery of the flexible tube; and a second outer electrode portion which is formed in parallel to the first outer electrode portion and coats the part of the outer periphery of the flexible tube; and in the cross section, the first outer electrode portion and second outer electrode portion are disposed circularly-asymmetrically. ### Claim 10 (depends on 1) The actuator device according to claim 1, wherein the inner electrode comprises: a first inner electrode portion which is formed along a longitudinal direction of the flexible tube and coats the part of the inner periphery of the flexible tube; and a second inner electrode portion which is formed in parallel to the first inner electrode portion and coats the part of the inner periphery of the flexible tube; and in the cross section, the first inner electrode portion and the second inner electrode portion are disposed circularly-asymmetrically. ### Claim 11 (depends on 1) The actuator device according to claim 1, wherein the flexible tube is formed of a polymer represented by the following chemical formula (I) or a copolymer thereof: where X1 is a halogen atom, and X2, X3, and X4 are, each independently, one kind selected from the group consisting of a hydrogen atom and a halogen atom. ### Claim 12 (depends on 1) The actuator device according to claim 1, wherein the flexible tube is formed of a copolymer represented by the following chemical formula (II): where X1 is a halogen atom, and X2-X8 are, each independently, one kind selected from the group consisting of a hydrogen atom and a halogen atom. ### Claim 13 (depends on 12) The actuator device according to claim 12, wherein X1, X2, X5, X6, and X7 are fluorine atoms; and X3, X4, and X8 are hydrogen. ### Claim 14 (depends on 1) A method for driving an actuator device, the method comprising: (a) preparing an actuator device according to claim 1; and (b) applying a high-frequency voltage having a frequency of not less than 1 MHz between the inner electrode and the outer electrode to deform the actuator in a direction from the inter electrode toward the outer electrode in the cross section. ### Claim 15 (depends on 14) The method according to claim 14, further comprising: (c) stopping the application of the high-frequency voltage to return the actuator to the original position thereof. ### Claim 16 (depends on 14) The method according to claim 14, wherein the inner electrode is formed along a longitudinal direction of the flexible tube. ### Claim 17 (depends on 14) The method according to claim 14, wherein the outer electrode is formed along a longitudinal direction of the flexible tube. ### Claim 18 (depends on 14) The method according to claim 14, wherein the high-frequency voltage has a frequency of not more than 100 MHz. ### Claim 19 (depends on 14) The method according to claim 14, wherein the AC power supply is capable of applying the high-frequency voltage intermittently to the actuator so as to satisfy the following mathematical formula (I): 6 Hz≤1/(ON period+OFF period)≤26 Hz (I) where the ON period is defined as a period during which the high-frequency voltage is applied to the actuator; and the OFF period is defined as a period during which the high-frequency voltage is not applied to the actuator. ### Claim 20 (depends on 14) The method according to claim 14, wherein in the cross section, the inner electrode is in contact with whole circumference of the inner periphery of the flexible tube so as to fill an inside of the flexible tube. ### Claim 21 (depends on 14) The method according to claim 14, wherein a part of the outer periphery of the flexible tube which is not coated with the outer electrode is exposed. ### Claim 22 (depends on 14) The method according to claim 14, wherein the following mathematical formula (II) is satisfied: 25%≤coating ratio≤75% (II) where the coating ratio=(in the cross section, a length of the part of the outer periphery of the flexible tube which is coated with the outer electrode)/(in the cross section, a length of the other part of the outer periphery of the flexible tube which is not coated with the outer electrode). ### Claim 23 (depends on 14) The method according to claim 14, wherein the outer electrode comprises: a first outer electrode portion which is formed along a longitudinal direction of the flexible tube and coats the part of the outer periphery of the flexible tube; and a second outer electrode portion which is formed in parallel to the first outer electrode portion and coats the part of the outer periphery of the flexible tube; and in the cross section, the first outer electrode portion and second outer electrode portion are disposed circularly-asymmetrically. ### Claim 24 (depends on 14) The method according to claim 14, wherein the inner electrode comprises: a first inner electrode portion which is formed along a longitudinal direction of the flexible tube and coats the part of the inner periphery of the flexible tube; and a second inner electrode portion which is formed in parallel to the first inner electrode portion and coats the part of the inner periphery of the flexible tube; and in the cross section, the first inner electrode portion and the second inner electrode portion are disposed circularly-asymmetrically. ### Claim 25 (depends on 14) The method according to claim 14, wherein the flexible tube is formed of a polymer represented by the following chemical formula (I) or a copolymer thereof: where X1 is a halogen atom, and X2, X3, and X4 are, each independently, one kind selected from the group consisting of a hydrogen atom and a halogen atom. ### Claim 26 (depends on 14) The method according to claim 14, wherein the flexible tube is formed of a copolymer represented by the following chemical formula (II): where X1 is a halogen atom, and X2-X8 are, each independently, one kind selected from the group consisting of a hydrogen atom and a halogen atom. ### Claim 27 (depends on 26) The method according to claim 26, wherein X1, X2, X5, X6, and X7 are fluorine atoms; and X3, X4, and X8 are hydrogen.