Artificial muscle preparation and control method based on electromagnetic oscillation and squid tentacle imitating structure

Abstract

The invention provides an artificial muscle preparation and control method based on electromagnetic oscillation and a squid tentacle imitating structure, and belongs to the technical field of biomimetic materials and intelligent control, and the method comprises the following steps: mixing and stirring macromolecular polysaccharide and a natural macromolecular polymer aqueous solution, performing electromagnetic oscillation treatment, and drying to obtain an actuating material layer; a conductive monomer solution is added into the actuating material layer solution, and a sensing material layer is prepared through drying and chemical treatment; mixing and drying the conductive nano material dispersion liquid and the natural high-molecular polymer aqueous solution to obtain an electrode material layer; the three layers of materials are overlapped to form the artificial muscle imitating the squid tentacle structure. The control method comprises the following steps: numbering connecting areas of the electrodes and the actuating material layer, corresponding to the multi-circuit forward and reverse power connection power supply device, and switching on the corresponding circuits to enable the artificial muscle to deflect with multiple degrees of freedom. The artificial muscle prepared by the invention has the characteristics of high sensing performance, large ion mobility, strong adhesiveness, large tensile force, high response speed, high flexibility and the like; and meanwhile, the control method can realize multi-directional flexible movement.

Description

Technical Field

[0001] The invention relates to the technical field of bionic materials and intelligent control, and in particular to a method for preparing and controlling artificial muscles based on electromagnetic oscillation and a squid-like tentacle structure. Background Art

[0002] As an intelligent material that can simulate the functions of biological muscles, artificial muscles have shown great application potential in many fields such as biomedical engineering, robotics, aerospace, etc. They can convert various forms of energy such as chemical energy and electrical energy into mechanical energy, and achieve movements such as contraction and relaxation similar to biological muscles, providing a new way for the innovative development of related fields.

[0003] At present, the preparation of artificial muscles mainly relies on traditional processes. These processes usually use some materials with high elastic modulus. However, the poor flexibility of such materials makes it difficult for the prepared artificial muscles to achieve flexible and natural movements like biological muscles in practical applications. In some scenarios with extremely high flexibility requirements, such as joint driving of bionic robots and assistance of wearable medical devices, the performance of traditional artificial muscles is often unsatisfactory and cannot meet actual needs.

[0004] In terms of material selection, traditional preparation processes often use bio-crosslinkers to improve the performance of artificial muscles. However, many commonly used bio-crosslinkers are toxic, which not only poses a potential threat to the health of operators, but also brings safety hazards during the application of artificial muscles. For example, in the biomedical field, if artificial muscles containing toxic bio-crosslinkers are applied inside or on the surface of the human body, it may cause immune responses, tissue damage and other adverse consequences.

[0005] In addition, the cost problem of traditional preparation technology is also prominent. Due to the high price of some key materials, as well as the complex process steps and high equipment investment in the preparation process, the production cost of artificial muscle remains high. This makes artificial muscle face huge economic obstacles in large-scale promotion and application, limiting its popularity in the market.

[0006] In summary, the existing artificial muscle preparation process has many problems such as too high elastic modulus, insufficient flexibility, toxicity of biological cross-linking agents and high cost. Therefore, developing a new and efficient artificial muscle preparation process to overcome the above defects and meet the urgent needs of various fields for high-performance artificial muscles has become a research hotspot and a key issue to be solved in this field. Summary of the invention

[0007] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a method for preparing and controlling artificial muscles based on electromagnetic oscillation and squid-like tentacle structure. The prepared artificial muscles have the characteristics of high sensing performance, large ion mobility, strong adhesion, large tensile force, fast response speed and high flexibility. At the same time, the control method can realize flexible movement in multiple directions.

[0008] To achieve the above object, the present invention provides the following solutions: A method for preparing artificial muscles based on electromagnetic oscillation and squid-like tentacle structure comprises the following steps: S1. Preparing an actuating material layer: mixing a high molecular weight polysaccharide extract and a natural high molecular weight polymer in an aqueous solution and stirring the mixture evenly, drying and forming the mixture after electromagnetic oscillation treatment to obtain an actuating material layer; S2, preparing a sensing material layer: re-preparing an actuating material layer solution, then adding a conductive monomer solution, and obtaining a sensing material layer after drying and chemical treatment; S3, preparing an electrode material layer: mixing a conductive nanomaterial dispersion and a natural high molecular polymer in an aqueous solution, stirring the mixture evenly, and drying and molding the mixture to obtain an electrode material layer; S4. Assembling artificial muscles: combining the sensing material layer, the actuating material layer, and the electrode material layer in a specific stacking manner to form an artificial muscle with a bionic structure.

[0009] Preferably, in step S1, the high molecular weight polysaccharide extract is a konjac glucomannan extract, and the natural high molecular weight polymer is k-purified carrageenan.

[0010] Preferably, the preparation process of the actuation material layer is specifically as follows: pouring 0.4 g of konjac glucomannan extract into 100 ml of deionized water solution, then stirring with a magnetic stirrer under 80 ° C water bath heating for 1 h, then adding 0.5 g of k-refined carrageenan, and continuing to stir at 80 ° C for 1 h to obtain an actuation layer solution; then pouring the actuation layer solution into a culture dish, and placing the culture dish on an electromagnetic oscillator for oscillation, and then pouring it into a customized container, and drying it at a constant temperature in a vacuum drying oven to obtain a squid-like artificial muscle actuation material layer with no biological toxicity and good flexibility.

[0011] Preferably, in step S2, the conductive monomer solution is an aniline monomer solution, and the added amount is 1.2 ml.

[0012] Preferably, the preparation process of the sensing material layer is specifically as follows: re-preparing the actuating material layer solution, then dropping 1.2 ml of aniline monomer solution into the actuating material layer solution, then pouring the mixed solution into a customized mold, and placing it in a drying oven for constant temperature drying to obtain a preliminary sensing layer gel; finally, soaking the preliminary sensing layer gel in a binary solution of H2SO4 / glycerol in a ratio of 1:1, so that the polyaniline is in situ integrated into the surface of the preliminary sensing layer gel, and after drying for 48 hours, a sensing material layer imitating squid tentacles artificial muscle is obtained.

[0013] Preferably, in step S3, the conductive nanomaterial dispersion is a carbon nanotube aqueous dispersion.

[0014] Preferably, the preparation process of the electrode material layer is specifically as follows: 20 ml of carbon nanotube aqueous dispersion and 0.48 g of k-refined carrageenan are added to 80 ml of deionized water, mixed and stirred for 2 h to obtain an electrode layer solution, and then the electrode layer solution is poured into a customized mold and placed in a vacuum drying oven for constant temperature drying to obtain an electrode material layer.

[0015] Preferably, in step S4, the specific superposition method is to integrate the sensing material layer, the actuating material layer and the electrode material layer in a layered manner, with the sensing material layer as the middle layer, the actuating material layer as the second layer, and the electrode material layer as the third layer, so as to surround an artificial muscle that imitates a squid tentacles structure.

[0016] The present invention also provides a control method for an artificial muscle based on electromagnetic oscillation and a squid-like structure, which uses the artificial muscle with a squid-like structure prepared by the above-mentioned artificial muscle preparation method based on electromagnetic oscillation and a squid-like structure to control the artificial muscle, comprising the following steps: The regions where the electrode material layer and the actuating material layer are connected are numbered and correspond to switches of a power supply device having a multi-circuit forward and reverse power connection function; By connecting the corresponding circuit of the power supply device, the artificial muscle can achieve multi-degree-of-freedom deflection.

[0017] Preferably, the areas where the electrode material layer is connected to the actuating material layer are numbered as follows: each area where the electrode material layer is connected to the actuating material layer is numbered in clockwise order; the power supply device is a power supply base for realizing forward and reverse power connection of four circuits.

[0018] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: (1) During the preparation process, the present invention uses electromagnetic oscillation to treat the actuation layer solution, which improves the solution's force and ion migration conditions, thereby enhancing the actuation performance of the artificial muscle. At the same time, the actuation layer is prepared using natural materials, which ensures that it is non-biotoxic and greatly improves its flexibility. The design of the sensing material layer realizes the integration of actuation and sensing functions, thereby enabling the artificial muscle to sense changes in the external environment.

[0019] (2) The present invention uses a sensing layer, an actuating layer, and an electrode layer to stack and surround the squid-like structure, which enhances the toughness and strength of the artificial muscle and makes its structure more consistent with the characteristics of human muscle bundles. The use of natural materials such as konjac glucomannan extract and k-refined carrageenan not only reduces costs, but also avoids the toxicity of traditional bio-crosslinking agents, thereby improving the safety of preparation and products.

[0020] (3) The control method provided by the present invention realizes the multi-degree-of-freedom deflection of artificial muscles by numbering the areas connected to the electrode layer and the actuation layer, and corresponding to the power base switch with multi-circuit forward and reverse power connection functions. Up to 8 deflection modes can flexibly simulate biological muscle movement. The circuit control of the power base combined with the area numbering can accurately control the deflection of artificial muscles in a specific direction, meeting the precise operation requirements in complex scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 This is a flow chart of a method for preparing artificial muscles based on electromagnetic oscillation and squid-like tentacle structure according to the present invention; Figure 2 A schematic diagram of the muscle fiber structure of the bionic artificial muscle after assembly provided by Example 1 of the present invention; Figure 3 An exploded view of the tomographic structure of the bionic artificial muscle provided in Example 1 of the present invention; Figure 4 A schematic diagram of the numbering of power switches on the power chassis provided in Example 2 of the present invention; Figure 5 A schematic diagram of the numbering of the various structural layers of the bionic artificial muscle provided in Example 2 of the present invention; Figure 6 Schematic diagram of the electric actuation control method for deflection to position 1 provided in Example 2 of the present invention; wherein Figure 6 (a) in the figure shows that the power base is connected to switch 1 to add positive power and switch 5 to add negative power; Figure 6 (b) shows the bionic artificial muscle deflecting toward position 1; Figure 7 Schematic diagram of the electric actuation control method for deflection to position 5 provided in Example 2 of the present invention; wherein Figure 7 (a) in the figure shows that the power base is connected to switch 1 to add negative power and switch 5 to add positive power; Figure 7 (b) shows the bionic artificial muscle deflecting to position 5; Figure 8 Schematic diagram of the electric actuation control method for deflection to position 2 provided in Example 2 of the present invention; wherein Figure 8 (a) in the figure shows that the power base is connected to switch 2 to add positive power and switch 6 to add negative power; Figure 8 (b) shows the bionic artificial muscle deflecting to position 2; Fig. 9 Schematic diagram of the electric actuation control method for deflection to position 6 provided in Example 2 of the present invention; wherein Fig. 9 (a) in the figure shows that the power base is connected to switch 2 to add negative power and switch 6 to add positive power; Fig. 9 (b) shows the bionic artificial muscle deflecting to position 6; Fig.10 Schematic diagram of the electric actuation control method for deflection to position 3 provided in Example 2 of the present invention; wherein Fig.10 (a) shows that the power base is connected to switch 3 to add positive power, and switch 7 to add negative power; Fig.10 (b) shows the bionic artificial muscle deflecting to position 3; Fig.11 Schematic diagram of the electric actuation control method for deflection to position 7 provided in Example 2 of the present invention; wherein Fig.11 (a) in the figure shows that the power base is connected to switch 3 to add negative power and switch 7 to add positive power; Fig.11 (b) shows the bionic artificial muscle deflecting to position 7; Fig.12 Schematic diagram of the electric actuation control method for deflection to position 4 provided in Example 2 of the present invention; wherein Fig.12 (a) shows that the power base is connected to switch 4 to add positive power, and switch 8 to add negative power; Fig.12 (b) shows the bionic artificial muscle deflecting to position 4; Fig.13 Schematic diagram of the electric actuation control method for deflection to position 8 provided in Example 2 of the present invention; wherein Fig.13 (a) in the figure shows that the power base is connected to switch 4 to add negative power and switch 8 to add positive power; Fig.13 (b) in the figure shows the bionic artificial muscle deflecting to position 8.

[0023] Description of reference numerals: 1. Sensing material layer; 2. Actuating material layer; 3. Electrode material layer; 4. Power supply base. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Example 1 like Figure 1 As shown, the present invention provides a method for preparing artificial muscles based on electromagnetic oscillation and a squid-like tentacle structure, comprising the following steps: S1. Preparing an actuating material layer: mixing a high molecular weight polysaccharide extract and a natural high molecular weight polymer in an aqueous solution and stirring the mixture evenly, drying and forming the mixture after electromagnetic oscillation treatment to obtain an actuating material layer; S2, preparing a sensing material layer: re-preparing an actuating material layer solution, then adding a conductive monomer solution, and obtaining a sensing material layer after drying and chemical treatment; S3, preparing an electrode material layer: mixing a conductive nanomaterial dispersion and a natural high molecular polymer in an aqueous solution, stirring the mixture evenly, and drying and molding the mixture to obtain an electrode material layer; S4. Assembling artificial muscles: combining the sensing material layer, the actuating material layer, and the electrode material layer in a specific stacking manner to form an artificial muscle with a bionic structure.

[0027] According to the above content, in step S1, the polymer polysaccharide extract is konjac glucomannan extract, and the natural polymer is k-refined carrageenan. The preparation process of the actuation material layer is specifically as follows: 0.4g of konjac glucomannan extract is poured into 100ml of deionized water solution, then stirred with a magnetic stirrer under 80℃ water bath heating for 1h, then 0.5g of k-refined carrageenan is added, and stirring is continued at 80℃ for 1h to obtain the actuation layer solution; then the actuation layer solution is poured into a culture dish, and the culture dish is placed on an electromagnetic oscillator for oscillation, and then poured into a customized container, and dried at a constant temperature in a vacuum drying oven to obtain a squid tentacles artificial muscle actuation material layer with no biological toxicity and good flexibility.

[0028] In step S2, the conductive monomer solution is an aniline monomer solution, and the added amount is 1.2 ml. The specific preparation process of the sensing material layer is as follows: the actuating material layer solution is prepared again, and then 1.2 ml of the aniline monomer solution is added to the actuating material layer solution, and then the mixed solution is poured into a customized mold, and placed in a drying oven for constant temperature drying to obtain a preliminary sensing layer gel; finally, the preliminary sensing layer gel is soaked in a binary solution of H2SO4 / glycerol with a ratio of 1:1, so that the polyaniline is in situ integrated into the surface of the preliminary sensing layer gel, and after drying for 48 hours, the sensing material layer imitating the squid tentacles artificial muscle is obtained.

[0029] In step S3, the conductive nanomaterial dispersion is a carbon nanotube aqueous dispersion. The specific preparation process of the electrode material layer is as follows: 20 ml of the carbon nanotube aqueous dispersion and 0.48 g of k-refined carrageenan are added to 80 ml of deionized water, mixed and stirred for 2 h to obtain an electrode layer solution, and then the electrode layer solution is poured into a custom mold and placed in a vacuum drying oven for constant temperature drying to obtain an electrode material layer.

[0030] In step S4, the specific stacking method is to integrate the sensing material layer, the actuating material layer, and the electrode material layer in a layer-by-layer stacking manner, referring to Figure 2 and Figure 3 The sensing material layer 1 is used as the middle layer, the actuating material layer 2 is used as the second layer, and the electrode material layer 3 is used as the third layer to surround an artificial muscle that imitates a squid tentacles structure, and one end of the artificial muscle structure that imitates a squid tentacles structure is also connected to a power base 4.

[0031] Example 2 Using the artificial muscle structure imitating the squid tentacles structure prepared in Example 1, this embodiment provides a control method for an artificial muscle based on electromagnetic oscillation and the squid tentacles structure, comprising the following steps: The regions where the electrode material layer and the actuating material layer are connected are numbered and correspond to switches of a power supply device having a multi-circuit forward and reverse power connection function; By connecting the corresponding circuit of the power supply device, the artificial muscle can achieve multi-degree-of-freedom deflection.

[0032] Reference Figure 4 and Figure 5 The areas where each electrode material layer is connected to the actuating material layer are numbered in a clockwise order, from 1 to 8, and the numbers correspond one to one with the switches of the power base. Figure 5 The power base can realize the forward and reverse power connection of 4 circuits. When the corresponding circuit is connected, the artificial muscle deflects in the corresponding direction. Under this control mode, multi-degree-of-freedom deflection can be achieved. In this embodiment, the artificial muscle structure imitating the squid tentacles structure is divided into four groups of control parts, and the following 8 deflection modes can be achieved: (1) If Figure 6 As shown in (a) in the figure, switch 1 is turned on to add positive electricity, and switch 5 is turned on to add negative electricity. The artificial muscle structure that imitates the structure of squid tentacles is as follows Figure 6 As shown in (b), it is deflected in direction 1.

[0033] (2) If Figure 7 As shown in (a), switch 1 is turned on to add negative electricity, and switch 5 is turned on to add positive electricity. The artificial muscle structure that imitates the structure of squid tentacles is as follows Figure 7 As shown in (b), it is deflected in direction 5.

[0034] (3) If Figure 8 As shown in (a), switch 2 is turned on to add positive electricity, and switch 6 is turned on to add negative electricity. The artificial muscle structure that imitates the structure of squid tentacles is as follows Figure 8 As shown in (b), it is deflected in direction 2.

[0035] (4) As shown in (a) of Figure 9, switch 2 is turned on to add negative electricity, and switch 6 is turned on to add positive electricity. The artificial muscle structure imitating the structure of squid tentacles is as follows Fig. 9 As shown in (b), it is deflected in direction 6.

[0036] (5) Fig.10 As shown in (a) in the figure, switch 3 is turned on to add positive electricity, and switch 7 is turned on to add negative electricity. The artificial muscle structure that imitates the structure of squid tentacles is as follows Fig.10 As shown in (b), it is deflected in direction 3.

[0037] (6) If Fig.11 As shown in (a), switch 3 is turned on to add negative electricity, and switch 7 is turned on to add positive electricity. The artificial muscle structure that imitates the structure of squid tentacles is as follows Fig.10 As shown in (b), it is deflected in direction 7.

[0038] (7) Fig.12 As shown in (a), switch 4 is turned on to add positive electricity, and switch 8 is turned on to add negative electricity. The artificial muscle structure that imitates the structure of squid tentacles is as follows Fig.12 As shown in (b), it is deflected in direction 4.

[0039] (8) Fig.13 As shown in (a), switch 4 is turned on to add negative electricity, and switch 8 is turned on to add positive electricity. The artificial muscle structure that imitates the structure of squid tentacles is as follows Fig.13 As shown in (b), it is deflected in the direction of 8.

[0040] Therefore, by adopting the above-mentioned artificial muscle preparation and control method based on electromagnetic oscillation and squid-like tentacle structure, the prepared artificial muscle has the characteristics of high sensing performance, large ion mobility, strong adhesion, large tensile force, fast response speed and high flexibility. At the same time, the control method can realize flexible movement in multiple directions.

[0041] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and scope of application. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for preparing artificial muscles based on electromagnetic oscillation and squid-like tentacle structure, characterized in that: The following steps are involved: S1. Preparing an actuating material layer: mixing a high molecular weight polysaccharide extract and a natural high molecular weight polymer in an aqueous solution and stirring the mixture evenly, drying and forming the mixture after electromagnetic oscillation treatment to obtain an actuating material layer; S2, preparing a sensing material layer: re-preparing an actuating material layer solution, then adding a conductive monomer solution, and obtaining a sensing material layer after drying and chemical treatment; S3, preparing an electrode material layer: mixing a conductive nanomaterial dispersion and a natural high molecular polymer in an aqueous solution, stirring the mixture evenly, and drying and molding the mixture to obtain an electrode material layer; S4. Assembling artificial muscles: combining the sensing material layer, the actuating material layer, and the electrode material layer in a specific stacking manner to form an artificial muscle with a bionic structure.

2. The method for preparing artificial muscle based on electromagnetic oscillation and squid-like tentacle structure according to claim 1, characterized in that: In step S1, the high molecular weight polysaccharide extract is a konjac glucomannan extract, and the natural high molecular weight polymer is k-purified carrageenan.

3. The method for preparing artificial muscle based on electromagnetic oscillation and squid-like tentacle structure according to claim 2, characterized in that: The preparation process of the actuation material layer is specifically as follows: 0.4 g of konjac glucomannan extract is poured into 100 ml of deionized water solution, then stirred with a magnetic stirrer for 1 h under 80 ° C water bath heating, and then 0.5 g of k-refined carrageenan is added, and stirring is continued at 80 ° C for 1 h to obtain an actuation layer solution; then the actuation layer solution is poured into a culture dish, and the culture dish is placed on an electromagnetic oscillator for oscillation, and then poured into a customized container, and dried at a constant temperature in a vacuum drying oven to obtain a squid tentacles-like artificial muscle actuation material layer that is non-biotoxic and has good flexibility.

4. The method for preparing artificial muscle based on electromagnetic oscillation and squid-like tentacle structure according to claim 1, characterized in that: In step S2, the conductive monomer solution is an aniline monomer solution, and the added amount is 1.2 ml.

5. The method for preparing artificial muscle based on electromagnetic oscillation and squid-like tentacle structure according to claim 4, characterized in that: The preparation process of the sensing material layer is specifically as follows: re-prepare the actuating material layer solution, then add 1.2 ml of aniline monomer solution to the actuating material layer solution, then pour the mixed solution into a customized mold, and put it into a drying oven for constant temperature drying to obtain a preliminary sensing layer gel; finally, soak the preliminary sensing layer gel in a binary solution of H2SO4 / glycerol with a ratio of 1:1, so that the polyaniline is in situ integrated into the surface of the preliminary sensing layer gel. After drying for 48 hours, a sensing material layer imitating squid tentacles artificial muscle is obtained.

6. The method for preparing artificial muscle based on electromagnetic oscillation and squid-like tentacle structure according to claim 1, characterized in that: In step S3, the conductive nanomaterial dispersion is a carbon nanotube aqueous dispersion.

7. The method for preparing artificial muscle based on electromagnetic oscillation and squid-like tentacle structure according to claim 6, characterized in that: The specific preparation process of the electrode material layer is as follows: 20 ml of carbon nanotube aqueous dispersion and 0.48 g of k-refined carrageenan are added to 80 ml of deionized water, mixed and stirred for 2 h to obtain an electrode layer solution, and then the electrode layer solution is poured into a customized mold and placed in a vacuum drying oven for constant temperature drying to obtain an electrode material layer.

8. The method for preparing artificial muscle based on electromagnetic oscillation and squid-like tentacle structure according to claim 1, characterized in that: In step S4, the specific stacking method is to integrate the sensing material layer, the actuating material layer, and the electrode material layer in a layered manner, with the sensing material layer as the middle layer, the actuating material layer as the second layer, and the electrode material layer as the third layer, so as to surround an artificial muscle that imitates a squid tentacles structure.

9. A control method for artificial muscles based on electromagnetic oscillation and squid-like tentacles, characterized in that: The artificial muscle with a squid-like tentacle structure prepared by the method for preparing an artificial muscle based on electromagnetic oscillation and a squid-like tentacle structure according to any one of claims 1 to 8 is used for control, comprising the following steps: The regions where the electrode material layer and the actuating material layer are connected are numbered and correspond to switches of a power supply device having a multi-circuit forward and reverse power connection function; By connecting the corresponding circuit of the power supply device, the artificial muscle can achieve multi-degree-of-freedom deflection.

10. The control method of artificial muscle based on electromagnetic oscillation and squid-like tentacle structure according to claim 9, characterized in that: The regions where the electrode material layer is connected to the actuation material layer are numbered as follows: each region where the electrode material layer is connected to the actuation material layer is numbered in a clockwise order; The power supply device is a power supply base, which is used to realize the forward and reverse power connection of four circuits.

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