Naoki Hayashi MPa 10 %

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1 Panasonic Technical Journal Vol. 63 No. 1 May 2017 Large-displacement and High-output Power Polymer-Fiber Actuator Maki Hiraoka Naoki Hayashi Yuriko Kaneko Kenji Tagashira Kunihiko Nakamura Hidekazu Arase MPa %70 MPa 2 % MPa10 % 0.15 W/cm5 N We propose a new coiled-fiber actuator based on linear low-density polyethylene fibers whose nanostructure is modified to generate a large thermal strain. The operating temperature of the actuator is reduced below 100 C, which is suitable for wearable applications. The actuator generates a strain as high as 23% at 90 C under a tensile stress of 10 MPa (30 times that of mammal skeletal muscle). The maximum work efficiency under ideal adiabatic conditions reached 2%, which is top-level performance in thermal-strain type actuators, under 70 MPa tensile strain. We made yarn from the coiled fibers with heating wires to drive the actuator with electrical resistive heating. The actuator generates 10% strain under 10 MPa tensile stress. The actuator can be combined with common fabrics or peripheral components without thermal degradation because of its low driving temperature, making it easy to integrate it with wearable systems. We also report on a bundled actuator, knitted with an industrial braiding machine, that can lift a load of 5 N driven by 0.15 W/cm of input power. IoT [1]1 10 % 103 MPa [2] 10 MPa10 % 2014 Science[3] 100

2 96 Panasonic Technical Journal Vol. 63 No. 1 May 2017 [4] [5] [6] T g [6] α Nylon6,6 [6] L Dd α c 45 L L ~ Tl N Δλ Δd 2 λ d 1 [5]T l N Δλ/λ d/d Fibrils ab Schematics of (a) bulk structure of twisted coil and (b) ideal nano-structural model of drawn-crystalline polymer fiber Nylon6,6 [3]Nylon6,6T g 170 (LLDPE, Linear low density polyethylene)

97 LLDPE LLDPE T g -110 LLDPE LLDPE LLDPE 0.92 g/cm 3 LLDPE 160 80 10 0.

3 97 LLDPE LLDPE T g -110 LLDPE LLDPE LLDPE 0.92 g/cm 3 LLDPE GPa6 GPa 20 MPa 6 GPa (HDPE, High density polyethylene) Nylon6,6 [5] LLDPEHDPENylon6,6 λ/λd/d 10 MPa TMA (1) LLDPE HDPENylon6, %90 23 % LLDPE1 20 MPaLLDPE230 MPa LLDPE LLDPE155 MPa LLDPE270 MPa 230 Nylon6,6 1.0 %LLDPE 2 % [7] λλ LLDPE Change of bulk structures processed from pellets into twisted coil (TMA) Δλ/λΔd/d Thermal strain of drawn fibers along fiber axis (Δλ/λ) and fiber diameter (Δd/d), Temperature dependence of tensile actuation (ΔL/L) of the coiled fibers, Tensile stress dependence of tensile actuation of the coiled fiber, Work efficiency of the coiled fibers under adiabatic condition estimated from the results in Fig. 3(c)

98 Panasonic Technical Journal Vol. 63 No.

WAXDAFM 1 μm SAXS WAXD images of drawn polymer fibers,1 μm of AFM phase images

40 16 nmc Nylon6,64 nm LLDPE Tg LLDPE LLDPE HDPENylon6,6 [5] 2LLDPEAg 10 MPa

4 98 Panasonic Technical Journal Vol. 63 No. 1 May 2017 X XWAXD c ab [8], [9] AFM LLDPEHDPE XSAXS 4HDPE 17 nmafm 20 nm100 nm WAXDAFM 1 μm SAXS WAXD images of drawn polymer fibers,1 μm of AFM phase images of the fiber cross section, SAXS images of drawn polyethylene fibers LLDPE12 nm nmc Nylon6,64 nm LLDPE Tg LLDPE LLDPE HDPENylon6,6 [5] 2LLDPEAg 10 MPa LLDPE0.16 W/ cm 200 W/g 9 % 0.31 % 10 MPa0.6 % Nylon6,6 LLDPE200 W/g2.5 % 0.08 %LLDPE Nylon6,64 LLDPE10 MPa

99 500 g 10 MPa10 % LLDPE LLDPE LLDPE Actuation by electrical resistive heating Tensile actuation heated by LLDPE coil coated with Ag paste Cycle actuation of LLDPE coil made into a yarn with heating

5 g 10 MPa10 % LLDPE LLDPE LLDPE Actuation by electrical resistive heating Tensile actuation heated by LLDPE coil coated with Ag paste Cycle actuation of LLDPE coil made into a yarn with heating wire 18LLDPELLDPE 8 % 0.15 W/cm 2 Photographs of an actuator band. Inset shows an optical microscope image of the actuator band, Tensile actuation of coiled actuators LLDPE MPa %23 % 1/ LLDPE60 70 MPa 2 % 10 MPa 9 %0.31 % Nylon6, % 0.15 W/cm 5N 10 MPa10 % [1] M. A. McEvoy et al., Materials that couple sensing, actuation, computation, and communication, Science, vol. 347, issue 6228, pp , [2] J. D. Madden et al., Artificial Muscle Technology: Physical Principles and Naval Prospects, IEEE J. Oceanic Eng., vol. 29, issue 3, pp , 2004.

100 Panasonic Technical Journal Vol. 63 No. 1 May 2017 [3] Carter S. Haines et al.

Robot, 7139506, pp. 2313 2318, June 2015. [5] M. Hiraoka et al.

Rep. 6, 36358, pp.1-9, Nov. 2016. [6] C. L. Choy et al.

19, issue 2, pp.335-352, 1981. [7] J. E. Huber, et al.

London A, vol. 453, no. 1965, pp. 2185-2205, 1997. [8] Guan, X. et al.

6 100 Panasonic Technical Journal Vol. 63 No. 1 May 2017 [3] Carter S. Haines et al., Artificial Muscles from Fishing Line and Sewing Thread, Science, vol. 343, issue 6173, pp , [4] Yip, M. C. et al., High-Performance Robotic Muscles from Conductive Nylon Sewing Thread, IEEE Int. Conf. Robot, , pp , June [5] M. Hiraoka et al., Power-efficient low-temperature woven coiled fibre actuator for wearable applications, Sci. Rep. 6, 36358, pp.1-9, Nov [6] C. L. Choy et al., Negative Thermal Expansion in Oriented Crystalline Polymers, Polym. Sci., vol. 19, issue 2, pp , [7] J. E. Huber, et al., The selection of mechanical actuators based on performance indices, Proc. R. Soc. London A, vol. 453, no. 1965, pp , [8] Guan, X. et al., Dynamic mechanical properties of random ethylene/1-octene copolymers prepared by rapid cooling, Eur. Polym. J., vol. 43, issue 4, pp , [9] Ran, S., et al. Structure Development during the Heat-Draw Process of Nylon 66 Fiber by Synchrotron X-ray Diffraction, Adv. X-ray Anal., vol. 43, pp , Energy Materials Research Lab.,

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