Preparation process and control method of high-degree-of-freedom gel bionic artificial muscle

Abstract

The invention discloses a preparation process and a control method of a high-degree-of-freedom gel bionic artificial muscle, belongs to the technical field of bionic artificial muscles, and aims at improving the output force of gel by preparing dual-network hydrogel, so that the hydrogel is driven by current to move according to a pre-programmed track. Firstly, a three-part mold structure is prepared through the 3D printing and laser engraving technology; secondly, preparing an actuating layer solution and an electrode layer solution of the bionic artificial muscle, and injecting the solutions into a mold for drying; and finally, independently powering up a motor layer area of the device. The preparation process and the control method of the high-degree-of-freedom gel bionic artificial muscle have the advantages of being high in degree of freedom, high in response speed, high in output force, simple in preparation process, green, environmentally friendly and the like.

Description

Technical Field

[0001] The invention relates to the technical field of bionic artificial muscles, and in particular to a preparation process and a control method of a high-freedom gel-based bionic artificial muscle. Background Art

[0002] Gel-based bionic artificial muscles refer to artificial muscles made from gel materials. These materials have softness and plasticity similar to natural muscles. The movement of gel materials can be controlled by electrical or chemical stimulation. The characteristics of these materials enable them to deform under external stimulation, similar to the contraction and extension of biological muscles, thereby simulating the movement of natural muscles. With its unique material structure and functional characteristics, gel-based bionic artificial muscles have created a more precise, flexible and intelligent artificial muscle system for humans, showing great application potential in the fields of medicine, flexible robots, bionics, etc.

[0003] However, traditional gel-based bionic artificial muscles have disadvantages such as weak output force, small deformation and slow response speed, which limit the development of gel-based bionic artificial muscles in the field of intelligent driving materials. Therefore, developing a preparation method for bionic artificial muscles with high degree of freedom, large output force and stable structure and a simple electric drive control process is of great significance for the application of bionic artificial muscles in related fields. Summary of the invention

[0004] The purpose of the present invention is to provide a preparation process and control method of a high-degree-of-freedom gel-based bionic artificial muscle, which has a simple production process, a stable structure, a large deformability, a strong output force, a high degree of freedom, and a simple and easy-to-operate electric drive control method.

[0005] To achieve the above object, the present invention provides a preparation process of a high-degree-of-freedom gel-based bionic artificial muscle, the specific steps of which are as follows:

[0006] S1: Using degradable polylactic acid as raw material, the actuation layer of the device was modeled using solidworks 3D software, and the actuation layer mold and shell mold were prepared using 3D printing technology. Laser engraving technology was used to punch holes in the four different areas of the second part corresponding to the shell mold. The size of the hole was the same as the specifications of the front end of the rubber-tipped dropper to ensure that the electrode membrane solution could enter the gap between the actuation layer mold and the shell.

[0007] S2: Preparation of bionic artificial muscle electrode membrane solution: Weigh 1g of sodium alginate with an electronic analytical balance and put it into a beaker filled with 80mL of distilled water. Then put the sodium alginate solution and 20ml of multi-walled carbon nanotube aqueous dispersion into a magnetic stirrer, set the temperature to 50°C, stir evenly at a speed of 500r / min, and add 2mL of glycerol during the stirring process. When the blended solution is gel-like and has no obvious solid particles and flocs, take it out and put the mixed solution into an ultrasonic processor for ultrasonic treatment for 15min to obtain an electrode membrane solution.

[0008] S3: Preparation of bionic artificial muscle actuating membrane solution: First, add 80 mL of distilled water to a beaker, then use an electronic analytical balance to weigh 1 g of sodium alginate and dissolve it in a beaker containing distilled water, then add 2.0 g of polyacrylic acid, and then place the mixed solution in a magnetic stirrer, set the temperature to 50°C, stir evenly at a speed of 500 r / min, stir for 30 minutes, then add 1.0 g of calcium chloride, and then add 2 mL of glycerol during the stirring process. After stirring evenly, place the mixed solution in an ultrasonic processor for ultrasonic treatment for 15 minutes to obtain an actuating membrane solution.

[0009] S4: Constructing a bionic artificial muscle device: fit the actuation layer mold with the shell mold, fill the outer gaps at both ends of the actuation layer mold with the electrode film solution prepared in S2, and use a rubber-tipped dropper to add the electrode film solution from the aperture of the shell mold to the internal gap, and put it into a vacuum drying oven for drying. After sufficient drying, take out the actuation layer mold inside the device and dissolve it with citric acid. After it is completely dissolved, add the actuation film solution prepared in S3 to it, and then put it into a vacuum drying oven for drying. The drying temperature is 50°C and the time is 48h.

[0010] In the preparation processes S1-S4, the reagents, materials and tools used are: polyacrylic acid (analytical grade), calcium chloride (analytical grade), sodium alginate (analytical grade), polylactic acid, multi-walled carbon nanotube aqueous solution (analytical grade), glycerol (analytical grade), 3D printer, ultrasonic processor, rubber-tipped dropper (3ML), beaker (100mL), plastic wrap, knife, tweezers, qualitative filter paper, and disposable latex gloves.

[0011] A method for electrically driving and controlling a high-degree-of-freedom gel-based bionic artificial muscle, wherein the bionic artificial muscle device is divided into three parts, which are respectively denoted as ①, ②, and ③. The electrode layer areas of ① and ③ are divided into areas 1-6 in a clockwise direction, and the electrode layer area of ​​② is also divided into areas 1-4 in a clockwise direction. The electrode layer area is connected to the positive or negative pole of the power supply. The bionic artificial muscle device can be divided into local deflection and overall deflection. The overall deflection is when ①②③ are powered on at the same time; the local deflection is divided into 6 situations: ①, ②, ③, ①②, ①③, ②③. The specific movement process is as follows:

[0012] Move along the x-axis:

[0013] When the bionic artificial muscle moves in the positive direction of the x-axis as a whole: ① and ③ are connected to the positive pole of the power supply in areas 1, 2, and 3, and areas 4, 5, and 6 are connected to the negative pole of the power supply; ② is connected to the positive pole of the power supply in area 2, and the negative pole of the power supply in area 4; when moving in the negative direction of the x-axis, ① and ③ are connected to the positive pole of the power supply in areas 4, 5, and 6, and areas 1, 2, and 3 are connected to the negative pole of the power supply; ② is connected to the positive pole of the power supply in area 4, and the negative pole of the power supply in area 2.

[0014] When the bionic artificial muscle moves locally in the positive direction of the x-axis: ①When deflection occurs, the positive electrode of the power supply is connected to regions 1, 2, and 3, and the negative electrode of the power supply is connected to regions 4, 5, and 6; ②When deflection occurs, the positive electrode of the power supply is connected to region 2, and the negative electrode of the power supply is connected to region 4; ③When deflection occurs, the positive electrode of the power supply is connected to regions 1, 2, and 3, and the negative electrode of the power supply is connected to regions 4, 5, and 6; ①②When deflection occurs, the positive electrode of the power supply is connected to regions 1, 2, and 3 of ①, and the negative electrode of the power supply is connected to regions 4, 5, and 6, and the positive electrode of the power supply is connected to region 2 of ②, and the negative electrode of the power supply is connected to region 4; ①③When deflection occurs, the positive electrode of the power supply is connected to regions 1, 2, and 3 of ①, and the negative electrode of the power supply is connected to regions 4, 5, and 6, and the positive electrode of the power supply is connected to regions 1, 2, and 3 of ③, and the negative electrode of the power supply is connected to regions 4, 5, and 6; ②③When deflection occurs, the positive electrode of the power supply is connected to region 2 of ②, and the negative electrode of the power supply is connected to region 4, and the positive electrode of the power supply is connected to regions 1, 2, and 3 of ③, and the negative electrode of the power supply is connected to regions 4, 5, and 6. When moving in the negative direction of the x-axis: ①When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6, and connect the negative electrode of the power supply to areas 1, 2, and 3; ②When deflection occurs, connect the positive electrode of the power supply to areas 4, and connect the negative electrode of the power supply to areas 2; ③When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6, and connect the negative electrode of the power supply to areas 1, 2, and 3; ①②When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6 of ①, and connect the negative electrode of the power supply to areas 1, 2, and 3, and connect the positive electrode of the power supply to area 4 of ②, and connect the negative electrode of the power supply to area 2; ①③When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6 of ①, and connect the negative electrode of the power supply to areas 1, 2, and 3, and connect the positive electrode of the power supply to areas 4, 5, and 6 of ③, and connect the negative electrode of the power supply to areas 1, 2, and 3; ②③When deflection occurs, connect the positive electrode of the power supply to area 4 of ②, and connect the negative electrode of the power supply to area 2, and connect the positive electrode of the power supply to areas 4, 5, and 6 of ③, and connect the negative electrode of the power supply to areas 1, 2, and 3.

[0015] Move along the z-axis:

[0016] When the bionic artificial muscle moves in the positive direction of the z-axis as a whole: ① and ③ are connected to the positive pole of the power supply in areas 1 and 6, and areas 3 and 4 are connected to the negative pole of the power supply; ② is connected to the positive pole of the power supply in area 1, and the negative pole of the power supply in area 3; when moving in the negative direction of the x-axis, ① and ③ are connected to the positive pole of the power supply in areas 3 and 4, and areas 1 and 6 are connected to the negative pole of the power supply; ② is connected to the positive pole of the power supply in area 3, and the negative pole of the power supply in area 1;

[0017] When the bionic artificial muscle moves locally in the positive direction of the z-axis: ①When deflection occurs, connect the positive pole of the power supply to areas 1 and 6, and connect the negative pole of the power supply to areas 3 and 4; ②When deflection occurs, connect the positive pole of the power supply to areas 1 and the negative pole of the power supply to areas 3; ③When deflection occurs, connect the positive pole of the power supply to areas 1 and 6, and connect the negative pole of the power supply to areas 3 and 4; ①②When deflection occurs, connect the positive pole of the power supply to areas 1 and 6 of ①, connect the negative pole of the power supply to areas 3 and 4, and connect the positive pole of the power supply to area 1 of ② and the negative pole of the power supply to area 3; ①③When deflection occurs, connect the positive pole of the power supply to areas 1 and 6 of ①, connect the negative pole of the power supply to areas 3 and 4, and connect the positive pole of the power supply to areas 1 and 6 of ③, and connect the positive pole of the power supply to areas 3 and 4; ②③When deflection occurs, connect the positive pole of the power supply to area 1 of ②, connect the negative pole of the power supply to areas 3, and connect the positive pole of the power supply to areas 1 and 6 of ③, and connect the positive pole of the power supply to areas 3 and 4. Source negative pole; when moving in the negative direction of the z-axis: ①When deflection occurs, connect the positive pole of the power supply in areas 3 and 4, and connect the negative pole of the power supply in areas 1 and 6; ②When deflection occurs, connect the positive pole of the power supply in area 3 and connect the negative pole of the power supply in area 1; ③When deflection occurs, connect the positive pole of the power supply in areas 3 and 4, and connect the negative pole of the power supply in areas 1 and 6; ①②When deflection occurs, connect the positive pole of the power supply in areas 3 and 4 of ①, connect the negative pole of the power supply in areas 1 and 6, and connect the positive pole of the power supply in area 3 of ② and connect the negative pole of the power supply in area 1; ①③When deflection occurs, connect the positive pole of the power supply in areas 3 and 4 of ①, connect the negative pole of the power supply in areas 1 and 6, and connect the positive pole of the power supply in areas 3 and 4 of ③, and connect the positive pole of the power supply in areas 1 and 6; ②③When deflection occurs, connect the positive pole of the power supply in areas 3 of ② and connect the negative pole of the power supply in areas 1 and 6, and connect the positive pole of the power supply in areas 3 and 4 of ③, and connect the negative pole of the power supply in areas 1 and 6;

[0018] Rotation around the y-axis: When the bionic artificial muscle rotates clockwise around the y-axis as a whole, it can be divided into the following four stages:

[0019] In the first stage, ① and ③ are connected to the positive pole of the power supply in areas 1, 2, and 3, and areas 4, 5, and 6 are connected to the negative pole of the power supply. ② is connected to the positive pole of the power supply in area 2, and the negative pole of the power supply in area 4.

[0020] In the second stage, ① and ③ connect the positive pole of the power supply in areas 2, 3, and 4, and the negative pole of the power supply in areas 5, 6, and 1; ② connects the positive pole of the power supply in areas 2 and 3, and the negative pole of the power supply in areas 4 and 1;

[0021] In the third stage, ① and ③ connect the positive pole of the power supply in areas 3, 4, and 5, and the negative pole of the power supply in areas 6, 1, and 2; ② connects the positive pole of the power supply in areas 3 and 4, and the negative pole of the power supply in areas 1 and 2;

[0022] In the fourth stage, ① and ③ connect the positive pole of the power supply in areas 4, 5, and 6, and areas 1, 2, and 3 connect the negative pole of the power supply. ② connects the positive pole of the power supply in area 4, and area 2 connects the negative pole of the power supply.

[0023] Programmable bionic artificial muscle devices that simulate finger movements can be divided into three types: single degree of freedom, two degrees of freedom, and three degrees of freedom. The specific electric drive methods are as follows:

[0024] Single degree of freedom: Connect the positive pole of the power supply to areas 1, 2, and 3 of ①, and connect the negative pole of the power supply to areas 4, 5, and 6;

[0025] Connect the positive pole of the power supply to area 2 of ② and the negative pole of the power supply to area 4; connect the positive pole of the power supply to areas 1, 2, and 3 of ③ and the negative pole of the power supply to areas 4, 5, and 6.

[0026] Two degrees of freedom: Connect the positive power supply to areas 1, 2, and 3 of ①, and connect the negative power supply to areas 4, 5, and 6; connect the positive power supply to area 2 of ②, and connect the negative power supply to area 4; connect the positive power supply to area 2 of ②, and connect the negative power supply to area 4; connect the positive power supply to area 1, 2, and 3 of ③, and connect the negative power supply to areas 4, 5, and 6.

[0027] Three degrees of freedom: In ① and ③, connect the positive pole of the power supply to areas 1, 2, and 3, and connect the negative pole of the power supply to areas 4, 5, and 6; in ②, connect the positive pole of the power supply to area 2, and connect the negative pole of the power supply to area 4;

[0028] The electric drive control method of the bionic artificial muscle device to imitate the entire movement state of the finger from extension to bending:

[0029] In the first stage, no electrical signal is applied to ①②③ to keep them in a straight state.

[0030] In the second stage, the positive electrode of the power supply is connected to areas 1, 2, and 3 of ①, and the negative electrode of the power supply is connected to areas 4, 5, and 6. No electrical signal is applied to ②③, so that the first part is bent.

[0031] In the third stage, connect the positive pole of the power supply to areas 1, 2, and 3 of ①, and connect the negative pole of the power supply to areas 4, 5, and 6;

[0032] The positive pole of the power supply is connected to the 2nd area of ​​②, and the negative pole of the power supply is connected to the 4th area. No electrical signal is applied to ③, so that the first part and the second part are bent.

[0033] In the fourth stage, ① and ③ are connected to the positive pole of the power supply in areas 4, 5, and 6, and areas 1, 2, and 3 are connected to the negative pole of the power supply. ② is connected to the positive pole of the power supply in area 4 and the negative pole of the power supply in area 2, so that the three parts are bent simultaneously.

[0034] Therefore, the present invention adopts a high-freedom gel-based bionic artificial muscle preparation process and control method of the above structure, which has the following advantages:

[0035] First, from the material aspect: polyacrylic acid, sodium alginate, calcium chloride and multi-walled carbon nanotube aqueous dispersion, etc., all have good biocompatibility and are safe and non-toxic. From the device aspect: the internal microstructure of the prepared bionic artificial muscle is formed by cross-linking two layers of different polymer networks, one of which has excellent flexibility and ductility, and the other has good brittleness and rigidity. The combination of the two gives the hydrogel extremely high mechanical strength, allowing it to withstand large external forces without breaking easily. In addition, the dual network structure can absorb a large amount of water to maintain good moisturizing properties, speed up the movement of internal ions, and thus make the device respond faster. Finally, due to the coordination of the dual network structure, the device exhibits excellent anti-fatigue performance under long-term use and multiple cycles of loading, and is suitable for long-term application scenarios.

[0036] Second, from the local analysis: the bionic artificial muscle device is composed of three parts. The first and third parts have the same structure. The interior is composed of a regular dodecagon, and six pairs of electrode layers and actuation layers are evenly distributed on the outside. Each electrode layer has an independent power-on control method. This driving method can greatly improve the degree of freedom. The interior of the second part adopts a quadrangular prism structure, and the four external areas are covered with electrode layers. Similarly, each electrode layer has an independent power-on control method. Although such a structure reduces the degree of freedom, it will greatly improve the output force performance. From the overall analysis: In the process of powering on the device, not only can the whole device be powered on, but also any one or two parts can be powered on independently. This allows the bionic artificial muscle device to implement complex instructions through computer programming, providing new ideas for the development of bionic artificial muscles in the field of intelligent driving materials in the future.

[0037] Third, fingers are one of the most sensitive parts of the human body. Through the nervous system, the fingers are flexibly controlled. Human fingers have more than 20 degrees of freedom and can be flexibly combined to achieve various movements required by humans in daily life. Therefore, the bionic artificial muscle device uses fingers as a prototype, and further improves the flexibility and fatigue resistance of the device by optimizing the internal and external structure. The programmable electrical signal is like the nervous system, thus forming a complete control-drive system that can complete 99% of the movement of the fingers. Therefore, this bionic artificial muscle device is expected to be used in many fields such as intelligent robots, precision instrument manufacturing and bionics.

[0038] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 For the present invention Figure 1 This is a process flow chart of a preparation process and control method of a high-degree-of-freedom gel-based bionic artificial muscle of the present invention;

[0040] Figure 2 It is a schematic diagram of the structure of the bionic artificial muscle device of the present invention;

[0041] Figure 3 It is a cross-sectional structural diagram of three parts of the bionic artificial muscle device of the present invention and a diagram of the division of the power-on area;

[0042] Figure 4 Schematic diagram of the electric drive control method for the overall movement of the bionic artificial muscle device in the x-axis direction of the present invention; (a) represents movement in the positive direction of the x-axis; (b) represents movement in the negative direction of the x-axis;

[0043] Figure 5 Schematic diagram of the electric drive control method for partially moving the bionic artificial muscle device in the x-axis direction of the present invention; (a) indicates that the first part moves in the positive direction of the x-axis; (b) indicates that the second part moves in the positive direction of the x-axis; (c) indicates that the third part moves in the positive direction of the x-axis; (d) indicates that the first part and the second part move in the positive direction of the x-axis; (e) indicates that the first part and the third part move in the positive direction of the x-axis; (f) indicates that the second part and the third part move in the positive direction of the x-axis;

[0044] Figure 6 Schematic diagram of the electric drive control method for moving the bionic artificial muscle device in the z-axis direction as a whole according to the present invention; (a) represents movement in the positive direction of the z-axis; (b) represents movement in the negative direction of the z-axis;

[0045] Figure 7 Schematic diagram of the electric drive control method for partially moving the bionic artificial muscle device in the z-axis direction of the present invention; (a) indicates that the first part moves in the positive direction of the z-axis; (b) indicates that the second part moves in the positive direction of the z-axis; (c) indicates that the third part moves in the positive direction of the z-axis; (d) indicates that the first part and the second part move in the positive direction of the z-axis; (e) indicates that the first part and the third part move in the positive direction of the z-axis; (f) indicates that the second part and the third part move in the positive direction of the z-axis;

[0046] Figure 8 It is a schematic diagram of the electric drive control method for clockwise rotation of the bionic artificial muscle device in the y-axis direction of the present invention;

[0047] Fig. 9 It is a single degree of freedom motion analysis of the bionic artificial muscle device imitating the finger of the present invention; (a) represents the bending of the first part; (b) represents the bending of the first part; (c) represents the bending of the first part;

[0048] Fig.10 This is a two-degree-of-freedom motion analysis of the bionic artificial muscle device imitating the finger of the present invention; (a) indicates that the first part and the second part are bent at the same time; (b) indicates that the second part and the third part are bent at the same time;

[0049] Fig.11 It is the three-degree-of-freedom motion analysis of the bionic artificial muscle device imitating the finger of the present invention;

[0050] Fig.12 The invention discloses an electric drive control method for a bionic artificial muscle device to imitate the entire motion state of a finger from stretching to bending. DETAILED DESCRIPTION

[0051] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0053] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0054] Example 1

[0055] A preparation process of a high-degree-of-freedom gel-based bionic artificial muscle, the steps are as follows:

[0056] A preparation process of a high degree of freedom gel-based bionic artificial muscle, such as Figure 1 As shown, the process can be divided into four stages: constructing the actuation layer mold and shell mold of the bionic artificial muscle device, preparing the electrode membrane solution, preparing the actuation membrane solution, and constructing the bionic artificial muscle device. The device adopts the 3D printing integrated construction method, and has high output force, good fatigue resistance and simple operation.

[0057] (1) Construction of the actuation layer mold and shell mold of the bionic artificial muscle device

[0058] Using degradable polylactic acid as the raw material, the actuation layer of the device was modeled using solidworks 3D software, and the actuation layer mold and shell mold were prepared by combining 3D printing technology. Laser engraving technology was used to punch holes in the four different areas of the second part corresponding to the shell mold. The size of the hole was the same as the specifications of the front end of the rubber-tipped dropper to ensure that the electrode membrane solution could enter the gap between the actuation layer mold and the shell. Using degradable polylactic acid as the basic material, 3D printing technology was used to construct the shell mold of bionic artificial muscle. During the production process, laser engraving technology was used to accurately punch holes in the four designated areas of the second part of the actuation layer mold. The diameter of the holes was consistent with the diameter of the front end of the rubber-tipped dropper. This design ensures that the electrode membrane solution can effectively penetrate into the gap between the actuation layer mold and the shell.

[0059] (2) Preparation process of electrode membrane solution

[0060] Weigh 1g of sodium alginate with an electronic analytical balance and put it into a beaker filled with 80mL of distilled water. Then put the sodium alginate solution and 20ml of multi-walled carbon nanotube aqueous dispersion into a magnetic stirrer, set the temperature to 50°C, stir evenly at a speed of 500r / min, and add 2mL of glycerol during the stirring process. When the blended solution is gel-like and has no obvious solid particles and flocs, take it out and put the mixed solution into an ultrasonic processor for ultrasonic treatment for 15min to obtain an electrode membrane solution.

[0061] (3) Preparation process of actuating membrane solution

[0062] First, add 80 mL of distilled water to a beaker, then use an electronic analytical balance to weigh 1 g of sodium alginate and dissolve it in the beaker containing distilled water, add 2.0 g of polyacrylic acid, and then place the mixed solution in a magnetic stirrer, set the temperature to 50°C, stir evenly at a speed of 500 r / min, stir for 30 minutes, then add 1.0 g of calcium chloride, and then add 2 mL of glycerol during the stirring process. After stirring evenly, place the mixed solution in an ultrasonic processor for ultrasonic treatment for 15 minutes to obtain an actuated membrane solution.

[0063] (4) Construction process of bionic artificial muscle devices

[0064] The actuation layer mold is fitted with the shell mold, the electrode film solution prepared by S2 is filled into the outer gaps at both ends of the actuation layer mold, and the electrode film solution is added from the aperture of the shell mold to the internal gap with a rubber-tipped dropper, and it is placed in a vacuum drying oven for drying. After sufficient drying, the actuation layer mold inside the device is taken out and dissolved with citric acid, and after it is completely dissolved, the actuation film solution prepared by S3 is added to it, and then it is placed in a vacuum drying oven for drying at a temperature of 50°C for 48 hours.

[0065] During the drying process of the bionic artificial muscle device, the vacuum drying box always maintains a constant temperature and negative pressure environment. On the one hand, it can completely expel the small bubbles remaining in the electro-actuated membrane solution to ensure that the dried and formed electro-actuated membrane is uniform inside; on the other hand, the negative pressure environment helps to accelerate the diffusion rate of internal water molecules, which can shorten the drying time and better protect the double network structure inside the actuation layer. During the drying period, the vacuum drying box door is opened for 10 minutes every 3 hours to discharge the water vapor in the box, and then the vacuum is drawn again for constant temperature drying. After the bionic artificial muscle device is completely dried and formed, the temperature inside the drying box is slowly lowered to increase its anti-fatigue performance and improve force transmission.

[0066] Example 2

[0067] An electric drive control method for a high-degree-of-freedom gel-based bionic artificial muscle, comprising the following steps:

[0068] A method for electrically driving and controlling a high-degree-of-freedom gel-based bionic artificial muscle, such as Figure 3 As shown, the bionic artificial muscle device is divided into three parts, which are marked as ①, ②, and ③. The electrode layer areas of ① and ③ are divided into 1-6 areas in a clockwise direction, and the electrode layer area of ​​② is also divided into 1-4 areas in a clockwise direction. The electrode layer area is connected to the positive or negative pole of the power supply. The bionic artificial muscle device can be divided into local deflection and overall deflection. The overall deflection is that ①②③ are powered on at the same time; the local deflection is divided into 6 situations: ①, ②, ③, ①②, ①③, ②③. The specific movement process is as follows:

[0069] Move along the x-axis:

[0070] When the bionic artificial muscle moves in the positive direction of the x-axis as a whole: Figure 4 As shown in (a), ① and ③ are connected to the positive pole of the power supply in areas 1, 2, and 3, and the negative pole of the power supply in areas 4, 5, and 6; ② is connected to the positive pole of the power supply in area 2, and the negative pole of the power supply in area 4; when moving in the negative direction of the x-axis, as shown in Figure 4 As shown in (b), ① and ③ are connected to the positive pole of the power supply in areas 4, 5, and 6, and the negative pole of the power supply in areas 1, 2, and 3; ② is connected to the positive pole of the power supply in area 4, and the negative pole of the power supply in area 2.

[0071] When the bionic artificial muscle moves locally in the positive direction of the x-axis: Figure 5 As shown in (a), ① when deflection occurs, the positive pole of the power supply is connected to the 1, 2, and 3 regions, and the negative pole of the power supply is connected to the 4, 5, and 6 regions; Figure 5 As shown in (b), ② when deflection occurs, the positive pole of the power supply is connected to area 2, and the negative pole of the power supply is connected to area 4; Figure 5 As shown in (c), when deflection occurs, the positive pole of the power supply is connected to the 1, 2, and 3 regions, and the negative pole of the power supply is connected to the 4, 5, and 6 regions; Figure 5As shown in (d), when ①② deflects, the positive pole of the power supply is connected to the 1, 2, and 3 regions of ①, and the negative pole of the power supply is connected to the 4, 5, and 6 regions of ②, and the positive pole of the power supply is connected to the 2 region of ②, and the negative pole of the power supply is connected to the 4 region; Figure 5 As shown in (e), when ①③ deflect, the positive pole of the power supply is connected to the 1, 2, and 3 regions of ①, and the negative pole of the power supply is connected to the 4, 5, and 6 regions of ③, and the positive pole of the power supply is connected to the 1, 2, and 3 regions of ③, and the negative pole of the power supply is connected to the 4, 5, and 6 regions of ③; Figure 5 As shown in (f), when deflection occurs between ② and ③, the positive electrode of the power supply is connected to the 2 area of ​​②, and the negative electrode of the power supply is connected to the 4 area. In addition, the positive electrode of the power supply is connected to the 1, 2, and 3 areas of ③, and the negative electrode of the power supply is connected to the 4, 5, and 6 areas. When moving in the negative direction of the x-axis: ①When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6, and connect the negative electrode of the power supply to areas 1, 2, and 3; ②When deflection occurs, connect the positive electrode of the power supply to areas 4, and connect the negative electrode of the power supply to areas 2; ③When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6, and connect the negative electrode of the power supply to areas 1, 2, and 3; ①②When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6 of ①, and connect the negative electrode of the power supply to areas 1, 2, and 3, and connect the positive electrode of the power supply to area 4 of ②, and connect the negative electrode of the power supply to area 2; ①③When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6 of ①, and connect the negative electrode of the power supply to areas 1, 2, and 3, and connect the positive electrode of the power supply to areas 4, 5, and 6 of ③, and connect the negative electrode of the power supply to areas 1, 2, and 3; ②③When deflection occurs, connect the positive electrode of the power supply to area 4 of ②, and connect the negative electrode of the power supply to area 2, and connect the positive electrode of the power supply to areas 4, 5, and 6 of ③, and connect the negative electrode of the power supply to areas 1, 2, and 3. Its electric drive control method is the same as that of the bionic artificial muscle, where only the position of electrical signal application is opposite and other conditions are the same. Therefore, it is analyzed in the form of a picture.

[0072] Move along the z-axis:

[0073] When the bionic artificial muscle moves toward the positive direction of the z-axis as a whole: Figure 6 As shown in (a), ① and ③ are connected to the positive pole of the power supply in areas 1 and 6, and the negative pole of the power supply in areas 3 and 4; ② is connected to the positive pole of the power supply in area 1, and the negative pole of the power supply in area 3; when moving in the negative direction of the z-axis, as shown in Figure 6 As shown in (b), ① and ③ are connected to the positive pole of the power supply in areas 3 and 4, and the negative pole of the power supply in areas 1 and 6; ② is connected to the positive pole of the power supply in area 3, and the negative pole of the power supply in area 1;

[0074] When the bionic artificial muscle moves locally in the positive direction of the z-axis: Figure 7 As shown in (a), ① when deflection occurs, the positive pole of the power supply is connected to the 1 and 6 regions, and the negative pole of the power supply is connected to the 3 and 4 regions; Figure 7 As shown in (b), ② when deflection occurs, the positive pole of the power supply is connected to area 1 and the negative pole of the power supply is connected to area 3; Figure 7As shown in (c), when deflection occurs, the positive pole of the power supply is connected to the 1 and 6 regions, and the negative pole of the power supply is connected to the 3 and 4 regions; Figure 7 As shown in (d), when ①② deflects, the positive pole of the power supply is connected to the 1 and 6 areas of ①, the negative pole of the power supply is connected to the 3 and 4 areas of ②, and the positive pole of the power supply is connected to the 1 area of ​​② and the negative pole of the power supply is connected to the 3 area of ​​②; Figure 7 As shown in (e), when ①③ deflect, the positive pole of the power supply is connected to the 1 and 6 areas of ①, and the negative pole of the power supply is connected to the 3 and 4 areas, and the positive pole of the power supply is connected to the 1 and 6 areas of ③, and the negative pole of the power supply is connected to the 3 and 4 areas; Figure 7 As shown in (f), when ②③ deflect, the positive power supply is connected to the area 1 of ②, the negative power supply is connected to the area 3, and the positive power supply is connected to the areas 1 and 6 of ③, and the negative power supply is connected to the areas 3 and 4; when moving in the negative direction of the z-axis: when ① deflects, the positive power supply is connected to the areas 3 and 4, and the negative power supply is connected to the areas 1 and 6; when ② deflects, the positive power supply is connected to the area 3 and the negative power supply is connected to the area 1; when ③ deflects, the positive power supply is connected to the areas 3 and 4, and the negative power supply is connected to the areas 1 and 6; when ①② deflects, the positive power supply is connected to the areas 3 and 4 of ①, and the negative power supply is connected to the areas 1 and 6, and Connect the positive power supply to the 3rd area of ​​② and the negative power supply to the 1st area; when ①③ deflect, connect the positive power supply to the 3rd and 4th areas of ①, connect the negative power supply to the 1st and 6th areas, and connect the positive power supply to the 3rd and 4th areas of ③, and connect the negative power supply to the 1st and 6th areas; when ②③ deflect, connect the positive power supply to the 3rd area of ​​② and the negative power supply to the 1st area, and connect the positive power supply to the 3rd and 4th areas of ③, and connect the negative power supply to the 1st and 6th areas; its electric drive control method is the same as that of the bionic artificial muscle, except that the position of applying the electric signal is opposite, and other conditions are the same, so it is not analyzed in the form of pictures.

[0075] Rotation around the y-axis: When the bionic artificial muscle rotates clockwise around the y-axis as a whole, it can be divided into the following four stages:

[0076] The first stage, such as Figure 8 As shown in (a), ① and ③ are connected to the positive pole of the power supply in areas 1, 2, and 3, and the negative pole of the power supply in areas 4, 5, and 6; ② is connected to the positive pole of the power supply in area 2, and the negative pole of the power supply in area 4;

[0077] The second stage, such as Figure 8 As shown in (b), ① and ③ connect the positive pole of the power supply in areas 2, 3, and 4, and the negative pole of the power supply in areas 5, 6, and 1; ② connects the positive pole of the power supply in areas 2 and 3, and the negative pole of the power supply in areas 4 and 1;

[0078] The third stage, such as Figure 8 As shown in (c), ① and ③ connect the positive pole of the power supply in areas 3, 4, and 5, and the negative pole of the power supply in areas 6, 1, and 2; ② connects the positive pole of the power supply in areas 3 and 4, and the negative pole of the power supply in areas 1 and 2;

[0079] The fourth stage, such as Figure 8 As shown in (d), ① and ③ are connected to the positive pole of the power supply in areas 4, 5, and 6, and areas 1, 2, and 3 are connected to the negative pole of the power supply; ② is connected to the positive pole of the power supply in area 4, and the negative pole of the power supply in area 2;

[0080] Programmable bionic artificial muscle devices that simulate finger movements can be divided into three types: single degree of freedom, two degrees of freedom, and three degrees of freedom. The specific electric drive methods are as follows:

[0081] Single degree of freedom: Fig. 9 As shown in (a), the positive pole of the power supply is connected to the 1, 2, and 3 regions of ①, and the negative pole of the power supply is connected to the 4, 5, and 6 regions; Fig. 9 As shown in (b), the positive pole of the power supply is connected to the 2nd area of ​​②, and the negative pole of the power supply is connected to the 4th area; Fig. 9 As shown in (c), the positive pole of the power supply is connected to the 1, 2, and 3 areas of ③, and the negative pole of the power supply is connected to the 4, 5, and 6 areas.

[0082] Two degrees of freedom: Fig.10 As shown in (a), the positive pole of the power supply is connected to the 1, 2, and 3 areas of ①, and the negative pole of the power supply is connected to the 4, 5, and 6 areas of ②, and the positive pole of the power supply is connected to the 2 area of ​​②, and the negative pole of the power supply is connected to the 4 area; Fig.10 As shown in (b), the positive pole of the power supply is connected to the 2 area of ​​②, and the negative pole of the power supply is connected to the 4 area. The positive pole of the power supply is connected to the 1, 2, and 3 areas of ③, and the negative pole of the power supply is connected to the 4, 5, and 6 areas.

[0083] Three degrees of freedom: Fig.11 As shown, in ① and ③, the positive pole of the power supply is connected to areas 1, 2, and 3, and the negative pole of the power supply is connected to areas 4, 5, and 6; in ②, the positive pole of the power supply is connected to area 2, and the negative pole of the power supply is connected to area 4;

[0084] The electric drive control method of the bionic artificial muscle device to imitate the entire movement state of the finger from extension to bending is as follows Fig.12 As shown:

[0085] In the first stage, no electrical signal is applied to ①②③ to keep them in a straight state.

[0086] In the second stage, the positive electrode of the power supply is connected to areas 1, 2, and 3 of ①, and the negative electrode of the power supply is connected to areas 4, 5, and 6. No electrical signal is applied to ②③, so that the first part is bent.

[0087] In the third stage, connect the positive pole of the power supply to areas 1, 2, and 3 of ①, and connect the negative pole of the power supply to areas 4, 5, and 6;

[0088] The positive pole of the power supply is connected to the 2nd area of ​​②, and the negative pole of the power supply is connected to the 4th area. No electrical signal is applied to ③, so that the first part and the second part are bent.

[0089] In the fourth stage, ① and ③ are connected to the positive pole of the power supply in areas 4, 5, and 6, and areas 1, 2, and 3 are connected to the negative pole of the power supply. ② is connected to the positive pole of the power supply in area 4 and the negative pole of the power supply in area 2, so that the three parts are bent simultaneously.

[0090] Therefore, the present invention adopts a preparation process and control method of a high-freedom gel-type bionic artificial muscle of the above-mentioned structure. From the material aspect, polyacrylic acid, sodium alginate, calcium chloride, and multi-walled carbon nanotube aqueous dispersion, etc., all have good biocompatibility and are safe and non-toxic. From the device aspect, the internal microstructure of the prepared bionic artificial muscle is formed by cross-linking two layers of different polymer networks, one of which has excellent flexibility and ductility, and the other has good brittleness and rigidity. The combination of the two gives the hydrogel extremely high mechanical strength, so that it can withstand large external forces without being easily broken. In addition, the dual network structure can absorb a large amount of water to maintain good moisturizing properties, accelerate the internal ion movement speed, and thus cause the device to respond faster. Finally, due to the coordination of the dual network structure, the device exhibits excellent anti-fatigue performance under long-term use and multiple cycle loading, and is suitable for long-term application scenarios. From the local analysis: the bionic artificial muscle device is composed of three parts. The first and third parts have the same structure. The interior is composed of a regular dodecagon, and six pairs of electrode layers and actuation layers are evenly distributed on the outside. Each electrode layer has an independent power-on control method. This driving method can greatly improve the degree of freedom. The second part adopts a quadrangular prism structure inside, and the four external areas are covered with electrode layers. Similarly, each electrode layer has an independent power-on control method. Although such a structure reduces the degree of freedom, it will greatly improve the output force performance. From the overall analysis: During the power-on drive control process of the device, not only can the whole device be powered on, but any one or two parts can also be powered on independently. This allows the bionic artificial muscle device to implement complex instructions through computer programming, providing new ideas for the development of bionic artificial muscles in the field of intelligent drive materials in the future.

[0091] Fingers are one of the most sensitive parts of the human body. Through the nervous system, the fingers are flexibly controlled. Human fingers have more than 20 degrees of freedom and can be flexibly combined to achieve various movements required by humans in daily life. Therefore, the bionic artificial muscle device uses fingers as a prototype, and further improves the flexibility and fatigue resistance of the device through the optimization design of the internal and external structures. The programmable electrical signals are like the nervous system, thus forming a complete control-drive system that can complete 99% of the movement of the fingers. Therefore, this bionic artificial muscle device is expected to be used in many fields such as intelligent robots, precision instrument manufacturing and bionics.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A process for preparing a high-degree-of-freedom gel-based bionic artificial muscle, characterized in that: The specific steps are as follows: S1: Using biodegradable polylactic acid as raw material, the actuation layer of the device was modeled using solidworks 3D software, and the actuation layer mold and shell mold were prepared using 3D printing technology; Holes are punched at four different areas of the second part corresponding to the outer shell mold using laser engraving technology. The size of the holes is the same as the specifications of the front end of the rubber-tipped dropper to ensure that the electrode membrane solution can enter the gap between the actuation layer mold and the outer shell; S2: Preparation of bionic artificial muscle electrode membrane solution: 1 g of sodium alginate was weighed with an electronic analytical balance and placed in a beaker filled with 80 mL of distilled water. The sodium alginate solution and 20 mL of multi-walled carbon nanotube aqueous dispersion were then placed in a magnetic stirrer. The temperature was set to 50°C and stirred evenly at a speed of 500 r / min. Meanwhile, 2 mL of glycerol was added during the stirring process. After the blended solution was in a gel state without obvious solid particles and flocs, it was taken out and the mixed solution was placed in an ultrasonic processor for ultrasonic treatment for 15 min to obtain an electrode membrane solution. S3: Preparation of bionic artificial muscle actuating membrane solution: first, add 80 mL of distilled water into a beaker, then use an electronic analytical balance to weigh 1 g of sodium alginate and dissolve it in the beaker containing distilled water, then add 2.0 g of polyacrylic acid, and then place the mixed solution in a magnetic stirrer, set the temperature to 50°C, and stir evenly at a speed of 500 r / min. After stirring for 30 minutes, add 1.0 g of calcium chloride, and then add 2 mL of glycerol during the stirring process; after stirring evenly, place the mixed solution in an ultrasonic processor for ultrasonic treatment for 15 minutes to obtain an actuating membrane solution; S4: Constructing a bionic artificial muscle device: fit the actuation layer mold into the outer shell mold, fill the outer gaps at both ends of the actuation layer mold with the electrode film solution prepared in S2, and use a rubber-tipped dropper to add the electrode film solution from the aperture of the outer shell mold to the internal gap, and put it into a vacuum drying oven to dry; after it is fully dried, take it out and use citric acid to dissolve the actuation layer mold inside the device, add the actuation membrane solution prepared in S3 into it after it is completely dissolved, and then put it into a vacuum drying oven to dry, the drying temperature is 50°C, and the time is 48h.

2. A control method for a high-degree-of-freedom gel-based bionic artificial muscle, characterized in that: The control method of the high-freedom gel-type bionic artificial muscle device prepared by the preparation process of a high-freedom gel-type bionic artificial muscle according to claim 1 is as follows: the bionic artificial muscle device is divided into three parts, which are respectively recorded as ①, ②, and ③. The electrode layer areas of ① and ③ are divided into 1-6 areas in a clockwise direction, and the electrode layer area of ​​② is also divided into 1-4 areas in a clockwise direction. The electrode layer areas are connected to the positive or negative pole of the power supply. The bionic artificial muscle device can be divided into local deflection and overall deflection. The overall deflection is that ①②③ are powered on at the same time; the local deflection is divided into 6 situations: ①, ②, ③, ①②, ①③, ②③; the bionic artificial muscle device can move along the x, z, and y axis directions according to the above situations.

3. The control method of a high-degree-of-freedom gel-based bionic artificial muscle according to claim 2, characterized in that: The specific control process of the bionic artificial muscle device moving along the x-axis direction is as follows: When the bionic artificial muscle moves in the positive direction of the x-axis as a whole: ① and ③ connect the positive pole of the power supply in areas 1, 2, and 3, and connect the negative pole of the power supply in areas 4, 5, and 6; ② connects the positive pole of the power supply in area 2, and connects the negative pole of the power supply in area 4; when moving in the negative direction of the x-axis, ① and ③ connect the positive pole of the power supply in areas 4, 5, and 6, and connect the negative pole of the power supply in areas 1, 2, and 3; ② connects the positive pole of the power supply in area 4, and connects the negative pole of the power supply in area 2; When the bionic artificial muscle moves locally in the positive direction of the x-axis: ①When deflection occurs, connect the positive electrode of the power supply to the 1, 2, and 3 regions, and connect the negative electrode of the power supply to the 4, 5, and 6 regions; ②When deflection occurs, connect the positive electrode of the power supply to the 2 region, and connect the negative electrode of the power supply to the 4 region; ③When deflection occurs, connect the positive electrode of the power supply to the 1, 2, and 3 regions, and connect the negative electrode of the power supply to the 4, 5, and 6 regions; ①②When deflection occurs, connect the positive electrode of the power supply to the 1, 2, and 3 regions of ①, and connect the negative electrode of the power supply to the 4, 5, and 6 regions, and connect the positive electrode of the power supply to the 2 region of ②, and connect the negative electrode of the power supply to the 4 region; ①③When deflection occurs, connect the positive electrode of the power supply to the 1, 2, and 3 regions of ①, and connect the negative electrode of the power supply to the 4, 5, and 6 regions, and connect the positive electrode of the power supply to the 1, 2, and 3 regions of ③, and connect the negative electrode of the power supply to the 4, 5, and 6 regions; ②③When deflection occurs, connect the positive electrode of the power supply to the 2 region of ②, and connect the negative electrode of the power supply to the 4, and connect the positive electrode of the power supply to the 1, 2, and 3 regions of ③, and connect the negative electrode of the power supply to the 4, 5, and 6 regions; When moving in the negative direction of the x-axis: ①When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6, and connect the negative electrode of the power supply to areas 1, 2, and 3; ②When deflection occurs, connect the positive electrode of the power supply to areas 4, and connect the negative electrode of the power supply to areas 2; ③When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6, and connect the negative electrode of the power supply to areas 1, 2, and 3; ①②When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6 of ①, and connect the negative electrode of the power supply to areas 1, 2, and 3, and connect the positive electrode of the power supply to area 4 of ②, and connect the negative electrode of the power supply to area 2; ①③When deflection occurs, connect the positive electrode of the power supply to areas 4, 5, and 6 of ①, and connect the negative electrode of the power supply to areas 1, 2, and 3, and connect the positive electrode of the power supply to areas 4, 5, and 6 of ③, and connect the negative electrode of the power supply to areas 1, 2, and 3; ②③When deflection occurs, connect the positive electrode of the power supply to area 4 of ②, and connect the negative electrode of the power supply to area 2, and connect the positive electrode of the power supply to areas 4, 5, and 6 of ③, and connect the negative electrode of the power supply to areas 1, 2, and 3.

4. The control method of a high-degree-of-freedom gel-based bionic artificial muscle according to claim 2, characterized in that: The specific control process of the bionic artificial muscle device moving along the z-axis direction is as follows: When the bionic artificial muscle moves in the positive direction of the z-axis as a whole: ① and ③ are connected to the positive pole of the power supply in areas 1 and 6, and areas 3 and 4 are connected to the negative pole of the power supply; ② is connected to the positive pole of the power supply in area 1, and the negative pole of the power supply in area 3; when moving in the negative direction of the x-axis, ① and ③ are connected to the positive pole of the power supply in areas 3 and 4, and areas 1 and 6 are connected to the negative pole of the power supply; ② is connected to the positive pole of the power supply in area 3, and the negative pole of the power supply in area 1; When the bionic artificial muscle moves locally in the positive direction of the z-axis: ①When deflection occurs, connect the positive pole of the power supply to areas 1 and 6, and connect the negative pole of the power supply to areas 3 and 4; ②When deflection occurs, connect the positive pole of the power supply to areas 1 and connect the negative pole of the power supply to areas 3; ③When deflection occurs, connect the positive pole of the power supply to areas 1 and 6, and connect the negative pole of the power supply to areas 3 and 4; ①②When deflection occurs, connect the positive pole of the power supply to areas 1 and 6 of ①, connect the negative pole of the power supply to areas 3 and 4, and connect the positive pole of the power supply to area 1 of ② and connect the negative pole of the power supply to area 3; ①③When deflection occurs, connect the positive pole of the power supply to areas 1 and 6 of ①, connect the negative pole of the power supply to areas 3 and 4, and connect the positive pole of the power supply to areas 1 and 6 of ③, and connect the positive pole of the power supply to areas 3 and 4; ②③When deflection occurs, connect the positive pole of the power supply to area 1 of ②, connect the negative pole of the power supply to areas 3, and connect the positive pole of the power supply to areas 1 and 6 of ③, and connect the negative pole of the power supply to areas 3 and 4; When moving in the negative direction of the z-axis: ①When deflection occurs, connect the positive power supply in areas 3 and 4, and connect the negative power supply in areas 1 and 6; ②When deflection occurs, connect the positive power supply in area 3 and connect the negative power supply in area 1; ③When deflection occurs, connect the positive power supply in areas 3 and 4, and connect the negative power supply in areas 1 and 6; ①②When deflection occurs, connect the positive power supply in areas 3 and 4 of ①, connect the negative power supply in areas 1 and 6, and connect the positive power supply in area 3 of ② and connect the negative power supply in area 1; ①③When deflection occurs, connect the positive power supply in areas 3 and 4 of ①, connect the negative power supply in areas 1 and 6, and connect the positive power supply in areas 3 and 4 of ③, and connect the positive power supply in areas 1 and 6; ②③When deflection occurs, connect the positive power supply in area 3 of ② and connect the negative power supply in areas 1 and 6, and connect the positive power supply in areas 3 and 4 of ③, and connect the negative power supply in areas 1 and 6.

5. The control method of a high-degree-of-freedom gel-based bionic artificial muscle according to claim 2, characterized in that: The specific control process of the bionic artificial muscle device rotating around the y-axis direction is as follows: When the bionic artificial muscle rotates clockwise around the y-axis, it can be divided into the following four stages: In the first stage, ① and ③ are connected to the positive pole of the power supply in areas 1, 2, and 3, and areas 4, 5, and 6 are connected to the negative pole of the power supply. ② is connected to the positive pole of the power supply in area 2, and the negative pole of the power supply in area 4. In the second stage, ① and ③ connect the positive pole of the power supply in areas 2, 3, and 4, and the negative pole of the power supply in areas 5, 6, and 1; ② connects the positive pole of the power supply in areas 2 and 3, and the negative pole of the power supply in areas 4 and 1; In the third stage, ① and ③ connect the positive pole of the power supply in areas 3, 4, and 5, and the negative pole of the power supply in areas 6, 1, and 2; ② connects the positive pole of the power supply in areas 3 and 4, and the negative pole of the power supply in areas 1 and 2; In the fourth stage, ① and ③ are connected to the positive pole of the power supply in areas 4, 5, and 6, and areas 1, 2, and 3 are connected to the negative pole of the power supply. ② is connected to the positive pole of the power supply in area 4, and area 2 is connected to the negative pole of the power supply.

6. The control method of a high-degree-of-freedom gel-based bionic artificial muscle according to claim 2, characterized in that: Programmable bionic artificial muscle devices that simulate finger movements can be divided into three types: single degree of freedom, two degrees of freedom, and three degrees of freedom. The specific electric drive methods are as follows: Single degree of freedom: Connect the positive power supply to areas 1, 2, and 3 of ①, and connect the negative power supply to areas 4, 5, and 6; connect the positive power supply to area 2 of ②, and connect the negative power supply to area 4; connect the positive power supply to areas 1, 2, and 3 of ③, and connect the negative power supply to areas 4, 5, and 6. Two degrees of freedom: Connect the positive power supply to areas 1, 2, and 3 of ①, and connect the negative power supply to areas 4, 5, and 6, and connect the positive power supply to area 2 of ② and connect the negative power supply to area 4; Connect the positive power supply to area 2 of ② and connect the negative power supply to area 4, and connect the positive power supply to areas 1, 2, and 3 of ③, and connect the negative power supply to areas 4, 5, and 6; Three degrees of freedom: In ① and ③, connect the positive pole of the power supply to areas 1, 2, and 3, and connect the negative pole of the power supply to areas 4, 5, and 6; in ②, connect the positive pole of the power supply to area 2, and connect the negative pole of the power supply to area 4.

7. The control method of a high-degree-of-freedom gel-based bionic artificial muscle according to claim 6, characterized in that: The electric drive control method of the bionic artificial muscle device to imitate the entire movement state of the finger from extension to bending: In the first stage, ①②③ do not apply electrical signals to keep the device in a straight state; In the second stage, the positive electrode of the power supply is connected to the 1, 2, and 3 areas of ①, and the negative electrode of the power supply is connected to the 4, 5, and 6 areas. No electrical signal is applied to ②③, so that the first part is bent; In the third stage, the positive electrode of the power supply is connected to the 1, 2, and 3 areas of ①, and the negative electrode of the power supply is connected to the 4, 5, and 6 areas; the positive electrode of the power supply is connected to the 2 area of ​​②, and the negative electrode of the power supply is connected to the 4 area; ③ no electrical signal is applied, so that the first part and the second part are bent; In the fourth stage, ① and ③ are connected to the positive pole of the power supply in areas 4, 5, and 6, and areas 1, 2, and 3 are connected to the negative pole of the power supply. ② is connected to the positive pole of the power supply in area 4 and the negative pole of the power supply in area 2, so that the three parts are bent simultaneously.

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