Prosthetic massage device comprising artificial muscles

Abstract

An appendage massage device includes an appendage wrap having an inner band and an outer layer and one or more artificial muscles disposed between the inner band and the outer layer of the appendage wrap. Each of the one or more artificial muscles includes a housing having an electrode region and an expandable fluid region, a dielectric fluid contained within the housing, and a pair of electrodes positioned in the electrode region of the housing. The pair of electrodes includes a first electrode fixed to a first surface of the housing and a second electrode fixed to a second surface of the housing. The pair of electrodes is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs the dielectric fluid into the expandable fluid region, thereby expanding the expandable fluid region, thereby exerting pressure on the inner band of the appendage wrap.

Description

Technical Field

[0001] This specification relates generally to appendage massage devices, and more particularly to appendage massage devices comprising artificial muscles for providing selective pressure to provide therapeutic massage to the user. Background Technology

[0002] Therapeutic massage is a type of massage that helps relieve pain and reduce stress. One exemplary therapeutic massage is deep tissue massage, which can be used to break down scar tissue and improve blood circulation. Other exemplary therapeutic massages include neuromuscular massage, myofascial massage, trigger point therapy, and kinesiology massage. Current technologies for providing therapeutic massage include pneumatically or electrically driven massage devices. However, these massage devices are complex, bulky, and inconvenient to carry.

[0003] Therefore, there is a need for an improved massage device that is low-profile and capable of applying selective, strong pressure to the user. Summary of the Invention

[0004] In one embodiment, an appendage massage device includes an appendage wrap having an inner band and an outer layer, and one or more artificial muscles disposed between the inner band and the outer layer of the appendage wrap. Each of the one or more artificial muscles includes: a housing having an electrode region and an expandable fluid region; a dielectric fluid contained within the housing; and an electrode pair positioned in the electrode region of the housing. The electrode pair includes a first electrode fixed to a first surface of the housing and a second electrode fixed to a second surface of the housing. The electrode pair is actuated between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs the dielectric fluid into the expandable fluid region, thereby expanding the expandable fluid region and applying pressure to the inner band of the appendage wrap.

[0005] In another embodiment, an appendage massage device includes an appendage wrap having an inner band and an outer layer, and a plurality of artificial muscle stacks disposed between the inner band and the outer layer of the appendage wrap. Each of the plurality of artificial muscle stacks includes: a housing having an electrode region and an expandable fluid region; a dielectric fluid contained within the housing; and an electrode pair positioned in the electrode region of the housing. The electrode pair includes a first electrode fixed to a first surface of the housing and a second electrode fixed to a second surface of the housing. The electrode pair is actuated between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs the dielectric fluid to the expandable fluid region. Furthermore, each of the plurality of artificial muscle stacks can be independently actuated to apply selective pressure to the inner band of the appendage wrap.

[0006] In another embodiment, a method for actuating an appendage massage device includes generating a voltage using a power source electrically connected to an electrode pair of artificial muscles. The artificial muscles are disposed between an inner band and an outer layer of an appendage wrap. The artificial muscles include a housing having an electrode region and an expandable fluid region. The electrode pair is positioned in the electrode region of the housing. The electrode pair includes a first electrode fixed to a first surface of the housing and a second electrode fixed to a second surface of the housing. A dielectric fluid is contained within the housing. The method further includes applying the voltage to the electrode pair of the artificial muscles to actuate the electrode pair from a non-actuated state to an actuated state, such that the dielectric fluid is directed to the expandable fluid region of the housing and causes the expandable fluid region to expand, thereby applying pressure to the inner band of the appendage wrap.

[0007] These and additional features provided by the embodiments described herein will be more fully understood in conjunction with the accompanying drawings and the following detailed description. Attached Figure Description

[0008] The embodiments illustrated in the accompanying drawings are illustrative and exemplary in nature and are not intended to limit the subject matter defined by the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, wherein the same structures are indicated by the same reference numerals and wherein:

[0009] Figure 1 A limb massage device positioned on a user according to one or more embodiments shown and described herein is schematically depicted;

[0010] Figure 2A schematic depiction Figure 1A cross-section of an appendage massage device according to one or more embodiments shown and described herein, wherein multiple artificial muscles of the appendage massage device in a non-actuated state are shown;

[0011] Figure 2B schematic depiction Figure 1 A cross-section of an appendage massage device according to one or more embodiments shown and described herein, wherein multiple artificial muscles of the appendage massage device in an actuated state are shown;

[0012] Figure 2C schematic depiction Figure 1 A cross-section of an appendage massage device according to one or more embodiments shown and described herein, wherein some of the appendage massage device's artificial muscles in an actuated state and some of the appendage massage device's artificial muscles in a non-actuated state are shown.

[0013] Figure 3A A cross-section of one embodiment of an appendage massage device having a single artificial muscle in a non-actuated state, according to one or more embodiments shown and described herein, is schematically depicted.

[0014] Figure 3B schematic depiction Figure 3A A cross-section of an appendage massage device according to one or more embodiments shown and described herein, wherein a single artificial muscle is in an actuated state;

[0015] Figure 3C An appendage massage device positioned on a user according to one or more embodiments shown and described herein, the appendage massage device comprising a plurality of appendage wraps;

[0016] Figure 4 schematic depiction Figure 1 Exploded view of an exemplary artificial muscle of an appendage massage device according to one or more embodiments shown and described herein;

[0017] Figure 5 A schematic top view of the artificial muscle of Figure 3, according to one or more embodiments shown and described herein;

[0018] Figure 6 schematic depiction Figure 4 The artificial muscle in a non-actuated state according to one or more embodiments shown and described herein Figure 5 A cross-sectional view taken along line 6-6 in the diagram;

[0019] Figure 7 schematic depiction Figure 4The artificial muscle in an actuated state according to one or more embodiments shown and described herein Figure 5 A cross-sectional view taken along line 6-6 in the diagram;

[0020] Figure 8 A cross-sectional view of another example illustrative artificial muscle in a non-actuated state, according to one or more embodiments shown and described herein;

[0021] Figure 9 schematic depiction Figure 8 A cross-sectional view of an artificial muscle in an actuated state according to one or more embodiments shown and described herein; and

[0022] Figure 10 Schematic depiction of the operation Figure 1 Actuation system of an appendage massage device according to one or more embodiments shown and described herein. Detailed Implementation

[0023] The embodiments described herein relate to an appendage massage device comprising one or more artificial muscles configured to apply selective pressure to a user's appendage. The appendage massage device described herein comprises an appendage wrap having an inner band and an outer layer, and one or more artificial muscles disposed in a cavity between the inner band and the outer layer. The one or more artificial muscles disposed in the cavity of the appendage wrap are actuable to selectively raise and lower regions of the artificial muscles to provide a selectively, on-demand, expandable fluid region. Specifically, each of the one or more artificial muscles comprises an electrode pair that can be pulled together by applying a voltage, thereby propelling a dielectric fluid into the expandable fluid region, which applies localized pressure to the inner band of the appendage wrap. Furthermore, the inner band is formed of an elastic material so that it can adapt to a specific shape of the appendage. Therefore, actuation of one or more artificial muscles of the appendage massage device can apply selective and customizable pressure to a user's appendage using a low-profile but powerful massage device. Various embodiments of the appendage massage device and its operation are described in more detail herein. Where possible, the same reference numerals will be used in all the accompanying drawings to refer to the same or similar parts.

[0024] Now for reference Figure 1-2C The appendix massage device 10 is schematically depicted. Figure 1 In this case, the limb massage device 10 is placed on the limb 6 of the user 5. Figure 2A-2CThe diagram shows a schematic cross-section of an appendage massage device 10 in various actuated states. The appendage massage device 10 includes an appendage wrap 12 having an outer layer 20, an inner band 30, and a cavity 15 disposed between the outer layer 20 and the inner band 30. The appendage massage device 10 also includes one or more artificial muscles 101, which are disposed, for example, within the cavity 15 between the inner band 30 and the outer layer 20 of the appendage wrap 12. Figure 2A-2C In the illustrated embodiment, each artificial muscle 101 is one of a plurality of artificial muscles 100. Specifically, Figure 2A-2C Multiple artificial muscles 100 are arranged in multiple artificial muscle stacks 102. However, embodiments in which a single artificial muscle 101 surrounds an inner band 30 disposed in a cavity 15 are contemplated. Figure 3A and 3B The embodiment shown. Furthermore, with... Figure 2A-2C Compared to the artificial muscle stack 102, an embodiment is expected to have multiple artificial muscles 100 arranged as a single layer within the cavity 15. In operation, one or more artificial muscles 101 are actuable to expand and apply pressure to the inner band 30 of the appendage wrap 12. When the appendage wrap 12 is worn, this pressure on the inner band 30 causes the inner band 30 to apply selective pressure to the user 5. Furthermore, the actuation of one or more artificial muscles 101 can be achieved by an actuation system 400 ( Figure 10 The actuation system may include components housed in an onboard control unit 40 connected to the appendage wrapping 12.

[0025] Still referencing Figure 1-2C The inner band 30 includes an inner surface 32 facing the cavity 15 and an outer surface 34 facing the appendage opening 25. The inner surface 32 may contact at least one artificial muscle 101, and when worn, the outer surface 34 may contact the user's appendage 6. The outer layer 20 includes an inner surface 22 facing the cavity 15 and an outer surface 24 facing outward from the appendage wrap 12. The inner surface 22 of the outer layer 20 may contact at least one artificial muscle 101. The inner band 30 includes an elastic material such that when worn, the inner band 30 can conform to the contour of the user's appendage 6. The outer layer 20 includes a more rigid material than the inner band 30, such as a rigid plastic or polymer material, such that when one or more artificial muscles 101 are actuated and pressed against both the inner band 30 and the outer layer 20, the inner band 30 deforms to a greater extent than the outer layer 20 (in fact, the outer layer 20 may not deform at its root), so that pressure is applied to the user's appendage 5. Because the outer layer 20 is more rigid than the inner layer 30, the outer layer 20 has a higher Young's modulus than the inner layer 30.

[0026] Now for reference Figure 2A-2CA cross-sectional view of the appendage massage device 10 is shown, wherein each artificial muscle 101 is in an unactuated state. Figure 2A In this process, each artificial muscle 101 is in an actuated state. Figure 2B In this context, some artificial muscles 101 are in a non-actuated state while others are in an actuated state. Figure 2C In ) Figure 2A-2C In this embodiment, multiple artificial muscles 100 are arranged in multiple artificial muscle stacks 102. These exemplary embodiments include eight artificial muscle stacks 102A-102H, but it should be understood that any number of artificial muscle stacks 102 is contemplated. Indeed, due to Figure 2A-2C Since they are cross-sections, they depict the artificial muscle stack 102 at a cross-sectional location between the first end 14 and the second end 16 of the appendage wrap 12, and therefore it should be understood that the radially arrayed artificial muscle stack 102 may be repeated once or multiple times along the length of the appendage wrap 12 from the first end 14 to the second end 16 (or repeated in multiple discrete appendage wraps 12, e.g. Figure 3C The appendage wrappings 12a-12j depicted in the illustration. In some embodiments, a plurality of artificial muscles 101 may be uniformly arranged between the inner band 30 and the outer layer 20, thereby surrounding the inner band 30 in a uniform radial array at one or more longitudinal locations along the length of the appendage wrapping 12 from the first end 14 to the second end 16. In some embodiments, the expandable fluid region 196 of each of the plurality of artificial muscle stacks 102 is coaxially aligned with each other. However, in other embodiments, there may be some offset between the expandable fluid regions 196 of at least some of the artificial muscles 101 in the plurality of artificial muscle stacks 102. Moreover, although Figure 2A-2C Multiple artificial muscle stacks 102 are depicted, but embodiments in which multiple artificial muscles 100 are arranged as a single layer within a cavity 15 are contemplated. This single layer may include multiple artificial muscles 101 arranged in a radial array that surround the inner band 30 (uniformly or non-uniformly) at one or more longitudinal locations along the length of the appendage wrap 12 from a first end 14 to a second end 16.

[0027] One or more artificial muscles 101 each include an electrode pair 104 disposed in a housing 110 together with a dielectric fluid 198. Figure 4-9 Electrode pair 104 is disposed adjacent to expandable fluid region 196 within electrode region 194 of housing 110. In operation, a voltage can be applied to electrode pair 104, thereby pulling electrode pair 104 together, which guides dielectric fluid into expandable fluid region 196, causing expandable fluid region 196 to expand. Figure 2AIn this configuration, one or more artificial muscles 101 are each in a non-actuated state. When the multiple artificial muscles 100 are not actuated, the appendage opening 25 includes a non-actuated radius R. N Furthermore, cavity 15 includes a non-actuated thickness C N When multiple artificial muscles 100 are actuated, the appendage opening 25 includes an actuation radius R. A Furthermore, cavity 15 includes an actuation thickness C. A Because the actuation of multiple artificial muscles 100 presses inward into the inner band 30, the actuation radius R A Less than the non-actuation radius R N And the actuation thickness C of cavity 15 A The non-actuated thickness C greater than 15 of the cavity N During operation, when the user 5 wears the appendage wrap 12, the radial compression of the inner band 30 caused by the actuation of one or more artificial muscles 101 applies pressure to the appendage 6 of the user 5.

[0028] although Figure 2A and 2B The cross-section of the appendage wrapping 12 is shown in a completely non-actuated state. Figure 2A ) and the fully actuated state of the cross-section of the appendage wrapping 12 ( Figure 2B However, it should be understood that each individual artificial muscle 101 and each individual artificial muscle stack 102 can be independently actuated to provide selective pressure on the appendage 6 of the user 5. Figure 2C This schematically depicts such an independent actuation. In Figure 2C In this configuration, the third artificial muscle layer 102C and the seventh artificial muscle layer 102G are in an actuated state, while the remaining artificial muscle layers (i.e., the first artificial muscle layer 102A, the second artificial muscle layer 102B, the fourth artificial muscle layer 102D, the fifth artificial muscle layer 102E, the sixth artificial muscle layer 102F, and the eighth artificial muscle layer 102H) are in a non-actuated state. Therefore, Figure 2C The appendage opening 25 in the example depicted has multiple radii. Specifically, Figure 2C The appendage opening 25 has an actuation radius R A The portion (i.e., the portion aligned with the third and seventh artificial muscle stacks 102C and 102G) and the portion with a non-actuation radius R N The part that is aligned with the rest of the artificial muscle layer.

[0029] Now for reference Figure 3A and 3BThis describes an embodiment of an appendage massage device 10 including a single artificial muscle 101. In this embodiment, the single artificial muscle may surround at least a majority of the circumference of an inner band 30, and actuation of the single artificial muscle 101 applies pressure to the inner band 30, thereby applying pressure to the user 5 when worn. In some embodiments, the appendage massage device 10 including a single artificial muscle 101 may be designed for use with smaller appendages (such as fingers or wrists). However, it should be understood that embodiments of the appendage massage device 10 including a single artificial muscle 101 can be of any size. Moreover, since... Figure 3A and 3B The cross-section is depicted so that a single artificial muscle 101 is shown at a cross-sectional location between the first end 14 and the second end 16 of the appendage wrap 12. Although embodiments with only one artificial muscle 101 are contemplated, embodiments with multiple artificial muscles 100 are also contemplated, wherein multiple individual artificial muscles 101 are arranged in a repeating manner around the inner band 30 in the cavity 15 along the length of the appendage wrap 12 from the first end 14 to the second end 16. This forms another single-layer arrangement of multiple artificial muscles 100.

[0030] Now for reference Figure 1 and 3C In some embodiments, the outer layer 20 of the appendage wrap 12 (e.g., the inner diameter of the outer layer 20 of the appendage wrap 12) is adjustable to accommodate various appendage sizes. This adjustability can be achieved through a variety of mechanical features, such as adjustable straps. Additionally, although in Figure 1 While a single appendage wrap 12 is depicted, embodiments of the appendage massage device 10 comprising multiple appendage wraps 12 are contemplated. For example, Figure 3C An embodiment of an appendage massage device 10 is depicted, comprising ten appendage wraps 12a-12j arranged adjacent to each other along the appendages 6 of the user 5. Figure 3C In the text, the inner layer 30, outer layer 20, airborne control unit 40, and first and second ends 14 and 16 are labeled for the first appendage package 12a. However, it should be understood that each appendage package 12a-12j may include these parts. Furthermore, each appendage package 12a-12j may include one or more artificial muscles 101. For example, each appendage package 12a-12j may include a single artificial muscle 101 (e.g., ...). Figure 3A and 3B (as depicted in the text) multiple artificial muscles 101 in a single-layer array, a single artificial muscle stack 102, or an array of artificial muscle stacks 102 (such as...) Figure 2A-2C (As depicted in the text).

[0031] Still referencing Figure 1 and3C Each appendage wrapping 12 may include one or both of its first end 14 and second end 16, said interconnecting element 18 being configured to attach to another appendage wrapping 12 (e.g., in...). Figure 3C In this configuration, the first appendage wrapping 12a is attached to the second appendage wrapping 12b. The interconnect 18 can facilitate physical and / or electrical connectivity. Thus, multiple appendage wrappings 12 (e.g., Figure 3C The appendage wraps 12a-12j can be modularly connected together, allowing the appendage massage device 10 to have various lengths. The interconnect 18 also facilitates communication links between the appendage wraps 12a-12j, allowing coordinated operation of one or more artificial muscles 101 of each appendage wrap 12a-12j to perform various massage operations. Other embodiments may include multiple appendage wraps (e.g., 12a-12j) without the interconnect 18 configured to be adjacently disposed on the appendage 6 of the user 5. In these embodiments, the onboard control unit 40 of each appendage wrap (e.g., 12a-12j) can communicate to facilitate coordinated operation of one or more artificial muscles 101 of each appendage wrap 12 to perform various massage operations.

[0032] Now for reference Figure 1-3B The appendage massage device 10 is operable to apply selective pressure to the appendage 6 of the user 5 by actuating one or more artificial muscles 101. To actuate the appendage massage device 10, voltage can be selectively applied to one or more artificial muscles 101, causing the expandable fluid region 196 of the actuated artificial muscle 101 to expand. In some embodiments, each of the one or more artificial muscles 101 can be independently actuated to apply selective pressure to the inner band 30 of the appendage wrap 12, which applies selective pressure to the appendage 6 of the user 5 when worn. In embodiments including multiple artificial muscle stacks 102, each artificial muscle stack 102 can be independently actuated. Furthermore, the artificial muscles 101 of a single artificial muscle stack 102 can also be independently actuated, allowing the displacement stroke applied by a single artificial muscle stack 102 to vary based on the number of individually actuated artificial muscles 101 in that stack. This facilitates the application of selective pressure depth to the user 5.

[0033] One or more artificial muscles 101 may be connected in series along the length of the appendage 6 and actuated in a cascaded, patterned, random, or uniform rhythm by selectively applying voltage to one or more artificial muscles 101. In embodiments including multiple appendage wraps 12, the appendage wraps 12 may be connected in series along the length of the appendage and similarly actuated in a cascaded, patterned, random, or uniform rhythm by selectively applying voltage to one or more artificial muscles 101 of each appendage wrap 12 in a coordinated manner. For example, in cascaded rhythmic operation, voltage may be selectively applied to one or more artificial muscles 101 to actuate a subset of one or more artificial muscles 101 (e.g., a radial array of artificial muscles 101) sequentially from a first end to a second end of an appendage wrap 12 or along multiple appendage wraps 12 adjacently disposed on the appendage 6 of the user 5.

[0034] Now for reference Figure 4 and 5 The exemplary artificial muscle 101 of the appendage massage device 10 is described in more detail below. The artificial muscle 101 includes a housing 110, an electrode pair 104 fixed to opposing surfaces of the housing 110, the electrode pair 104 including a first electrode 106 and a second electrode 108, a first electrically insulating layer 111 fixed to the first electrode 106, and a second electrically insulating layer 112 fixed to the second electrode 108. In some embodiments, the housing 110 is a monolithic layer including a pair of opposing inner surfaces (e.g., a first inner surface 114 and a second inner surface 116) and a pair of opposing outer surfaces (e.g., a first outer surface 118 and a second outer surface 120). In some embodiments, the first inner surface 114 and the second inner surface 116 of the housing 110 are heat-sealable. In other embodiments, the housing 110 may be a pair of separately manufactured membrane layers, such as a first membrane layer 122 and a second membrane layer 124. Therefore, the first film layer 122 includes a first inner surface 114 and a first outer surface 118, and the second film layer 124 includes a second inner surface 116 and a second outer surface 120.

[0035] Although the embodiments described herein primarily relate to a housing 110 comprising a first membrane layer 122 and a second membrane layer 124, and not a monolithic housing, it should be understood that any arrangement is contemplated. In some embodiments, the first membrane layer 122 and the second membrane layer 124 typically comprise the same structure and composition. For example, in some embodiments, the first membrane layer 122 and the second membrane layer 124 each comprise biaxially oriented polypropylene.

[0036] The first electrode 106 and the second electrode 108 are each positioned between the first film layer 122 and the second film layer 124. In some embodiments, the first electrode 106 and the second electrode 108 are each made of aluminum-coated polyester, for example, Furthermore, one of the first electrode 106 and the second electrode 108 is a negatively charged electrode, and the other of the first electrode 106 and the second electrode 108 is a positively charged electrode. For the purposes discussed herein, either the first electrode 106 or the second electrode 108 may be positively charged, provided that the other of the first electrode 106 or the second electrode 108 of the artificial muscle 101 is negatively charged.

[0037] The first electrode 106 has a surface 126 facing the membrane and an opposing inner surface 128. The first electrode 106 is positioned against a first membrane layer 122, specifically against a first inner surface 114 of the first membrane layer 122. Additionally, the first electrode 106 includes a first terminal 130 extending from the first electrode 106 beyond the edge of the first membrane layer 122, such that the first terminal 130 can be connected to a power source to actuate the first electrode 106. Specifically, as... Figure 10 As shown, the terminals are directly or in series connected to the power supply and the controller of the actuation system 400. Similarly, the second electrode 108 has a membrane-facing surface 148 and an opposing inner surface 150. The second electrode 108 is positioned against the second membrane layer 124, specifically against the second inner surface 116 of the second membrane layer 124. The second electrode 108 includes a second terminal 152 extending from the second electrode 108 beyond the edge of the second membrane layer 124, such that the second terminal 152 can be connected to the power supply and the controller of the actuation system 400 to actuate the second electrode 108.

[0038] The first electrode 106 includes two or more tab portions 132 and two or more bridging portions 140. Each bridging portion 140 is positioned between adjacent tab portions 132, thereby interconnecting these adjacent tab portions 132. Each tab portion 132 has a first end 134 extending radially relative to the central axis C of the first electrode 106 to an opposing second end 136, wherein the second end 136 defines a portion of the outer periphery 138 of the first electrode 106. Each bridging portion 140 has a first end 142 extending radially relative to the central axis C of the first electrode 106 to an opposing second end 144, thereby defining another portion of the outer periphery 138 of the first electrode 106. Each tab portion 132 has a tab length L1, and each bridging portion 140 has a bridging length L2 extending radially relative to the central axis C of the first electrode 106. The patch length L1 is the distance from the first end 134 to the second end 136 of the patch portion 132, and the bridging length L2 is the distance from the first end 142 to the second end 144 of the bridging portion 140. The patch length L1 of each patch portion 132 is longer than the bridging length L2 of each bridging portion 140. In some embodiments, the bridging length L2 is 20% to 50% of the patch length L1, for example, 30% to 40% of the patch length L1.

[0039] In some embodiments, two or more tab portions 132 are arranged in one or more tab portions 132. Each tab portion 132 includes two tab portions 132 arranged diametrically opposite each other. In some embodiments, the first electrode 106 may include only two tab portions 132 positioned on opposite sides or ends of the first electrode 106. In some embodiments, such as Figure 4 and 5 As shown, the first electrode 106 includes four tab portions 132 and four bridging portions 140 that interconnect adjacent tab portions 132. In this embodiment, the four tab portions 132 are arranged in pairs of tab portions 132 that are diametrically opposed to each other. Furthermore, as shown, a first terminal 130 extends from a second end 136 of one of the tab portions 132 and is integrally formed with the second end 136.

[0040] Similar to the first electrode 106, the second electrode 108 includes at least one tab portion 154 and two or more bridging portions 162. Each bridging portion 162 is positioned between adjacent tab portions 154, thereby interconnecting these adjacent tab portions 154. Each tab portion 154 has a first end 156 that extends radially relative to the central axis C of the second electrode 108 to an opposite second end 158 of the tab portion 154, wherein the second end 158 defines a portion of the outer periphery 160 of the second electrode 108. Since the first electrode 106 and the second electrode 108 are coaxial with each other, the central axes C of the first electrode 106 and the second electrode 108 are the same. Each bridging portion 162 has a first end 164 that extends radially relative to the central axis C of the second electrode to an opposite second end 166 of the bridging portion 162, thereby defining another portion of the outer periphery 160 of the second electrode 108. Each patch portion 154 has a patch length L3 and each bridging portion 162 has a bridging length L4 extending radially relative to the central axis C of the second electrode 108. The patch length L3 is the distance from the first end 156 to the second end 158 of the patch portion 154, and the bridging length L4 is the distance from the first end 164 to the second end 166 of the bridging portion 162. The patch length L3 is longer than the bridging length L4 of each bridging portion 162. In some embodiments, the bridging length L4 is 20% to 50% of the patch length L3, for example, 30% to 40% of the patch length L3.

[0041] In some embodiments, two or more tab portions 154 are arranged in one or more tab portions 154. Each tab portion 154 includes two tab portions 154 arranged diametrically opposite each other. In some embodiments, the second electrode 108 may include only two tab portions 154 positioned on opposite sides or ends of the first electrode 106. In some embodiments, such as Figure 4 and 5 As shown, the second electrode 108 includes four tab portions 154 and four bridging portions 162 that interconnect adjacent tab portions 154. In this embodiment, the four tab portions 154 are arranged in pairs of tab portions 154 that are diametrically opposed to each other. Furthermore, as shown, a second terminal 152 extends from a second end 158 of one of the tab portions 154 and is integrally formed with the second end 158.

[0042] Now for reference Figure 4-9 At least one of the first electrode 106 and the second electrode 108 has a central opening formed therein between the first end 134 of the tab portion 132 and the first end 142 of the bridging portion 140. Figure 6 and 7In this configuration, the first electrode 106 has a central opening 146. However, it should be understood that when a central opening is provided within the second electrode 108, the first electrode 106 does not need to include a central opening 146, as shown below. Figure 8 and 9 As shown in the diagram. Alternatively, when a central opening 146 is provided within the first electrode 106, the second electrode 108 does not need to include a central opening. Still referring to... Figure 4-9 The first electrical insulating layer 111 and the second electrical insulating layer 112 have geometries corresponding to the first electrode 106 and the second electrode 108, respectively. Therefore, each of the first electrical insulating layer 111 and the second electrical insulating layer 112 has a tab portion 170, 172 and a bridging portion 174, 176 corresponding to similar portions on the first electrode 106 and the second electrode 108. Further, each of the first electrical insulating layer 111 and the second electrical insulating layer 112 has an outer periphery 178, 180, which, when positioned on the outer periphery 138 of the first electrode 106 and the outer periphery 160 of the second electrode 108, respectively correspond to the outer periphery 138 of the first electrode 106 and the outer periphery 160 of the second electrode 108.

[0043] It should be understood that, in some embodiments, the first electrical insulating layer 111 and the second electrical insulating layer 112 typically comprise the same structure and composition. Thus, in some embodiments, the first electrical insulating layer 111 and the second electrical insulating layer 112 each comprise adhesive surfaces 182, 184 and opposing non-sealing surfaces 186, 188. Therefore, in some embodiments, the first electrical insulating layer 111 and the second electrical insulating layer 112 are each polymer strips adhered to the inner surface 128 of the first electrode 106 and the inner surface 150 of the second electrode 108, respectively.

[0044] Now for reference Figure 5-9 The image shows an artificial muscle 101 in an assembled configuration, wherein the first terminal 130 of the first electrode 106 and the second terminal 152 of the second electrode 108 extend beyond the housing 110, i.e., the outer periphery of the first membrane layer 122 and the second membrane layer 124. Figure 5As shown, the second electrode 108 is stacked on top of the first electrode 106, and therefore, the first electrode 106, the first film layer 122, and the second film layer 124 are not shown. In its assembled configuration, the first electrode 106, the second electrode 108, the first electrical insulating layer 111, and the second electrical insulating layer 112 are sandwiched between the first film layer 122 and the second film layer 124. The first film layer 122 is partially sealed to the second film layer 124 in a region surrounding the outer periphery 138 of the first electrode 106 and the outer periphery 160 of the second electrode 108. In some embodiments, the first film layer 122 is heat-sealed to the second film layer 124. Specifically, in some embodiments, the first film layer 122 is sealed to the second film layer 124 to define a sealing portion 190 surrounding the first electrode 106 and the second electrode 108. The first film layer 122 and the second film layer 124 can be sealed in any suitable manner, such as using adhesives, heat sealing, or the like.

[0045] The first electrode 106, the second electrode 108, the first electrical insulating layer 111, and the second electrical insulating layer 112 provide a barrier that prevents the first membrane layer 122 from sealing to the second membrane layer 124, thereby forming an unsealed portion 192. The unsealed portion 192 of the housing 110 includes an electrode region 194 in which the electrode pair 104 is disposed and an expandable fluid region 196 surrounded by the electrode region 194. The central openings 146, 168 of the first electrode 106 and the second electrode 108 form the expandable fluid region 196 and are arranged to be axially stacked on top of each other. Although not shown, the housing 110 can be cut to conform to the geometry of the electrode pair 104 and reduce the size of the artificial muscle 101, i.e., the size of the sealed portion 190.

[0046] Dielectric fluid 198 is provided within the unsealed portion 192 and flows freely between the first electrode 106 and the second electrode 108. When used herein, "dielectric" fluid refers to a medium or material that transmits electrodynamic forces without conduction and therefore has low conductivity. Some non-limiting exemplary dielectric fluids include perfluorocarbons, transformer oil, and deionized water. It should be understood that the dielectric fluid 198 can be injected into the unsealed portion 192 of the artificial muscle 101 using a needle or other suitable injection device.

[0047] Now for reference Figure 6 and 7 The artificial muscle 101 can be actuated between a non-actuated state and an actuated state. In the non-actuated state, such as... Figure 6As shown, the first electrode 106 and the second electrode 108 are approximately spaced apart from each other at their central openings 146, 168 and at the first ends 134, 156 of the tab portions 132, 154. Because the housing 110 is sealed at the outer periphery 138 of the first electrode 106 and the outer periphery 160 of the second electrode 108, the second ends 136, 158 of the tab portions 132, 154 are held in place relative to each other. Figure 2A , 2C In 3A, at least one of the artificial muscles 101 of the appendage massage device 10 is in a non-actuated state. In the actuated state, such as... Figure 7 As shown, the first electrode 106 and the second electrode 108 are in contact with each other and oriented parallel to each other to compress the dielectric fluid 198 into the expandable fluid region 196. This causes the dielectric fluid 198 to flow through the central openings 146, 168 of the first electrode 106 and the second electrode 108 and to expand the expandable fluid region 196. Figure 2B , 2C In 3B, at least one of one or more artificial muscles 101 of the appendage massage device 10 is in an actuated state.

[0048] Now for reference Figure 6 The diagram illustrates an artificial muscle 101 in a non-actuated state. Electrode pairs 104 are disposed within electrode regions 194 of the unsealed portion 192 of the housing 110. The central opening 146 of the first electrode 106 and the central opening 168 of the second electrode 108 are coaxially aligned within the expandable fluid region 196. In the non-actuated state, the first electrode 106 and the second electrode 108 are partially spaced apart from each other and are not parallel. Because the first membrane layer 122 seals around the electrode pair 104 to the second membrane layer 124, the second ends 136, 158 of the tab portions 132, 154 are in contact with each other. Therefore, a dielectric fluid 198 is provided between the first electrode 106 and the second electrode 108, thereby separating the first ends 134, 156 of the tab portions 132, 154 that are close to the expandable fluid region 196. In other words, the distance between the first end 134 of the tab portion 132 of the first electrode 106 and the first end 156 of the tab portion 154 of the second electrode 108 is greater than the distance between the second end 136 of the tab portion 132 of the first electrode 106 and the second end 158 of the tab portion 154 of the second electrode 108. This allows the electrode pair 104 to be zipped together toward the expandable fluid region 196 when actuated. In some embodiments, the first electrode 106 and the second electrode 108 can be flexible. Therefore, as Figure 4As shown, the first electrode 106 and the second electrode 108 are convex so that the second ends 136 and 158 of their contact portions 132 and 154 can remain close to each other, but are spaced apart from each other near the central openings 146 and 168. In the non-actuated state, the expandable fluid region 196 has a first height H1.

[0049] When actuated, such as Figure 7 As shown, the first electrode 106 and the second electrode 108 are zipper-connected to each other from the second ends 136 and 158 of their tab portions 132 and 154, thereby pushing the dielectric fluid 198 into the expandable fluid region 196. As shown, when in the actuated state, the first electrode 106 and the second electrode 108 are parallel to each other. In the actuated state, the dielectric fluid 198 flows into the expandable fluid region 196 to cause the expandable fluid region 196 to expand. Thus, the first film layer 122 and the second film layer 124 expand in opposite directions. In the actuated state, the expandable fluid region 196 has a second height H2, which is greater than the first height H1 of the expandable fluid region 196 in the non-actuated state. Although not shown, it should be noted that the electrode pair 104 can be partially actuated to a position between the non-actuated and actuated states. This allows for partial expansion of the expandable fluid region 196 and allows for adjustment if necessary.

[0050] To move the first electrode 106 and the second electrode 108 toward each other, a power source (e.g., Figure 10 A voltage is applied from the power supply 48. In some embodiments, a voltage of up to 10 kV can be supplied from the power supply to induce an electric field through the dielectric fluid 198. The attraction between the first electrode 106 and the second electrode 108 pushes the dielectric fluid 198 into the expandable fluid region 196. The pressure from the dielectric fluid 198 within the expandable fluid region 196 causes the first film layer 122 and the first electrical insulating layer 111 to deform along the central axis C of the first electrode 106 in a first axial direction and causes the second film layer 124 and the second electrical insulating layer 112 to deform along the central axis C of the second electrode 108 in the opposite second axial direction. Once the voltage supply to the first electrode 106 and the second electrode 108 is stopped, the first electrode 106 and the second electrode 108 return to their initial non-parallel positions in the unactuated state.

[0051] It should be understood that the artificial muscle 101 disclosed herein, specifically the patch portions 132, 154 with interconnected bridging portions 174, 176, provides numerous improvements over actuators that do not include patch portions 132, 154, such as the hydraulically amplified self-healing electrostatic (HASEL) actuator described in the paper entitled "Hydraulically amplified self-healing electrostatic actuators with muscle-like performance" by E. Acome, SK Mitchell, T. G Morrissey, M. M. Embmett, C. Benjamin, M. King, M. Radakowski, and C. Kepler (Science 05 Jan 2018: Vol. 359, Issue 6371, pp. 61-65). Compared to known HASEL actuators comprising donut-shaped electrodes with a uniformly radially extending width, the embodiment of the artificial muscle 101 comprising two tab portions 132, 154 on each of the first electrode 106 and the second electrode 108 reduces the overall mass and thickness of the artificial muscle 101, reduces the amount of voltage required during actuation, and reduces the overall volume of the artificial muscle 101, without reducing the magnitude of the resultant force after actuation. More specifically, the tab portions 132, 154 of the artificial muscle 101 provide a zipper-like front connection, which, compared to HASEL actuators comprising donut-shaped electrodes, increases actuation power by providing localized and uniform hydraulic actuation to the artificial muscle 101. Specifically, compared to a donut-shaped HASEL actuator, a pair of tab portions 132, 154 provides twice the actuator power per unit volume of a donut-shaped HASEL actuator, while two pairs of tab portions 132, 154 provide four times the actuator power per unit volume of a donut-shaped HASEL actuator. The bridging portions 174, 176 that interconnect the tab portions 132, 154 also limit buckling of the tab portions 132, 154 by maintaining the distance between adjacent tab portions 132, 154 during actuation. Since the bridging portions 174, 176 are integrally formed with the tab portions 132, 154, they also prevent leakage between the tab portions 132, 154 by eliminating attachment sites that provide an increased risk of breakage.

[0052] During operation, when the artificial muscle 101 is actuated, the expansion of the expandable fluid region 196 produces a per cubic centimeter (cm²) of fluid. 3The actuator provides a force of 3 Newton-millimeter (N.mm) or greater, such as 4 N.mm or greater per cubic centimeter, 5 N.mm or greater per cubic centimeter, 6 N.mm or greater per cubic centimeter, 7 N.mm or greater per cubic centimeter, 8 N.mm or greater per cubic centimeter, or so on. In one example, when the artificial muscle 101 is actuated by a voltage of 9.5 kV, the artificial muscle 101 provides a resultant force of 5 N. In another example, when the artificial muscle 101 is actuated by a voltage of 10 kV, the artificial muscle 101 provides 440% strain under a load of 500 grams.

[0053] Furthermore, the sizes of the first electrode 106 and the second electrode 108 are proportional to the amount of displacement of the dielectric fluid 198. Therefore, when a larger displacement within the expandable fluid region 196 is desired, the size of the electrode pair 104 is increased relative to the size of the expandable fluid region 196. It should be understood that the size of the expandable fluid region 196 is defined by the central openings 146, 168 in the first electrode 106 and the second electrode 108. Therefore, the degree of displacement within the expandable fluid region 196 can be controlled alternatively or additionally by increasing or decreasing the size of the central openings 146, 168.

[0054] like Figure 8 and 9 As shown, another embodiment of the artificial muscle 201 is illustrated. The artificial muscle 201 is generally similar to the artificial muscle 101. Thus, the same structures are indicated by the same reference numerals. However, as shown, the first electrode 106 does not include a central opening. Therefore, only the second electrode 108 includes a central opening 168 formed therein. Figure 8 As shown, the artificial muscle 201 is in a non-actuated state, wherein the first electrode 106 is flat and the second electrode 108 is convex relative to the first electrode 106. In the non-actuated state, the expandable fluid region 196 has a first height H3. In the actuated state, as... Figure 9 As shown, the expandable fluid region 196 has a second height H4, which is greater than the first height H3. It should be understood that, unlike the first electrode 106 and the second electrode 108, where both have central openings, by providing a central opening 168 only in the second electrode 108, the total deformation can be formed on one side of the artificial muscle 201. Furthermore, since the total deformation is formed on only one side of the artificial muscle 201, when all other dimensions, orientations, and the volume of the dielectric fluid are the same, the second height H4 of the expandable fluid region 196 of the artificial muscle 201 extends further from the longitudinal axis perpendicular to the central axis C of the artificial muscle 201 than the second height H2 of the expandable fluid region 196 of the artificial muscle 101. It should be understood that embodiments of the artificial muscle 201 can be similar to... Figure 1-3BOne or more artificial muscles 101 of the appendix massage device 10 may be used together or in place of it.

[0055] Now for reference Figure 10 An actuation system 400 may be provided for operating the appendage massage device 10, and particularly for operating one or more artificial muscles 101 of the appendage massage device 10. The actuation system 400 may include a controller 50, an operating device 46, a power supply 48, a display device 42, network interface hardware 44, and a communication path 41 communicatively connecting these components, some or all of which may be located in the airborne control unit 40.

[0056] The controller 50 includes a processor 52 and a non-transitory electronic memory 54 communicatively connected to various components. In some embodiments, the processor 52 and the non-transitory electronic memory 54 and / or other components are contained within a single device. In other embodiments, the processor 52 and the non-transitory electronic memory 54 and / or other components may be distributed among multiple communicatively connected devices. The controller 50 includes a non-transitory electronic memory 54 storing a set of machine-readable instructions. The processor 52 executes the machine-readable instructions stored in the non-transitory electronic memory 54. The non-transitory electronic memory 54 may include RAM, ROM, flash memory, hard disk drive, or any device capable of storing machine-readable instructions such that the machine-readable instructions can be accessed by the processor 52. Therefore, the actuation system 400 described herein can be implemented as a pre-programmed hardware element in any conventional computer programming language or as a combination of hardware and software components. The non-transitory electronic memory 54 can be implemented as a memory module or multiple memory modules.

[0057] In some embodiments, the non-transitory electronic memory 54 contains instructions for performing the functions of the actuation system 400. For example, the instructions may include instructions for operating the appendage massage device 10, instructions for actuating one or more artificial muscles 101 individually or collectively, and instructions for actuating the artificial muscle stacks individually or collectively.

[0058] Processor 52 can be any device capable of executing machine-readable instructions. For example, processor 52 can be an integrated circuit, a microchip, a computer, or any other computing device. Non-transitory electronic memory 54 and processor 52 are coupled to communication path 41, which provides signal interconnectivity between the various components and / or modules of actuation system 400. Therefore, communication path 41 can communicatively connect any number of processors to each other and allows modules coupled to communication path 41 to operate in a distributed computing environment. Specifically, each module can operate as a node capable of sending and / or receiving data. When used herein, the term "communically coupled" means that the coupled components are able to exchange data signals with each other, for example, exchanging electrical signals via a conductive medium, exchanging electromagnetic signals via air, exchanging optical signals via an optical waveguide, and so on.

[0059] As in Figure 10 As schematically depicted, communication path 41 communicatively connects the processor 52 and non-transitory electronic memory 54 of controller 50 to multiple other components of actuation system 400. For example, Figure 10 The actuation system 400 depicted includes a processor 52 and a non-transitory electronic memory 54 communicatively connected to an operating device 46 and a power supply 48.

[0060] The operating device 46 allows a user to control the operation of the artificial muscles 101 of the appendage massage device 10. In some embodiments, the operating device 46 may be a combination of a switch, trigger, button, or any controller to provide user operation. The operating device 46 is coupled to a communication path 41 such that the communication path 41 communicatively connects the operating device 46 to other modules of the actuation system 400. The operating device 46 may provide a user interface for receiving user commands regarding specific operational configurations of the appendage massage device 10, such as for generating cascading, patterned, random, or uniform rhythms.

[0061] A power source 48 (e.g., a battery) powers one or more artificial muscles 101 of the appendage massage device 10. In some embodiments, the power source 48 is a rechargeable DC power source. It should be understood that the power source 48 can be a single power source or battery for powering one or more artificial muscles 101 of the appendage massage device 10. A power adapter (not shown) may be provided and electrically connected via a wiring harness or similar means to power one or more artificial muscles 101 of the appendage massage device 10 via the power source 48.

[0062] In some embodiments, the actuation system 400 further includes a display device 42. The display device 42 is coupled to a communication path 41 such that the communication path 41 communicatively connects the display device 42 to other modules of the actuation system 400. The display device 42 may be located on the appendage wrap 12, for example, as part of an onboard control unit 40, and may output notifications or indications regarding changes in the actuation state of one or more artificial muscles 101 of the appendage massage device 10 in response to the actuation state of the artificial muscles 101 of the appendage massage device 10. Furthermore, the display device 42 may be a touchscreen that, in addition to providing optical information, detects the presence and location of tactile input on or adjacent to the surface of the display device 42. Therefore, the display device 42 may include an operating device 46 and directly receive mechanical input on the optical output provided by the display device 42.

[0063] In some embodiments, the actuation system 400 includes network interface hardware 44 for communicatively connecting the actuation system 400 to a portable device 70 via a network 60. The portable device 70 may include, but is not limited to, a smartphone, tablet, personal media player, or any other electrical device with wireless communication capabilities. It should be understood that when the portable device 70 is provided, it can be used to provide user commands to the controller 50 rather than the operating device 46. Thus, a user may be able to use the controller of the operating device 46 to control or set programs for controlling the artificial muscles 101 of the limb massage device 10. Therefore, the artificial muscles 101 of the limb massage device 10 can be remotely controlled via the portable device 70, which communicates wirelessly with the controller 50 via the network 60.

[0064] It should now be understood that the embodiments described herein relate to appendage massage devices comprising one or more artificial muscles disposed within an appendage wrapping between an inner band and an outer layer. The artificial muscles are actuable to selectively apply pressure to the inner band, which is formed of an elastic material to conform to a specific shape of the appendage, and actuation of the one or more artificial muscles of the appendage massage device applies selective and customizable pressure to the user's appendage.

[0065] It should be noted that the terms “approximately” and “about” are used herein to indicate the inherent degree of uncertainty attributable to any quantitative comparison, value, measure, or other representation. These terms are also used herein to indicate the extent to which a quantitative representation may differ from the stated reference without altering the fundamental function of the subject matter.

[0066] Although specific embodiments have been illustrated and described herein, it should be understood that various other changes and modifications may be made without departing from the scope of the claimed subject matter. Furthermore, although various aspects of the claimed subject matter have been described herein, these aspects need not be used in combination. Therefore, it is intended that the appended claims cover all such changes and modifications within the scope of the claimed subject matter.

Claims

1. A limb massage device, comprising: A limb wrapping material, the limb wrapping material comprising an inner band and an outer layer; as well as One or more artificial muscles are disposed between the inner and outer layers of the appendage wrapping, wherein each of the one or more artificial muscles comprises: A housing, the housing comprising an electrode region and an expandable fluid region; The dielectric fluid contained within the housing; and An electrode pair positioned in the electrode region of the housing, the electrode pair including a first electrode fixed to a first surface of the housing and a second electrode fixed to a second surface of the housing, wherein the electrode pair is switchable between a non-actuated state and an actuated state such that the transition from the non-actuated state to the actuated state guides the dielectric fluid to the expandable fluid region, thereby causing the expandable fluid region to expand and thus apply pressure to the inner band of the appendage wrapping; The first electrode and the second electrode each include two or more tab portions and two or more bridging portions; each of the two or more bridging portions interconnects adjacent tab portions; at least one of the first electrode and the second electrode includes a central opening located between the two or more tab portions and surrounding the expandable fluid region.

2. The limb massage device according to claim 1, characterized in that, The one or more artificial muscles disposed between the inner and outer layers of the appendage wrapping include a single artificial muscle.

3. The limb massage device according to claim 1, characterized in that, The one or more artificial muscles disposed between the inner and outer layers of the appendage wrapping include a plurality of artificial muscles arranged in a single layer between the inner and outer layers.

4. The limb massage device according to claim 1, characterized in that, The first electrode and the second electrode each include two pairs of pad portions and two pairs of bridging portions, each bridging portion interconnecting a pair of adjacent pad portions adjacent to each other, each pad portion being diametrically opposite to the opposing pad portion.

5. The limb massage device according to claim 1, characterized in that: When the electrode pair is in the non-actuated state, the first electrode and the second electrode are not parallel to each other; as well as When the electrode pair is in the actuated state, the first electrode and the second electrode are parallel to each other, such that the first electrode and the second electrode are configured to be zippered together toward each other and toward the central opening when switched from the non-actuated state to the actuated state.

6. The limb massage device according to claim 1, characterized in that, The housing of the one or more artificial muscles includes a first membrane layer and a second membrane layer that are partially sealed to each other to define a sealed portion of the housing, the housing further including an unsealed portion surrounded by the sealed portion, wherein the electrode region and the expandable fluid region of the housing are disposed in the unsealed portion.

7. The limb massage device according to claim 1, further comprising a first electrically insulating layer fixed to the inner surface of the first electrode opposite to the first surface of the housing, and a second electrically insulating layer fixed to the inner surface of the second electrode opposite to the second surface of the housing, wherein, The first electrical insulating layer and the second electrical insulating layer each include an adhesive surface and an opposing non-sealing surface.

8. The limb massage device according to claim 1, characterized in that: The inner band includes an elastic material; and The outer layer has a higher Young's modulus than the inner layer.

9. The limb massage device according to claim 1, characterized in that, The inner diameter of the outer layer is adjustable.

10. The limb massage device according to claim 1, characterized in that, The one or more artificial muscles include multiple artificial muscles.

11. The limb massage device according to claim 1, characterized in that, The appendage wrapping includes a first appendage wrapping, and the appendage massage device further includes a second appendage wrapping, the second appendage wrapping including an inner band, an outer layer, and one or more artificial muscles disposed between the inner band and the outer layer of the second appendage wrapping.

12. A limb massage device, comprising: A limb wrapping material, the limb wrapping material comprising an inner band and an outer layer; as well as Multiple artificial muscle stacks disposed between the inner and outer layers of the appendage wrapping, wherein each artificial muscle in the multiple artificial muscle stacks comprises: A housing, the housing comprising an electrode region and an expandable fluid region; The dielectric fluid contained within the housing; and An electrode pair located in the electrode region of the housing, the electrode pair including a first electrode fixed to a first surface of the housing and a second electrode fixed to a second surface of the housing, wherein the electrode pair is capable of switching between a non-actuated state and an actuated state such that the transition from the non-actuated state to the actuated state guides the dielectric fluid into the expandable fluid region; Each of the plurality of artificial muscle layers can be independently actuated to apply selective pressure to the inner band of the appendage wrapping; The first electrode and the second electrode each include two or more tab portions and two or more bridging portions; each of the two or more bridging portions interconnects adjacent tab portions; at least one of the first electrode and the second electrode includes a central opening located between the two or more tab portions and surrounding the expandable fluid region.

13. The limb massage device according to claim 12, characterized in that, The expandable fluid regions of each artificial muscle in each of the plurality of artificial muscle stacks are aligned coaxially with each other.

14. The limb massage device according to claim 12, characterized in that, Each of the first electrode and the second electrode includes a central opening positioned between the two or more tab portions and surrounding the expandable fluid region, the central openings being coaxially aligned with each other.

15. The limb massage device according to claim 12, characterized in that, The inner band comprises an elastic material and the outer layer comprises a Young's modulus higher than that of the elastic material.

16. A method for actuating an appendage massage device, the method comprising: A voltage is generated using a power source connected to an electrode pair electrically connected to the artificial muscle, which is disposed between the inner and outer layers of the appendage wrapping, wherein: The artificial muscle includes a shell having an electrode region and an expandable fluid region; The electrode pair is positioned in the electrode region of the housing; The electrode pair includes a first electrode fixed to a first surface of the housing and a second electrode fixed to a second surface of the housing; wherein each of the first and second electrodes includes two or more tab portions and two or more bridging portions; each of the two or more bridging portions interconnects adjacent tab portions; at least one of the first and second electrodes includes a central opening positioned between the two or more tab portions and surrounding the expandable fluid region; and The dielectric fluid is contained within the housing; and The voltage is applied to the electrode pair of the artificial muscle, thereby switching the electrode pair from an actuated state to an actuated state, so that the dielectric fluid is guided into the expandable fluid region of the housing and the expandable fluid region is expanded through the central opening, thereby applying pressure to the inner band of the appendage wrapping.

17. The method according to claim 16, characterized in that, The artificial muscle is one of a plurality of artificial muscles disposed between the inner band and the outer layer of the limb massage device.

18. The method of claim 17, further comprising selectively applying voltage to the plurality of artificial muscles to apply selective pressure to the inner band of the appendage wrapping in a cascade rhythm between a first end and a second end of the appendage wrapping.

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