Electrode pair with sawtooth configuration and artificial muscle comprising sawtooth configuration

Abstract

This disclosure relates to an electrode pair with a serrated configuration and an artificial muscle including the serrated configuration. An electrode pair including a first electrode and a second electrode is provided. Each of the first and second electrodes has an outer surface, an inner surface, a first end, a second end, and a lead extending outwardly from the first end. The lead has a first width at the first end. At the second end of at least one of the first and second electrodes, a recess formed therein has a first endpoint and a second endpoint. The second width extends between the first and second endpoints of the recess. The recess is defined by a serrated pattern. When the first electrode is placed on the second electrode, the recess of at least one of the first electrodes is adjacent to the lead of the other electrode.

Description

TECHNICAL FIELD

[0001] The present specification generally relates to devices and methods of actuating electrode pairs, and more specifically, to devices and methods for utilizing electrode pairs configured to receive increased voltage inputs without shorting. BACKGROUND

[0002] The force output of a device including an electrode pair is directly related to the amount of voltage delivered to the electrode pair. However, when the amount of voltage delivered to the electrode pair exceeds a maximum operating voltage, the electrode pair exhibits voltage breakdown and a short circuit occurs. As a result, the amount of voltage delivered to a device operated by an electrode pair is limited by the amount of voltage that the electrode pair can receive without shorting or exhibiting voltage breakdown. As a result, it is desirable to increase the maximum operating voltage of an electrode pair to increase the force output of a device.

[0003] Also, current robotic technology often relies on rigid components such as servo motors to perform tasks in structured environments. This rigidity presents limitations in many robotic applications, which are at least partially caused by the weight-to-power ratio of servo motors and other rigid robotic devices. The field of soft robotics ameliorates these limitations through the use of artificial muscles and other soft actuators. Artificial muscles attempt to mimic the versatility, performance, and reliability of biological muscles. Some artificial muscles rely on fluidic actuators, but fluidic actuators require a supply of pressurized gas or liquid, and fluid transport must occur through a channel and tubing system, thereby limiting the speed and efficiency of artificial muscles. Other artificial muscles use heat-activated polymer fibers, but these fibers are difficult to control and operate inefficiently.

[0004] A particular artificial muscle design is described in a paper by E. Acome, S. K. Mitchell, T. G. Morrissey, M. B. Emmett, C. Benjamin, M. King, M. Radakovitz, and C. Keplinger, entitled "Hydraulically amplified self-healing electrostatic actuators with muscle-like performance," Science 05 Jan 2018: Vol. 359, Issue 6371, pp. 61-65. These hydraulically amplified self-healing electrostatic (HASEL) actuators utilize electrostatic and hydraulic forces to achieve various actuation modes. However, the actuator power per unit volume of the HASEL actuator artificial muscle is limited.

[0005] Accordingly, there is a need for improved electrode pairs and artificial muscles that include electrode pairs that can receive increased voltage inputs without shorting and provide increased actuator power per unit volume. SUMMARY

[0006] In one embodiment, an electrode pair includes a first electrode and a second electrode each having an outer surface, an inner surface, a first end, a second end, and a lead extending outwardly from the first end. The lead has a first width at the first end. The second end of at least one of the first electrode and the second electrode has a recess formed therein having a first end point and a second end point. A second width extends between the first end point and the second end point of the recess. The recess is defined by a sawtooth pattern. The second width is greater than the first width. The recess of at least one of the first electrode and the second electrode is adjacent to the lead of the other electrode when the first electrode is positioned on the second electrode.

[0007] In another embodiment, an artificial muscle includes a housing including an electrode region and an expandable fluid region, an electrode pair positioned in the electrode region of the housing, and a dielectric fluid contained within the housing. The electrode pair includes a first electrode secured to a first surface of the housing and a second electrode secured to a second surface of the housing. The first electrode and the second electrode each have an outer surface, an inner surface, a first end, a second end, and a lead extending outwardly from the first end. The lead has a first width at the first end. The second end of at least one of the first electrode and the second electrode has a recess formed therein having a first end point and a second end point. A second width extends between the first end point and the second end point of the recess. The recess is defined by a sawtooth pattern. The second width is greater than the first width. At least one of the first electrode and the second electrode includes a central opening around the expandable fluid region. The recess of at least one of the first electrode and the second electrode is adjacent to the lead of the other electrode when the first electrode is positioned on the second electrode. The electrode pair 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.

[0008] In yet another embodiment, a method for actuating an artificial muscle includes generating a voltage using a power source electrically coupled to a pair of electrodes of the artificial muscle. The artificial muscle includes a housing including an electrode region and an expandable fluid region, a pair of electrodes located in the electrode region of the housing, and a dielectric fluid housed within the housing. The pair of electrodes includes a first electrode secured to a first surface of the housing and a second electrode secured to a second surface of the housing. The first electrode and the second electrode each have an outer surface, an inner surface, a first end, a second end, and a lead wire extending outwardly from the first end. The lead wire has a first width at the first end. The second end of at least one of the first electrode and the second electrode has a recess formed therein having a first end point and a second end point. A second width extends between the first end point and the second end point of the recess. The recess defines a sawtooth pattern. The second width is greater than the first width. The first electrode is positionable on the second electrode such that the recess of at least one of the first electrode and the second electrode is adjacent to the lead wire of the other electrode. At least one of the first electrode and the second electrode includes a central opening around the expandable fluid region. The voltage is applied to the pair of electrodes of the artificial muscle, thereby actuating the pair of electrodes from a non-actuated state to an actuated state such that the dielectric fluid is directed into the expandable fluid region of the housing and expands the expandable fluid region.

[0009] These and additional features provided by the embodiments described herein will be more fully understood in view of the following detailed description, taken with the drawings, in which: BRIEF DESCRIPTION OF DRAWINGS

[0010] The embodiments set forth in the attached drawings are illustrative and exemplary in nature, not restrictive, of the subject matter defined by the claims. The following detailed description, when considered in conjunction with the drawings, can enable one skilled in the art to understand the illustrative embodiments described herein. In the following detailed description, similar reference numerals refer to similar structures throughout the drawings, and in which:

[0011] Figure 1 schematically depicts a perspective view of an illustrative electrode pair in an assembled state, in accordance with one or more embodiments shown and described herein;

[0012] Figure 2 schematically depicts a perspective view of an illustrative electrode pair in an assembled state, in accordance with one or more embodiments shown and described herein;

[0013] Figure 3 schematically depicts an exploded view of an illustrative artificial muscle, in accordance with one or more embodiments shown and described herein;

[0014] Figure 4 schematically depicts a top view of an artificial muscle, in accordance with one or more embodiments shown and described herein; Figure 3

[0015] Figure 5 ​schematically depicts a cross-sectional view of an artificial muscle in a non-actuated state according to one or more embodiments shown and described herein. Figure 4 Figure 3 schematically depicts a cross-sectional view of an artificial muscle in an actuated state according to one or more embodiments shown and described herein.

[0016] Figure 6 schematically depicts a cross-sectional view of an artificial muscle in a non-actuated state according to one or more embodiments shown and described herein. Figure 3

[0017] Figure 7 schematically depicts a cross-sectional view of an illustrative artificial muscle in an actuated state according to one or more embodiments shown and described herein.

[0018] Figure 8 schematically depicts a cross-sectional view of an artificial muscle in an actuated state according to one or more embodiments shown and described herein. Figure 7

[0019] Figure 9 schematically depicts a perspective view of an artificial muscle assembly including a plurality of artificial muscles according to one or more embodiments shown and described herein; and Figure 3

[0020] schematically depicts an actuation system for operating an artificial muscle according to one or more embodiments shown and described herein. Figure 10 DETAILED DESCRIPTION

[0021] Embodiments described herein are directed to electrode pairs, artificial muscles including electrode pairs, artificial muscle assemblies including a plurality of artificial muscles, and methods of using the same. The electrode pairs described herein include at least a first electrode and a second electrode that can be actuated to selectively engage and disengage one another when a voltage is applied and interrupted. The first electrode and the second electrode each have an outer surface, an inner surface, a first end, a second end, and a lead extending outwardly from the first end. The lead has a first width at the first end. The second end of at least one of the first electrode and the second electrode has a recess formed therein having a first end point and a second end point. The recess has a second width extending between the first end point and the second end point. The recess is defined by a sawtooth pattern. The second width of the recess is greater than the first width of the lead. When in an assembled state, the first electrode is positioned on the second electrode such that the recess of at least one of the first electrode and the second electrode is adjacent to the lead of the other electrode. The recess is provided in proximity to the relevant electrode to minimize shorting and to help increase the operating voltage. Various embodiments of artificial muscles and operation of artificial muscles are described in greater detail herein. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.

[0022] Reference is now made to​​​​Figure 1 and Figure 2 Electrode pair 10 is shown. Electrode pair 10 includes a first electrode 12 and a second electrode 14. It should be understood that although only the first electrode 12 and the second electrode 14 are shown for ease of illustration, as discussed herein and as... Figures 3-10 As shown, electrode pair 10 can be combined with or used with any suitable components, such as intermediate insulation layers, housings, and electrical components. Therefore, electrode pair 10 can be used in any number of applications, such as, for example, robots, medical devices, tools, and can be incorporated into artificial muscles discussed in more detail herein. In doing so, electrode pair 12 can include any suitable support structure for allowing the first electrode 12 and the second electrode 14 to actuate relative to each other.

[0023] The first electrode 12 includes an inner surface 16, an outer surface 18, a first end 20, and an opposing second end 22. In some embodiments, the first electrode 12 includes a pair of opposing sides 24, 26 extending between the first end 20 and the second end 22 defining a body portion 27. As shown, the body portion 27 of the first electrode 12 has a rectangular geometry defined by the first end 20, the second end 22, and the pair of sides 24, 26. However, it should be understood that the geometry of the first electrode 12 is not limited to the geometry shown herein. For example, the body portion 27 of the first electrode 12 may have a square geometry, a circular geometry, a star geometry, or any other suitable geometry.

[0024] The first electrode 12 includes a lead 28 extending outward from a first end 20 of the first electrode 12, to which terminals for delivering charge to the first electrode 12 are attached. In some embodiments, the lead 28 extends perpendicularly from the first end 20 of the first electrode 12. The lead 28 is integrally formed with the first electrode 12, such that the first electrode 12 forms a one-piece integral structure. The lead 28 extends from the first end 20 of the first electrode 12 at lead interface points P1 and P2 defining a width W1 of the lead 28. The second end 22 of the first electrode 12 is deformed to provide a recess 30 extending toward the first end 20 of the first electrode 12. The recess 30 has a first end point T1 and a second end point T2 defining a width W2 of the recess 30. The width W2 of the recess 30 is greater than the width W1 of the lead 28. In some embodiments, the recess 30 is defined by a serrated pattern 32 formed in the second end 22 of the first electrode 12 along a concave arc extending toward the first end 20 of the first electrode 12. The serrated pattern 32 formed in the second end 22 of the first electrode 12 includes a plurality of teeth 34 extending between the sides 24, 26 of the first electrode 12. The number of teeth 34 depends on the angle A1 of each tooth 34. When the angle A1 of each tooth 34 increases, the serrated pattern 32 includes fewer teeth 34. When the angle A1 of each tooth 34 decreases, the serrated pattern 32 includes a greater number of teeth 34. In some embodiments, the angle A1 of each tooth 34 is 20 degrees to 90 degrees. In some embodiments, the angle A1 of each tooth 34 is 30 degrees to 60 degrees. Each tooth 34 does not necessarily have the same angle A1. Therefore, some teeth 34 in the serrated pattern 32 may be narrower than other teeth 34 in the serrated pattern 32. However, the specific pattern formed in the second end 22 of the first electrode 12 is not limited to the serrated pattern 32 shown herein. In some embodiments, the second end 22 of the first electrode 12 may include a curved indentation, a V-shaped indentation, or any other suitable shape formed in the second end 22 of the first electrode 12 extending toward the first end 20 of the first electrode 12.

[0025] In some embodiments, the second electrode 14 is identical to the first electrode 12. Therefore, the second electrode 14 includes an inner surface 36, an outer surface 38, a first end 40, and an opposing second end 42. In some embodiments, the second electrode 14 includes a pair of opposing sides 44, 46 extending between the first end 40 and the second end 42 defining a body portion 47. As shown, the body portion 47 of the second electrode 14 has a rectangular geometry defined by the first end 40, the second end 42, and the pair of sides 44, 46. However, it should be understood that the geometry of the second electrode 14 is not limited to the geometry shown herein. For example, the body portion 47 may have a square geometry, a circular geometry, a star geometry, or any other suitable geometry.

[0026] The second electrode 14 includes a lead 48 extending outward from a first end 40 of the second electrode 14, to which terminals for delivering charge to the second electrode 14 are attached. In some embodiments, the lead 48 extends vertically from the first end 40 of the second electrode 14. The lead 48 is integrally formed with the second electrode 14, such that the second electrode 14 forms a one-piece integral structure. The lead 48 extends from the first end 40 of the second electrode 14 at lead interface points P3 and P4 defining a width W3 of the lead 48. The second end 42 of the second electrode 14 is deformed to provide a recess 50 extending toward the first end 40 of the second electrode 14. The recess 50 has a first end point T3 and a second end point T4 defining a width W4 of the recess 50. The width W4 of the recess 50 is greater than the width W3 of the lead 48. In some embodiments, the recess 50 is defined by a serrated pattern 52 formed in the second end 42 of the second electrode 14 by a concave arc extending toward the first end 40 of the second electrode 14. The serrated pattern 52 formed in the second end 42 of the second electrode 14 includes a plurality of teeth 54 extending between the sides 44, 46 of the second electrode 14. The number of teeth 54 depends on the angle A2 of each tooth 54. When the angle A2 of each tooth 54 increases, the serrated pattern 52 includes fewer teeth 54. When the angle A2 of each tooth 54 decreases, the serrated pattern 52 includes a greater number of teeth 54. In some embodiments, the angle A2 of each tooth 54 is 20 degrees to 90 degrees. In some embodiments, the angle A2 of each tooth 54 is 30 degrees to 60 degrees. Each tooth 54 does not necessarily have the same angle A2. Therefore, some teeth 54 in the serrated pattern 52 may be narrower than other teeth 54 in the serrated pattern 52. However, the specific pattern formed in the second end 42 of the second electrode 14 is not limited to the serrated pattern 52 shown herein. In some embodiments, the second end 42 of the second electrode 14 may include a curved indentation, a V-shaped indentation, or any other suitable shape formed in the second end 42 of the second electrode 14 extending toward its first end 40.

[0027] In some embodiments, the first electrode 12 and the second electrode 14 may not be identical. As a non-limiting example, the first electrode 12 may have a rectangular geometry, and the second electrode 14 may have a circular geometry. Furthermore, the serrated patterns 32, 52 and the leads 28, 48 are not limited to being positioned at opposite ends of each of the first electrode 12 and the second electrode 14. In some embodiments, the serrated patterns 32, 52 may be formed in any other suitable side, edge, end, or other portion of the first electrode 12 and the second electrode 14 adjacent to the leads 28, 48. However, as discussed in more detail herein and as... Figure 1 and Figure 2As shown, when in the assembled state, the serrated pattern 32 of the first electrode 12 is arranged above the lead 48 of the second electrode 14, and the serrated pattern 52 of the second electrode 14 is arranged above the lead 28 of the first electrode 12. Although both the first electrode 12 and the second electrode 14 are depicted as having recesses 30 and 50, it is conceivable that only one of the first electrode 12 and the second electrode 14 has a recess.

[0028] like Figure 1 and Figure 2 As shown, the first electrode 12 and the second electrode 14 each have a rectangular geometry. Figure 1 As shown, the first electrode 12 and the second electrode 14 are spaced apart from each other in the disassembled state, wherein the inner surface 16 of the first electrode 12 faces the inner surface 36 of the second electrode 14, and wherein the lead 28 of the first electrode 12 extends in the opposite direction to the lead 48 of the second electrode 14.

[0029] like Figure 2 As shown, the first electrode 12 and the second electrode 14 are in an assembled state and in contact with each other, such that the inner surface 16 of the first electrode 12 is in close contact with the inner surface 36 of the second electrode 14. In this arrangement, the second end 42 of the second electrode 14, having a serrated pattern 52 formed therein, is adjacent to the first end 20 of the first electrode 12 and the lead wire 28, and the second end 22 of the first electrode 12, having a serrated pattern 23 formed therein, is adjacent to the first end 40 of the second electrode 14 and the lead wire 48. Specifically, the wire 28 is laterally positioned between the first endpoint T3 and the second endpoint T4 of the recess 50, and the wire 48 is laterally positioned between the first endpoint T1 and the second endpoint T2 of the recess 30.

[0030] It should be noted that, without the recess 50 formed in the second end 42 of the second electrode 14, vertical intersections would form at lead interface points P1 and P2 between the second end 42 of the second electrode 14 (shown in dashed lines) and the lead 28 of the first electrode 12. Similarly, without the recess 30 formed in the second end 22 of the first electrode 11, vertical intersections would form at lead interface points P3 and P4 between the second end 22 of the first electrode 12 (shown in dashed lines) and the lead 48 of the second electrode 14. These potential vertical intersections between the first electrode 12 and the second electrode 14 are prone to short circuits or voltage breakdown when receiving excessive voltage. These vertical intersections are eliminated by providing serrated patterns 32 and 52 in each of the first electrode 12 and the second electrode 14. As a result, the electrode pair 10 can withstand higher voltages without short circuits or voltage breakdown at the lead 28 of the first electrode 12 and the lead 48 of the second electrode 14. Conventional electrodes short circuit and exhibit voltage breakdown at approximately 8 kilovolts (kV). In some embodiments, electrode pair 10 can receive a voltage greater than 8 kV without short-circuiting. In some embodiments, electrode pair 10 can receive a voltage of at least 9 kV without short-circuiting. In some embodiments, electrode pair 10 can receive a voltage of at least 10 kV without short-circuiting. In use, charge is delivered to leads 28, 48 via associated terminals, resulting in an attractive force that draws the first electrode 12 and the second electrode 14 to each other. When the charge is interrupted, the attractive force between the first electrode 12 and the second electrode 14 is eliminated. As discussed in more detail herein, the above disclosure of the first electrode 12 and the second electrode 14, comprising a serrated pattern 32, 52 covering the leads 28, 48 of the other electrode 12, 14, can be utilized in artificial muscles to improve the amount of voltage the artificial muscle can withstand without short-circuiting electrode pair 10.

[0031] Now for reference Figure 3 and Figure 4An artificial muscle 100 is shown. The artificial muscle 100 includes a housing 102, an electrode pair 104 including a first electrode 106 and a second electrode 108 fixed to opposing surfaces of the housing 102, a first electrically insulating layer 110 fixed to the first electrode 106, and a second electrically insulating layer 112 fixed to the second electrode 108. In some embodiments, the housing 102 is a one-piece integral layer including a pair of opposing inner surfaces (such as a first inner surface 114 and a second inner surface 116) and a pair of opposing outer surfaces (such as 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 102 are at least partially heat-sealable. In other embodiments, the housing 102 may be a pair of separately manufactured membrane layers, such as a first membrane layer 122 and a second membrane layer 124. Thus, the first membrane layer 122 includes a first inner surface 114 and a first outer surface 118, and the second membrane layer 124 includes a second inner surface 116 and a second outer surface 120.

[0032] In the following description, reference may be made to a housing 102 comprising a first membrane layer 122 and a second membrane layer 124, in contrast to a one-piece housing 102. However, 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.

[0033] The first electrode 106 and the second electrode 108 are each located 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 aluminum-coated polyester, such as, for example... Furthermore, one of the first electrode 106 and the second electrode 108 is a negatively charged electrode, while the other of the first electrode 106 and the second electrode 108 is a positively charged electrode. For the purposes of this discussion, if either electrode 106 or 108 of the artificial muscle 100 is negatively charged, then the other electrode 106 or 108 can be positively charged.

[0034] The first electrode 106 has a surface 126 facing the membrane and an opposing inner surface 128. The first electrode 106 is positioned against the first membrane layer 122, specifically against the first inner surface 114 of the first membrane layer 122. Additionally, the first electrode 106 includes a first lead 130 extending from the first electrode 106 beyond the edge of the first membrane layer 122, such that the first lead 130 can be connected to a power source to actuate the first electrode 106. Specifically, as... Figure 10As shown, lead 130 is coupled to the controller and power supply of actuation system 400 either directly or in series via terminals. Lead 130 extends from the first electrode 106 at lead interface points P5 and P6 defining a width W5 of lead 130. 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 lead 152 extending from the second electrode 108 beyond the edge of the second membrane layer 124, such that the lead 152 can be connected via terminals to the controller and power supply of actuation system 400 to actuate the second electrode 108. Lead 152 extends from the second electrode 108 at lead interface points P7 and P8 defining a width W7 of lead 152.

[0035] The first electrode 106 includes two or more lug portions 132 and two or more bridging portions 140. Each bridging portion 140 is located between adjacent lug portions 132, interconnecting adjacent lug portions 132. Each lug portion 132 has a first end 134 extending radially from the central axis C of the first electrode 106 to an opposing second end 136 of the lug portion 132, wherein the second end 136 defines a portion of the outer periphery 138 of the first electrode 106. Similar to the first electrode 12 of the electrode pair 10 discussed herein, at least one lug portion 132 of the first electrode 106 has a recess 133 formed in the second end 136 of the lug portion 132. The recess 133 has a first end point T5 and a second end point T6 defining a width W6 of the recess 133. The width W6 of the recess 133 is greater than the width W5 of the lead 130. In some embodiments, the recess 133 is defined by a serrated pattern 137. Each bridging portion 140 has a first end 142 that extends radially from the central axis C of the first electrode 106 to an opposing second end 144 of the bridging portion 140, thereby defining another portion of the outer periphery 138 of the first electrode 106. Each lug portion 132 has a lug length L1 extending radially from the central axis C of the first electrode 106, and each bridging portion 140 has a bridging length L2 extending radially from the central axis C of the first electrode 106. The lug length L1 is the distance from the first end 134 to the second end 136 of the lug 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 lug length L1 of each lug portion 132 is greater than the bridging length L2 of each bridging portion 140. In some embodiments, the bridging length L2 is 20% to 50% of the lug length L1, such as 30% to 40% of the lug length L1.

[0036] In some embodiments, two or more lug portions 132 are arranged in one or more pairs of lug portions 132. Each pair of lug portions 132 includes two lug portions 132 arranged radially opposite to each other. In some embodiments, the first electrode 106 may include only two lug portions 132 located on opposite sides or ends of the first electrode 106. Figure 1 and Figure 2 As shown, the first electrode 106 includes four lug portions 132 and four bridging portions 140 interconnecting adjacent lug portions 132. In this embodiment, the four lug portions 132 are arranged as two pairs of lug portions 132 radially opposite to each other. And, as shown, a first lead 130 extends from and is integrally formed with a second end 136 of one of the lug portions 132. As shown, the first lead 130 extends from the second end 136 of the lug portion 132 opposite to the lug portion 132 from which the serrated pattern 137 is formed. However, as discussed herein, the serrated pattern 137 can be formed in any suitable lug portion 132, such as, for example, in a lug portion 132 adjacent to the lug portion 132 from which the first lead 130 extends.

[0037] Similar to the first electrode 106, the second electrode 108 includes at least one pair of lug portions 154 and two or more bridging portions 162. Each bridging portion 162 is located between adjacent lug portions 154, thereby interconnecting adjacent lug portions 154. Each lug portion 154 has a first end 156 extending radially from the central axis C of the second electrode 108 to an opposing second end 158 of the lug portion 154, wherein the second end 158 defines a portion of the outer periphery 160 of the second electrode 108. Similar to the second electrode 14 of the electrode pair 10 discussed herein, at least one lug portion 154 of the second electrode 108 has a recess 135 formed in the second end 158 of the lug portion 154. The recess 135 has a first end point T7 and a second end point T8 defining a width W8 of the recess 135. The width W8 of the recess 135 is greater than the width W7 of the lead 152. In some embodiments, the recess 135 is defined by a serrated pattern 139. Although both the first electrode 106 and the second electrode 108 are depicted as having recesses 133, 135, embodiments in which only one of the first electrode 106 and the second electrode 108 has a recess are contemplated. Since the first electrode 106 and the second electrode 108 are coaxial with each other, their central axes C are the same. Each bridging portion 162 has a first end 164 that extends radially from the central axis C of the second electrode to an opposing second end 166 of the bridging portion 162, thereby defining another portion of the outer periphery 160 of the second electrode 108. Each lug portion 154 has a lug length L3 extending radially from the central axis C of the second electrode 108, and each bridging portion 162 has a bridging length L4 extending radially from the central axis C of the second electrode 108. The lug length L3 is the distance from the first end 156 to the second end 158 of the lug 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 lug 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 lug length L3, such as 30% to 40% of the lug length L3.

[0038] In some embodiments, two or more lug portions 154 are arranged in one or more pairs of lug portions 154. Each pair of lug portions 154 includes two lug portions 154 arranged radially opposite to each other. In some embodiments, the second electrode 108 may include only two lug portions 154 located on opposite sides or ends of the first electrode 106. Figure 1 and Figure 2As shown, the second electrode 108 includes four lug portions 154 and four bridging portions 162 interconnecting adjacent lug portions 154. In this embodiment, the four lug portions 154 are arranged as two pairs of lug portions 154 radially opposite to each other. Additionally, as shown, a second lead 152 extends from and is integrally formed with a second end 158 of one of the lug portions 154. As shown, the second lead 152 extends from the second end 158 of the lug portion 154 opposite to the lug portion 154 from which the serrated pattern 139 is formed. However, as discussed herein, the serrated pattern 139 can be formed in any suitable lug portion 154, such as, for example, in a lug portion 154 adjacent to the lug portion 154 from which the second lead 152 extends.

[0039] Now for reference Figures 3-8 At least one of the first electrode 106 and the second electrode 108 has a central opening. Figure 3 and Figure 4 In this configuration, the first electrode 106 has a central opening 146 formed therein between the first end 134 of the lug portion 132 and the first end 142 of the bridging portion 140, and the second electrode 108 has a central opening 168 formed therein between the first end 156 of the lug portion 154 and the first end 164 of the bridging portion 162. However, it should be understood that, as Figure 5 and Figure 6 As shown, when the central opening 168 is also disposed within the second electrode 108, the first electrode 106 does not need to include the central opening 146. Alternatively, when the central opening 146 is also disposed within the first electrode 106, the second electrode 108 does not need to include the central opening 168.

[0040] Still referencing Figures 2-8The first electrical insulating layer 110 and the second electrical insulating layer 112 each have a geometry that generally corresponds to the first electrode 106 and the second electrode 108. Therefore, the first electrical insulating layer 110 and the second electrical insulating layer 112 each have lug portions 170, 172 and bridging portions 174, 176 corresponding to similar portions on the first electrode 106 and the second electrode 108. Furthermore, the first electrical insulating layer 110 and the second electrical insulating layer 112 each have outer peripheries 178, 180 corresponding to the outer periphery 138 of the first electrode 106 and the outer periphery 160 of the second electrode 108 when located on the first electrode 106 and the second electrode 108, respectively. Since the first electrical insulating layer 110 has a geometry corresponding to the first electrode 106, a recess defined by the serrated pattern 141 is formed in the outer periphery 178 of one lug portion 170 in the first electrical insulating layer 110, corresponding to the serrated pattern 137 formed in the first electrode 106. Similarly, since the second electrical insulating layer 112 has a geometry corresponding to the second electrode 108, a recess defined by the serrated pattern 143 is formed in the outer periphery 180 of a lug portion 172 in the second electrical insulating layer 112 corresponding to the serrated pattern 139 formed in the second electrode 108. The structure and features of the serrated patterns 32, 52 of the electrode pair 10 described herein are also applicable to each of the serrated patterns 137, 139, 141, 143 of the artificial muscle 100.

[0041] It should be understood that in some embodiments, the first electrical insulating layer 110 and the second electrical insulating layer 112 typically include the same structure and composition. Therefore, in some embodiments, the first electrical insulating layer 110 and the second electrical insulating layer 112 each include adhesive surfaces 182, 184 and opposing non-sealing surfaces 186, 188. Therefore, in some embodiments, the first electrical insulating layer 110 and the second electrical insulating layer 112 are each polymer tapes adhered to the inner surface 128 of the first electrode 106 and the inner surface 150 of the second electrode 108, respectively.

[0042] Now for reference Figures 4-8 The artificial muscle 100 is shown in an assembled state, wherein the first lead 130 of the first electrode 106 and the second lead 152 of the second electrode 108 extend beyond the outer periphery of the housing 102, i.e., the first membrane layer 122 and the second membrane layer 124. Figure 4As shown, the second electrode 108 is stacked on top of the first electrode 106; therefore, the first electrode 106 and the second electrically insulating layer 112 are not shown. Only a portion of the first electrically insulating layer 110 is shown near the first lead 130 extending from the first electrode 106. Additionally, the first lead 130 is laterally positioned between the first endpoint T7 and the second endpoint T8 of the recess 135 of the second electrode 108. Similarly, although not shown, the second lead 152 is laterally positioned between the first endpoint T5 and the second endpoint T6 of the recess 133 of the first electrode 108. In the assembled state, the first electrode 106, the second electrode 108, the first electrically insulating layer 110, and the second electrically 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 the 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 partially 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 or heat sealing.

[0043] The first electrode 106, the second electrode 108, the first electrical insulating layer 110, and the second electrical insulating layer 112 provide a barrier to prevent the first membrane layer 122 from completely sealing to the second membrane layer 124, thereby forming an unsealed portion 192. The unsealed portion 192 of the housing 102 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 and define the expandable fluid region 196. Although not shown, the housing 102 can be cut to conform to the geometry of the electrode pair 104 and reduce the size of the artificial muscle 100, i.e., the size of the sealed portion 190.

[0044] A dielectric fluid 198 is disposed within the unsealed portion 192 and flows freely between the first electrode 106 and the second electrode 108. As used herein, a “dielectric” fluid is a medium or material that transmits electrical energy without conducting electricity and therefore has low conductivity. Some non-limiting examples of 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 100 using a needle or other suitable injection device.

[0045] Now for reference Figure 5 and Figure 6 The artificial muscle 100 can be actuated between a non-actuated and an actuated state. In the non-actuated state, such as...Figure 5 As shown, the first electrode 106 and the second electrode 108 are partially spaced apart from each other at their first ends 134 and 156 near their central openings 146 and 168 and the lug portions 132 and 154. Since the housing 102 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 and 158 of the lug portions 132 and 154 remain in a position relative to each other. Therefore, the serrated pattern 137 of the first electrode 106 and the serrated pattern 141 of the first electrical insulating layer 112 are provided near the outer periphery 160 of the second electrode 108 and the second lead 152. Similarly, the serrated pattern 139 of the second electrode 108 and the serrated pattern 143 of the second electrical insulating layer 112 are provided near the outer periphery 138 of the first electrode 106 and the first lead 130. In the actuated state, as... Figure 6 As shown, the first electrode 106 and the second electrode 108 are in contact with each other and oriented parallel to each other to force 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.

[0046] Now for reference Figure 5 The diagram illustrates an artificial muscle 100 in its non-actuated state. An electrode pair 104 is disposed within the electrode region 194 of the unsealed portion 192 of the housing 102. 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. Since the first membrane layer 122 is sealed to the second membrane layer 124 around the electrode pair 104, the second ends 136, 158 of the lug portions 132, 154 are in contact with each other. Therefore, a dielectric fluid 198 is disposed between the first electrode 106 and the second electrode 108, thereby separating the first ends 134, 156 of the lug portions 132, 154 near the expandable fluid region 196. In other words, the distance between the first end 134 of the lug portion 132 of the first electrode 106 and the first end 156 of the lug portion 154 of the second electrode 108 is greater than the distance between the second end 136 of the lug portion 132 of the first electrode 106 and the second end 158 of the lug portion 154 of the second electrode 108. This causes the electrode pair 104 to zipper 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 5As shown, the first electrode 106 and the second electrode 108 are convex relative to each other, such that the second ends 136 and 158 of their lug 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.

[0047] When actuated, such as Figure 6 As shown, the first electrode 106 and the second electrode 108 are pulled together from the second ends 144, 158 of their lug portions 132, 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, causing the expandable fluid region 196 to expand. Therefore, 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 larger than the first height H1 of the expandable fluid region 196 in the unactuated state. Although not shown, it should be noted that the electrode pair 104 can be partially actuated to a position between the unactuated and actuated states. This allows for partial expansion of the expandable fluid region 196 and adjustment as necessary.

[0048] To bring the first electrode 106 and the second electrode 108 close together, a voltage is applied by a power source. In some embodiments, a voltage of up to 10 kV can be supplied from the power source to induce an electric field through the dielectric fluid 198. The attraction generated 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 110 to deform along a first axial direction along the central axis C of the first electrode 106, and causes the second film layer 124 and the second electrical insulating layer 112 to deform along a second axial direction opposite to the central axis C of the second electrode 108. Once the voltage supplied to the first electrode 106 and the second electrode 108 is interrupted, the first electrode 106 and the second electrode 108 return to their initial non-parallel positions in an unactuated state.

[0049] It should be understood that the embodiments disclosed herein, specifically, those with serrated patterns 137, 139 formed therein, provide several improvements compared to actuators (such as HASEL actuators) that do not include lug portions 132, 154. Compared to known HASEL actuators that include annular electrodes with uniform radially extending widths, the embodiment of the artificial muscle 100, including two pairs of lug portions 132, 154 respectively located on each of the first electrode 106 and the second electrode 108, reduces the total mass and thickness of the artificial muscle 100 without reducing the amount of force generated after actuation, reduces the amount of voltage required during actuation, and reduces the overall volume of the artificial muscle 100. More specifically, compared to HASEL actuators that include annular electrodes, the lug portions 132, 154 of the artificial muscle 100 provide a zippered front end that increases actuation power by providing localized and uniform hydraulic actuation of the artificial muscle 100. Specifically, a pair of lugs 132, 154 provides twice the actuator power per unit volume of a circular HASEL actuator, while two pairs of lugs 132, 154 provide four times the actuator power per unit volume. The bridging portions 174, 176 of the interconnecting lugs 132, 154 also limit buckling of the lugs 132, 154 by maintaining the distance between adjacent lugs 132, 154 during actuation. Since the bridging portions 174, 176 are integrally formed with the lugs 132, 154, they also prevent leakage between the lugs 132, 154 by eliminating attachment sites that would provide a higher risk of breakage. Additionally, as discussed herein, the serrated patterns 137, 139 eliminate the perpendicular intersections between the lugs 132, 154 and the leads 130, 152. This allows the artificial muscle 100 to receive higher voltages while reducing the risk of short circuits and voltage failures.

[0050] During operation, when the artificial muscle 100 is actuated, the expansion of the expandable fluid region 196 produces, for example, 3 Newton-millimeter (N·mm) per cubic centimeter (cm). 3 The actuator volume is 4 N·mm / cm or larger. 3 The actuator volume is larger than 5 N·mm / cm 3 The actuator volume is larger than 6 N·mm / cm 3 Actuator volume or larger, 7 N·mm / cm 3 Actuator volume or larger, 8 N·mm / cm 3 Actuator volume or larger, 9 N·mm / cm 3 Actuator volume or larger, 10 N·mm / cm 3 Actuator volume or larger, 11 N·mm / cm3 The actuator volume is either larger and 12 N·mm / cm 3 The actuator volume or force is greater. In one example, when the artificial muscle 100 is actuated by a voltage of 9.5 kV, the artificial muscle 100 provides a force of 5 N. In another example, when the artificial muscle 100 is actuated by a voltage of 10 kV, the artificial muscle 100 provides 440% strain under a 500 g load.

[0051] Furthermore, the dimensions 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 dimensions of the electrode pair 104 are 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 dimensions of the central openings 146, 168.

[0052] like Figure 7 and Figure 8 As shown, another embodiment of the artificial muscle 200 is illustrated. The artificial muscle 200 is substantially similar to the artificial muscle 100. Therefore, similar structures are indicated by similar reference numerals. However, as shown, the first electrode 106 does not include a central opening 146. Therefore, only the second electrode 108 includes a central opening 168 formed therein. Figure 7 As shown, the artificial muscle 200 is in a non-actuated state, wherein the first electrode 106 is planar 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 8 As shown, the expandable fluid region 196 has a second height H4 greater than the first height H3. It should be understood that by providing a central opening 168 only in the second electrode 108 (opposite to the first electrode 106 and the second electrode 108), a total deformation can be formed on one side of the artificial muscle 200. Furthermore, since the total deformation is formed only on one side of the artificial muscle 200, when all other dimensions, orientations, and volumes of the dielectric fluid are the same, the second height H4 of the expandable fluid region 196 of the artificial muscle 200 extends further from the longitudinal axis perpendicular to the central axis C of the artificial muscle 200 compared to the second height H2 of the expandable fluid region 196 of the artificial muscle 100.

[0053] Now for reference Figure 9An artificial muscle assembly 300 comprising multiple artificial muscles (such as artificial muscle 100) is shown. However, it should be understood that the multiple artificial muscles 200 can be arranged similarly in a stacked manner. Each artificial muscle 100 can be structurally identical and stacked such that the expandable fluid region 196 of each artificial muscle 100 covers the expandable fluid region 196 of the adjacent artificial muscle 100. The leads 130, 152 of each artificial muscle 100 are electrically connected to each other, such that the artificial muscle 100 can be actuated simultaneously between an inactive state and an actuated state. By arranging the artificial muscles 100 in a stacked configuration, the total deformation of the artificial muscle assembly 300 is the sum of the deformations within the expandable fluid regions 196 of each artificial muscle 100. Therefore, the degree of deformation produced by the artificial muscle assembly 300 is greater than the degree of deformation that each artificial muscle 100 would provide individually.

[0054] Now for reference Figure 10 An actuation system 400 may be provided for operating electrode pairs, artificial muscles, or artificial muscle assemblies (such as electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300) between non-actuated and actuated states. Therefore, the actuation system 400 may include a controller 402, an operating device 404, a power supply 406, and a communication path 408. Various components of the actuation system 400 will now be described.

[0055] Controller 402 includes a processor 410 and a non-transitory electronic memory 412 that are communicatively coupled to various components. In some embodiments, the processor 410, the non-transitory electronic memory 412, and / or other components are contained in a single device. In other embodiments, the processor 410, the non-transitory electronic memory 412, and / or other components may be distributed among multiple communicatively coupled devices. Controller 402 includes a non-transitory electronic memory 412 that stores a set of machine-readable instructions. Processor 410 executes machine-readable instructions stored in non-transitory electronic memory 412. Non-transitory electronic memory 412 may include RAM, ROM, flash memory, hard disk drive, or any device capable of storing machine-readable instructions such that processor 410 can access the machine-readable instructions. Therefore, the actuation system 400 described herein can be implemented in any conventional computer programming language, as a pre-programmed hardware element, or as a combination of hardware and software components. Non-transitory electronic memory 412 may be implemented as a single memory module or multiple memory modules.

[0056] In some embodiments, the non-transitory electronic memory 412 includes instructions for performing functions of the actuation system 400. These instructions may include instructions for operating the electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300 based on user commands.

[0057] Processor 410 can be any device capable of executing machine-readable instructions. For example, processor 410 can be an integrated circuit, a microchip, a computer, or any other computing device. Non-transitory electronic memory 412 and processor 410 are coupled to communication path 408, which provides signal interconnection between various components and / or modules of actuation system 400. Therefore, communication path 408 can communicatively couple any number of processors to each other and allows modules coupled to communication path 408 to operate in a distributed computing environment. Specifically, each of the modules can operate as a node capable of sending and / or receiving data. As used herein, the term "communicative coupling" means that the coupled components are able to exchange data signals with each other, such as electrical signals via a conductive medium, electromagnetic signals via air, and optical signals via an optical waveguide.

[0058] like Figure 10 As shown, communication path 408 communicatively couples the non-transient electronic memory 412 of processor 410 and controller 402 to multiple other components of actuation system 400. For example, Figure 10 The actuation system 400 shown includes a processor 410 and a non-transient electronic memory 412 that are communicatively coupled to an operating device 404 and a power supply 406.

[0059] Operating device 404 allows a user to control the operation of electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300. In some embodiments, operating device 404 may be a switch, toggle, button, or any combination of controls that provide user operation. As a non-limiting example, a user can actuate electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300 to an actuated state by activating the control of operating device 404 to a first position. When in the first position, electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300 will remain in the actuated state. A user can switch electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300 to a deactoed state by operating the control of operating device 404 from the first position to a second position.

[0060] Operating device 404 is coupled to communication path 408, such that communication path 408 communicatively couples operating device 404 to other modules of actuation system 400. Operating device 404 can provide a user interface for receiving user instructions regarding specific operational configurations of electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300. Additionally, user instructions may include instructions to operate electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300 only under certain conditions.

[0061] A power source 406 (e.g., a battery) supplies power to the electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300. In some embodiments, the power source 406 is a rechargeable DC power source. It should be understood that the power source 406 may be a single power source or battery for supplying power to the electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300. A power adapter (not shown) may be provided and electrically coupled via wiring harnesses or the like for supplying power to the electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300 via the power source 406.

[0062] In some embodiments, the actuation system 400 further includes a display device 414. The display device 414 is coupled to a communication path 408 such that the communication path 408 communicatively couples the display device 414 to other modules of the actuation system 400. The display device 414 may output a notification in response to an indication of an actuation state of the electrode pair 10, artificial muscle 100, 200, or artificial muscle assembly 300, or a change in the actuation state of the electrode pair 10, artificial muscle 100, 200, or artificial muscle assembly 300. Furthermore, the display device 414 may be a touchscreen that, in addition to providing optical information, detects the presence and location of tactile input on or near the surface of the display device 414. Therefore, the display device 414 may include an operating device 404 and directly receive mechanical input on the light output provided by the display device 414.

[0063] In some embodiments, the actuation system 400 includes network interface hardware 416 for communicatively coupling the actuation system 400 to a portable device 418 via a network 420. The portable device 418 may include, but is not limited to, a smartphone, tablet, personal media player, or any other electronic device including wireless communication capabilities. It should be understood that, when provided, the portable device 418 may be used to provide user commands to the controller 402 instead of the operating device 404. Therefore, a user can control or set programs for controlling the electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300 without utilizing the control of the operating device 404. Thus, the electrode pair 10, artificial muscles 100, 200, or artificial muscle assembly 300 can be remotely controlled via the portable device 418, thereby enabling wireless communication with the controller 402 via the network 420.

[0064] From the above, it should be understood that this article is limited to artificial muscles used to expand or deform the surface of an object by selectively actuating the artificial muscles to raise and lower their area. This provides a low-profile expansion member that can be operated on demand.

[0065] It should be noted that the terms “substantially” and “about” may be used herein to represent the inherent uncertainty attributable to any quantitative comparison, value, measurement, or other representation. These terms are also used herein to represent the extent to which a quantitative representation may change from the reference without causing a change in the fundamental function of the subject matter under discussion.

[0066] While specific embodiments have been shown 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, it is not necessary to combine these aspects. Therefore, the appended claims are intended to cover all such changes and modifications within the scope of the claimed subject matter.

Claims

1. An electrode pair, comprising: Each electrode has an outer surface, an inner surface, a first end, a second end, and a lead extending outward from the first end. The lead has a first width at the first end. At least one of the first and second electrodes has a second end with a recess formed in the second end, having a first endpoint and a second endpoint. A second width extends between the first and second endpoints of the recess, and the recess is defined by a serrated pattern extending along a concave arc. The second width is greater than the first width. Wherein, when the first electrode is located on the second electrode, the recess of at least one of the first electrode and the second electrode is adjacent to the lead of the other electrode.

2. The electrode pair according to claim 1, wherein, The first electrode and the second electrode each have a recess formed in the second end of the first electrode and the second electrode, and when the first electrode is on the second electrode, the lead of the first electrode is laterally positioned between the first end point and the second end point of the recess of the second electrode, and the lead of the second electrode is laterally positioned between the first end point and the second end point of the recess of the first electrode.

3. The electrode pair according to claim 1, wherein, The first electrode and the second electrode each have a body portion defined by a first end, a second end, a first side, and an opposing second side, the first side and the second side extending between the first end and the second end, and a lead extending perpendicularly from the body portion.

4. The electrode pair according to claim 3, wherein, The bodies of the first electrode and the second electrode are rectangular, such that the first ends of the first electrode and the second electrode are respectively opposite to the second ends of the first electrode and the second electrode.

5. The electrode pair according to claim 1, wherein, The recessed serrated pattern consists of multiple teeth.

6. The electrode pair according to claim 5, wherein, The angle between adjacent teeth of the serrated pattern ranges from 10 degrees to 100 degrees.

7. The electrode pair according to claim 6, wherein, The angle between adjacent teeth of the serrated pattern ranges from 30 degrees to 60 degrees.

8. An artificial muscle, comprising: A housing comprising an electrode region and an expandable fluid region; An electrode pair located in the electrode region of the housing, the electrode pair comprising 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 first electrode and the second electrode each have an outer surface, an inner surface, a first end, a second end, and a lead extending outward from the first end. The lead has a first width at the first end. At least one of the first electrode and the second electrode has a second end with a recess formed therein, having a first endpoint and a second endpoint. A second width extends between the first endpoint and the second endpoint of the recess. The recess is defined by a serrated pattern extending along a concave arc. The second width is greater than the first width. At least one of the first and second electrodes includes a central opening surrounding a expandable fluid region; and The dielectric fluid contained within the casing, Wherein, when the first electrode is located on the second electrode, the recess of at least one of the first and second electrodes is adjacent to the lead of the other electrode. The electrode pair can be actuated between a non-actuated state and an actuated state, such that actuation from the non-actuated state to the actuated state guides the dielectric fluid into the expandable fluid region.

9. The artificial muscle according to claim 8, wherein, The first electrode and the second electrode each include at least two lug portions and at least two bridging portions, the at least two lug portions being defined by a first end and a second end, and each of the at least two bridging portions interconnecting adjacent lug portions.

10. The artificial muscle according to claim 9, wherein, A serrated pattern is formed in the first lug portion of at least two lug portions of each of the first and second electrodes, wherein a lead extends perpendicularly from the second lug portion of at least two lug portions of each of the first and second electrodes, the first lug portion being opposite to the second lug portion.

11. The artificial muscle according to claim 8, wherein, The serrated pattern consists of multiple teeth.

12. The artificial muscle according to claim 11, wherein, The angle between adjacent teeth of the serrated pattern ranges from 30 degrees to 60 degrees.

13. The artificial muscle according to claim 8, wherein: When the electrode pair is in a 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 zip towards each other and towards the central opening when actuated from the non-actuated state to the actuated state.

14. A method for actuating an artificial muscle, the method comprising: A voltage is generated using a power source that is electrically coupled to a pair of electrodes in the artificial muscle, the artificial muscle comprising: A housing with an electrode region and an expandable fluid region; An electrode pair located in the electrode region of the housing, the electrode pair comprising 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 first electrode and the second electrode each have an outer surface, an inner surface, a first end, a second end, and a lead extending outward from the first end. The lead has a first width at the first end. At the second end of at least one of the first and second electrodes, a recess with a first endpoint and a second endpoint is formed in the second end. A second width extends between the first endpoint and the second endpoint of the recess. The recess is defined by a serrated pattern extending along a concave arc. The second width is greater than the first width. The first electrode can be positioned on the second electrode such that the recess of at least one of the first and second electrodes is adjacent to the lead of the other electrode. At least one of the first and second electrodes includes a central opening surrounding a expandable fluid region; and Dielectric fluid contained within the housing; and A voltage is applied to the electrode pair of the artificial muscle, thereby actuating the electrode pair from a non-actuated state to an actuated state, causing the dielectric fluid to be guided into the expandable fluid region of the housing and expanding the expandable fluid region.

15. The method according to claim 14, wherein, The housing includes a first membrane layer and a second membrane layer, and the first membrane layer and the second membrane layer are partially heat-sealed together to define a sealed portion of the housing. The housing also includes 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.

16. The method of claim 14, wherein, The controller is communicatively coupled to the electrode pair, and the controller draws voltage from the power supply across the first and second electrodes to actuate the artificial muscle from a non-actuated state to an actuated state.

17. The method of claim 14, wherein, The serrated pattern consists of multiple teeth extending along a concave arc, with the angle between adjacent teeth ranging from 30 degrees to 60 degrees.

18. The method according to claim 14, wherein, The voltage applied to the artificial muscle is greater than 9 kV.

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