@techreport{oai:soar-ir.repo.nii.ac.jp:00014485,
 author = {小林,  俊一 and 森川,  裕久},
 month = {Mar},
 note = {Cilia and Eukaryotic flagella possess two singlet microtubules and nine outer doublet microtubules. Protuberances of protein named as dyneins, are placed along doublet microtubules. Dyneins produce the active sliding force of doublet microtubules. Ciliary beating and flagellar movement are generated by the active sliding of doublet microtubules. We aimed to develop the artificial actuator imitating the active sliding of doublet microtubules in cilia and flagella. We have made an enlarged artificial actuator by using two flexible beams corresponding to two microtubules. To ensure active sliding in high viscous fluid for low Reynolds number, the pulleys with geared stepping motors corresponding to the dyneins were placed between two toothed timing belts as the flexible beams. Continuous bending wave was generated. Furthermore, we developed an enlarged propulsion mechanism modeled on ciliary movement. To realize the effective stroke and recovery stroke of ciliary movement, the mechanism was equipped with a motor on its base and a variable-bending-stiffness fin made of Ionic Conducting Polymer gel Film (ICPF). We have made a paramecium type robot which consists of six variable-bending-stiffness fins., Article, 先進ファイバー工学研究教育拠点研究成果報告書 11: 74-75(2005)},
 title = {15-3-8 : 繊毛､鞭毛を規範としたアクチュエータの開発},
 year = {2005}
}