Actuator, actuator module, endoscope, endoscope module, and controlling method

1. An actuator comprising:

a tubular actuator element, wherein the tubular actuator element includes a sealed internal space; and

a supporting body which supports an inner peripheral surface of the tubular actuator element,

wherein the supporting body comprises a plurality of supporting units and a plurality of joint mechanisms,

wherein the plurality of joint mechanisms have a spherical shape and connect adjacent supporting units so as to be rotatable in an arbitrary direction, and

wherein the sealed internal space maintains an internal pressure that is higher than an external pressure of the sealed internal space.

2. The actuator according to claim 1 ,

wherein the supporting body supports the inner peripheral surface of the tubular actuator element discretely in a height direction of the tubular actuator element.

3. The actuator according to claim 1 , further comprising:

gas or liquid filling the sealed internal space of the tubular actuator element.

4. The actuator according to claim 1 ,

wherein the tubular actuator element is a dielectric elastomer actuator element.

5. The actuator according to claim 4 ,

wherein the dielectric elastomer actuator element is stacked.

6. The actuator according to claim 4 ,

wherein the tubular actuator element is provided with a tubular dielectric layer, a first electrode provided on an inner peripheral surface of the tubular dielectric layer, and a second electrode provided on an outer peripheral surface of the tubular dielectric layer.

7. The actuator according to claim 4 ,

wherein the tubular actuator element is provided with a tubular dielectric layer, a plurality of first electrodes provided on an inner peripheral surface of the tubular dielectric layer, and a plurality of second electrodes provided on an outer peripheral surface of the tubular dielectric layer, and

the first and second electrodes are opposed to each other with the tubular dielectric layer interposed therebetween and extend in a height direction of the tubular actuator element.

8. An endoscope comprising:

the actuator according to claim 1 .

9. An actuator module comprising:

an actuator including a tubular actuator element, wherein the tubular actuator element includes a sealed internal space;

a supporting body which supports an inner peripheral surface of the tubular actuator element, wherein the supporting body comprises a plurality of supporting units and a plurality of joint mechanisms, and wherein the plurality of joint mechanisms have a spherical shape and connect adjacent supporting units so as to be rotatable in an arbitrary direction;

a control unit which controls drive of the actuator; and

a pressurizing unit which pressurizes the sealed internal space of the actuator.

10. The actuator module according to claim 9 , further comprising:

a detecting unit which detects a pressure in the sealed internal space,

wherein the control unit controls the pressurizing unit according to a detection result of the detecting unit.

11. The actuator module according to claim 10 , further comprising:

a depressurizing unit which depressurizes the sealed internal space,

wherein the control unit controls the depressurizing unit according to a detection result of the detecting unit.

12. The actuator module according to claim 9 ,

wherein the pressurizing unit pressurizes the sealed internal space of the actuator by supplying gas or liquid to the sealed internal space.

13. An endoscope module comprising:

the actuator module according to claim 10 .

14. An actuator comprising:

an actuator element, wherein the actuator element includes a sealed internal space; and

a supporting body which supports the actuator element, wherein the supporting body comprises a plurality of supporting units and a plurality of joint mechanisms, wherein the plurality of joint mechanisms have a spherical shape and connect adjacent supporting units so as to be rotatable in an arbitrary direction, and

wherein an internal pressure of the sealed internal space is higher than an external pressure of the sealed internal space.

15. The actuator according to claim 14 ,

wherein the actuator element has a tubular shape, and

the supporting body supports both ends of the actuator element.

16. The actuator according to claim 14 ,

wherein the supporting body supports a peripheral edge of the actuator element.

17. A controlling method comprising:

detecting a pressure in a sealed internal space of a tubular actuator element, wherein the tubular actuator element includes a supporting body which supports an inner peripheral surface of the tubular actuator element, wherein the supporting body comprises a plurality of supporting units and a plurality of joint mechanisms, and wherein the plurality of joint mechanisms have a spherical shape and connect adjacent supporting units so as to be rotatable in an arbitrary direction; and

pressurizing or depressurizing the sealed internal space of the tubular actuator element on a basis of a result of the detection.