Built-in kerf microstructure inflation actuator based on electrostatic adsorption film and preparation method and application of built-in kerf microstructure inflation actuator

Abstract

The invention discloses a built-in kerf microstructure inflation actuator based on an electrostatic adsorption film and a preparation method and application of the built-in kerf microstructure inflation actuator. The method comprises the following steps: 1) taking at least two layers of thermoplastic plastic films with electrostatic self-adhesion characteristics, laminating the thermoplastic plastic films together, and enabling the adjacent layers of films to be tightly attached by utilizing electrostatic adsorption force between the films; and 2) placing the multi-layer film obtained in the step 1) on a workbench of a laser cutting machine, controlling a laser beam to perform single scanning according to a preset kirgami paper-cut two-dimensional pattern path, and regulating and controlling laser parameters to synchronously complete cutting of the multi-layer film to form a notch and hot melting welding along the edge of the cutting path to form a sealing welding seam in the single scanning process of laser, and the inflation actuator in an uninflated state is obtained. According to the manufacturing method, a cross-scale film inflation structure with an ultra-narrow edge welding seam and a complex internal paper-cut structure can be manufactured, the sensing function can be seamlessly integrated, and a flexible system with the structure, sensing and driving highly integrated is obtained.

Description

Technical Field

[0001] This invention belongs to the field of flexible actuators, flexible electronics and smart material manufacturing, and relates to a method for manufacturing an inflatable and deformable structure, particularly an inflatable actuator with an internal slit microstructure based on an electrostatic adsorption film, its preparation method and application. Background Technology

[0002] Currently, film-based inflatable deformable structures have broad application prospects in fields such as soft robotics, wearable devices, human-computer interaction, and microfluidic chips due to their advantages of being lightweight, safe, and deformable. Their manufacturing method typically involves thermally bonding specific areas of thermoplastic polymer films (such as PE and TPU) to form sealed air chambers. Film-based inflatable structures with precise internal seams or perforated patterns will offer new superior properties, such as significant shrinkage after inflation and passive stretching elasticity. However, existing manufacturing technologies face numerous insurmountable bottlenecks when producing flexible structures with complex internal slit patterns (such as the paper-cut Kirigami structure) and fine channels.

[0003] Existing technologies primarily employ a step-by-step manufacturing method. This approach separates cutting and thermal welding into two independent steps. For example, a laser cutter is used to create intricate paper-cut patterns on a thin film, and a mask layer is cut using a release liner. The entire film is then thermally welded and sealed using a hot press. This method suffers from significant alignment challenges, resulting in wide weld edges and difficulty in creating fine internal slit structures. Furthermore, it exhibits a fundamental physical defect: during the hot pressing process, the thin film material inevitably undergoes microscopic shrinkage and macroscopic deformation due to heat. This prevents precise alignment of the cut and welded layers, regardless of the subsequent alignment method used, thus hindering the creation of sealed and precise micro-channels. Conversely, if thermal welding is performed first using a laser cutter in a defocused state / using custom CNC (Computer Numerical Control) hot air or a hot press needle before cutting, the same problem arises: material deformation during the thermal welding process leads to decreased cutting accuracy. This issue is the fundamental reason why traditional methods cannot achieve high-precision, highly integrated flexible microstructures.

[0004] Based on this, this invention addresses the technical challenges of low precision, wide welds, high equipment requirements, complex processes, and difficulty in achieving cross-scale manufacturing, especially small-scale manufacturing, in existing technologies for manufacturing inflatable actuators with complex internal slit structures. It develops a rapid, precise, low-cost, and easily implemented fabrication method that simultaneously completes cutting and edge welding, producing a cross-scale thin-film inflatable structure with ultra-narrow edge welds and a complex internal paper-cut structure. This structure can significantly shrink after inflation and has adjustable elasticity with a wide range of stretching. Furthermore, it can seamlessly integrate sensing functions, thereby enabling the fabrication of a highly integrated flexible system encompassing structure, sensing, and actuation. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing an inflatable actuator with an internal slit microstructure based on an electrostatic adsorption film, its preparation method, and its application. This method utilizes the tight adhesion of the electrostatic adsorption film and the adjustment of laser parameters to simultaneously complete cutting and welding or weld without cutting through, thereby manufacturing a flexible inflatable actuator with a precise internal slit and microstructure.

[0006] The technical solution adopted in this invention is as follows:

[0007] A method for fabricating an inflatable actuator with an embedded slit microstructure based on an electrostatic adsorption thin film, using laser-integrated fabrication, includes the following steps:

[0008] 1) Take at least two layers of thermoplastic film with electrostatic self-adhesion properties, stack them together, and use the electrostatic adsorption force between the films to make the adjacent layers of film adhere tightly.

[0009] 2) Place the multilayer film obtained in 1) on the worktable of the laser cutting machine. According to the preset kirigami paper-cutting two-dimensional pattern path, control the laser beam to perform a single scan. Adjust the laser parameters so that the laser can simultaneously complete the cutting of the multilayer film to form a slit and the hot-melt welding along the edge of the cutting path to form a sealing weld during the single scan, thus obtaining an inflatable actuator in an uninflated state.

[0010] In the above technical solution, the weld is an ultra-narrow edge weld with a width as low as 0.125 mm or less, and the slit spacing, i.e. the width of the air passage formed, can be as low as 0.25 mm or less.

[0011] Furthermore, a double-layer PE film with a total thickness of 0.03mm-0.2mm is used to achieve the simultaneous formation of cuts and sealing welds. The laser parameters are as follows: 40W CO2 laser cutting machine power range of 25-80%, speed of 30-50m / s, and focal length of 0.1-0.4mm.

[0012] Furthermore, by adjusting the laser parameters, it is possible to achieve thermal melting welding of multi-layer thin films without forming a cut in a single scan. The laser parameters are: 20-30% power range for a 40W CO2 laser cutting machine. Under the same film thickness, laser speed, and focal length conditions, the laser power needs to be reduced compared to the laser parameters that simultaneously form a cut and seal the weld.

[0013] Furthermore, after laser synchronously forming the notch and sealing weld, a conductive layer is deposited on the surface of the formed pneumatic actuator according to the designed circuit pattern; or before laser synchronously forming the notch and sealing weld, a conductive layer is deposited on the thin film surface according to the designed circuit pattern; thereby integrating sensing or other functional circuits on the pneumatic actuator.

[0014] Furthermore, by filling the pneumatic actuator with gas or other fluid, the actuator actively contracts due to the action of the kirigami paper-cutting structure cuts, and the resulting overall structure has tensile and resilient properties.

[0015] Furthermore, the ends of the cut are rounded with chamfered corners.

[0016] Furthermore, for films with three or more layers, in laser processing, by adjusting the laser power, cuts and sealing welds can be formed simultaneously in some areas, while only sealing welds are formed in other areas without cutting through. This allows the resulting multi-layered structure to contain two or more independently inflatable chambers. By selectively inflating, different chambers can shrink or bend and deform, thereby achieving multi-directional motion control.

[0017] Furthermore, the built-in slit microstructure forms different airway structures by adjusting the organization of the kirigami slits. The structural variations of the airway structure include: array type, non-uniform channel type, curved type, multi-layer chamber type, three-dimensional elastic curved surface type, and dynamic hollow pattern type.

[0018] An inflatable actuator with an embedded slit microstructure based on an electrostatic adsorption film is prepared by the method described in any of the preceding methods.

[0019] The beneficial effects of this invention are:

[0020] (1) Fundamentally solves the manufacturing bottleneck: Through the new process of "electrostatic locking + focused laser synchronous processing", the physical problem of misalignment caused by thermal shrinkage of flexible film is overcome, turning the impossible into possible.

[0021] (2) Extremely high precision and resolution: By using electrostatic adsorption to ensure tight adhesion of the film, combined with laser processing, ultra-narrow weld seams as low as 0.125 mm and cut spacing, i.e. air passage width, as low as 0.25 mm can be achieved, which is far superior to traditional methods.

[0022] (3) High efficiency and automation: The cutting and welding processes are integrated into a single laser scan, eliminating the need for manual alignment, which greatly simplifies the process and improves production efficiency and repeatability.

[0023] (4) Low equipment threshold: No need to customize expensive equipment such as CNC, it can be completed using only commercially available standard laser cutting machine, which greatly reduces the technical threshold.

[0024] (5) Expanded structural design space: It can easily manufacture airbag / flow channel structures or multi-layer airbag structures with extremely complex internal cut patterns (such as fractal, gradient, curved surface patterns).

[0025] (6) Superior structural performance: The prepared inflatable structure has a huge active shrinkage rate (the shrinkage rate after inflation can reach 83.5%) and adjustable passive stretching resilience (the stretching range can reach 270.6%), which far exceeds traditional pneumatic actuators such as Mickibben pneumatic artificial muscles.

[0026] (7) Cross-scale adaptability: This method is applicable to the manufacture of inflatable or fluid structures ranging from millimeter-scale (e.g., fingernail-sized) to meter-scale (e.g., body-sized).

[0027] (8) Broad application potential: It can be used not only for pneumatic actuators, but also extended to many high-value technology fields such as microfluidics, flexible electronic sensing, rapid prototyping of injection molds, wearables, and portable interactive devices. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of part of the preparation method of the present invention (the figure shows the overall process from electrostatic self-adsorption of the double-layer thin film material to laser synchronous cutting and thermal welding).

[0029] Figure 2 This diagram compares the performance of a traditional, slitless structure formed solely by thermal welding with the internally slitted, air-filled structure prepared according to this invention.

[0030] Figure 3 The diagram shows the optimized basic unit structure of this invention, which includes a slit design with rounded chamfered ends and an arc transition structure at the airway corner.

[0031] Figures 4 to 8 The different structural variants that can be achieved by the present invention are, in order, an array structure, a non-uniform channel structure, a curved slit structure, a multi-layer structure, and a three-dimensional curved surface structure.

[0032] Figure 9 A comparative diagram of inflatable structures of different sizes (the diagram shows the differences in shape and performance between mini and large structures).

[0033] Figure 10 This is a schematic diagram illustrating the effect of a structure prepared according to an embodiment of the present invention on achieving significant stretching and contraction under inflated conditions.

[0034] Figure 11This is a schematic diagram illustrating the relationship between material thickness, airbag structure size, structural design and performance in one embodiment of the present invention (showing the influence of different thicknesses, sizes, widths, and slit overlap distances on the shrinkage rate, stretchable range and resilience after inflation).

[0035] Figure 12 This is a schematic diagram of the sensing function test in one embodiment of the present invention (showing the change curve of the surface conductive layer resistance signal of the structure under different working states such as contraction and stretching).

[0036] Figure 13 This is a schematic diagram of an application example of the present invention: an eyelid lifting device.

[0037] Figure 14 This is a schematic diagram illustrating an application example of the present invention: a portable, launchable game controller.

[0038] Figure 15 This is a schematic diagram of an application example of the present invention: the morphological changes of a biomimetic breathing lamp in inflated and uninflated states.

[0039] Figure 16 This is a schematic diagram of an application example of the present invention: another biomimetic breathing lamp exhibits different morphological characteristics under different inflation states.

[0040] Figure 17 This is a schematic diagram of an application example of the present invention: adjustable pressure dynamic protective gear. Detailed Implementation

[0041] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] According to a specific embodiment of the present invention, a method for fabricating an inflatable actuator with an embedded slit microstructure based on an electrostatic adsorption thin film is disclosed, employing laser-integrated fabrication. The core of the present invention lies in overcoming the physical limitations of materials through process reconfiguration. The method includes the following key steps:

[0043] (1) Step 1: Preparation of multilayer thin film materials

[0044] like Figure 1 As shown, prepare at least two layers of thermoplastic film (such as PE film) with electrostatic self-adhesive properties and stack them together. The key is to use the electrostatic attraction between the films to make them adhere tightly, without the need for external pressure or vacuum devices.

[0045] The film must possess electrostatic self-adhesion properties, requiring it to adhere tightly between layers without external pressure, sufficient to resist airflow disturbances generated by auxiliary air blowing or exhaust systems during laser processing, ensuring no relative displacement during processing. After the films are stacked, the electrostatic adsorption force between the layers allows them to naturally adhere tightly, forming a gapless laminated structure. This step requires no external clamping or vacuum devices, utilizing the material's inherent properties to "lock" the film in its initial, undeformed state before processing.

[0046] (2) Step 2: Laser synchronous cutting and welding

[0047] like Figure 1 As shown, the tightly bonded multilayer film is placed on the worktable of a standard laser cutting machine. The laser beam is controlled to perform a single scan according to a preset kirigami paper-cutting two-dimensional pattern path. By precisely adjusting parameters such as laser power, speed, and focal length, the laser simultaneously completes the cutting of the multilayer film (forming a slit) and the thermal fusion welding along the edge of the cutting path (forming a sealing weld) during a single scan.

[0048] Since cutting and welding are completed before the material undergoes macroscopic thermal shrinkage deformation, this step fundamentally solves the alignment problem of traditional step-by-step processes.

[0049] like Figure 9 As shown, this method can achieve ultra-narrow edge welds (less than 0.125 mm), thus supporting the fabrication of inflatable structures with precise internal seams. Furthermore, this method is also applicable to the fabrication of large-scale structures, enabling cross-scale manufacturing while maintaining high precision.

[0050] By adjusting the laser cutting parameters, this method can be adapted to films of different thicknesses. Taking a 40W CO2 laser cutting machine as an example, for double-layer PE films with a thickness of 0.03mm-0.2mm, the preferred power range for simultaneous cutting and welding is 25%-80%, the preferred speed range is 30-50 m / s, and the preferred focal length is 0.1-0.4mm. Specifically, for a 0.07mm thick double-layer PE film, the power can be set to 33%, and the speed can be set to 50m / s.

[0051] Alternatively, by adjusting the laser parameters, a welding-only mode without cutting through can be achieved at lower power levels, which can be used to manufacture multi-chamber independently controlled structures. Taking a 40W CO2 laser cutting machine as an example, the optimal power range for achieving welding-only without cutting is 20%-30%.

[0052] According to a specific embodiment of the present invention, the recommended corresponding laser parameters are shown in the table below. By adjusting the power, speed and focal length of the laser cutting machine, different modes of hot welding and cutting can be achieved. The required corresponding processing parameter range can be selected as needed (the laser cutting machine model used in this embodiment is Laserbox 2.0, MLP-K503-40W).

[0053]

[0054] The result is an uninflated pneumatic actuator with a built-in slit microstructure, such as... Figure 2 As shown, the structure contains pre-designed Kirigami-style cutouts that coincide with the edges of the sealed air passages. The air passage edges of this structure, fabricated using the method of this invention, have ultra-narrow edge welds (less than 0.125 mm), supporting extremely fine air passages and cutout spacing. The entire structure undergoes a change in shape after inflation, such as significant shrinkage or even stacking, as... Figure 10 As shown, the structure exhibits different stretchability and resilience before and after inflation.

[0055] like Figure 3 As shown, to improve performance and pressure resistance, the end of the cut is designed with a micro-circular chamfered end to disperse stress and increase the stretchability of the structure; the corners of the corresponding internal channel are smooth arcs to reduce the risk of airbag rupture.

[0056] To meet the diverse requirements of different application scenarios regarding the shrinkage rate, elastic restoring force, and morphological change direction of pneumatic actuators, the microstructures prepared by the method of this invention can be further designed into various structural variants. Typical variants include, but are not limited to, the following:

[0057] (a) Array-type structure: such as Figure 4 As shown, by arranging the basic Kirigami units in different inter-column connection methods, three different mechanical properties can be obtained, including the following three categories: adjacent columns completely overlap, similar to making continuous slits on the overall membrane surface, inflation and contraction are mutually restrained, the amount of contraction is small, but the elastic recovery force is the largest; adjacent columns are completely disconnected: each column is basically independent, connected only at the top air passage, the amount of contraction is the largest, but the elasticity is the smallest; adjacent columns are partially connected: it has the characteristics of both, the amount of contraction is large and accompanied by local overlap, the elasticity is moderate, and the shape is similar to a woven fabric.

[0058] (b) Non-uniform channel structure: such as Figure 5As shown, by designing an asymmetrical or gradually changing arrangement of the Kirigami slits, non-uniform deformation effects can be obtained, including the following three types: asymmetrical width of the left and right air passages, resulting in lateral bending of the whole after inflation; gradually changing width of the upper and lower air passages, resulting in sequential unfolding and gradient curling effects after inflation; and zoned air passages, using a hot-welding non-penetrating process to achieve mutual traction between independent air passages in different areas, thereby realizing a composite motion mode.

[0059] (c) Curved slit structure: such as Figure 6 As shown, the traditional straight Kirigami cut has evolved into a curved shape, including the following four types: parallel wavy lines, which remain flat after inflation; gradient curves, which form a curved surface along the vertical direction after inflation; bulging curves, which can be arranged individually or closely, and naturally produce a unilateral bend after inflation, and the curvature can be controlled by the airway width ratio; and single-line wavy lines, which automatically contract after inflation, similar to the tightening of a hook.

[0060] (d) Multi-layered structure: such as Figure 7 As shown, the synchronous welding and cutting process of multi-layer membrane materials achievable by this invention can yield the following two types: multi-layer bulging structures, which achieve unilateral preferential bending through differences in the number of membrane layers; and multi-layer multi-airway structures, which achieve programmable bending control in six directions (front, back, left, and right) through axisymmetric welding.

[0061] (e) Three-dimensional elastic surfaces: such as Figure 8 As shown, through special cuts, a complex three-dimensional curved surface with elasticity can be obtained after inflation, including the following three types: radial cut structure, which transforms a planar donut into a cylinder, suitable for biological tissue adhesion; Y-shaped cut structure, which forms a highly elastic arch structure, suitable for joint adhesion and protection; and concentric circle cut structure, which forms a saddle surface with negative Gaussian curvature.

[0062] (f) Dynamic hollow patterns: such as Figure 8 As shown, by densely arranging star-shaped or polygonal hollow cuts on a curved surface, the porosity can be dynamically adjusted after inflation. As the air pressure increases, the pores shrink and the pore shape changes significantly. This can be applied to adjustable air permeability, filtration, or biomimetic appearance design.

[0063] like Figure 11As shown, the shrinkage deformation effect, passive stretching range, and resilience of the structure after inflation can be parameterized and controlled by material thickness, hot welding, and cutting patterns. Specifically, as the size of the airbag increases, the overall shrinkage rate and stretching range usually increase accordingly. However, when the size is too large and the membrane material is thick, the shrinkage rate will decrease due to increased deformation resistance. When the overlap distance between adjacent cuts decreases, the shrinkage rate and stretchability of the structure after inflation increase, but the mechanical strength decreases accordingly. When the membrane material thickness decreases, the structure is easier to shrink and stretch, but the resilience weakens. Increasing the thickness enhances the pressure-bearing capacity and recovery force, but reduces the maximum shrinkage rate. Therefore, by combining the above parameters, a balance can be achieved between shrinkage, stretching, and resilience to meet the needs of different application scenarios.

[0064] (3) Integration of the sensing layer (optional step):

[0065] Alternatively, to endow the structure with sensing capabilities, a step of depositing a conductive layer can be added to the manufacturing process. This step can be implemented in several ways:

[0066] Timing Option 1 (Post-processing): After completing the laser synchronous processing in step 2, deposit a conductive layer on the surface of the formed flexible structure.

[0067] Option 2 (Pre-processing): Before performing the laser synchronous processing in step 2, a conductive layer is deposited on the surface of a single-layer or multi-layer thin film. This method is beneficial for mass production.

[0068] Option 1 (Uniform Deposition): Conductive materials (such as conductive graphene or carbon paint) are uniformly deposited on the surface of a thin film or structure using methods such as overall spraying to form a fully covered sensing layer.

[0069] Option 2 (patterned deposition): A mask with a preset circuit pattern (such as a laser-cut acrylic plate or metal plate) is made, the mask is placed on the surface of the film, and then sprayed to form a conductive line or sensing area of ​​a specific shape on the film.

[0070] like Figure 12As shown, a conductive material (such as a conductive carbon layer or graphene coating) is deposited on the surface of the inflatable actuator, particularly along the deformation path, using the aforementioned method. This conductive layer forms a functional circuit, which is integrated with the flexible structure substrate to form a flexible sensor or actuator system. With the addition of the sensing layer, the structure can have the following functions: (a) it can recognize user touches, (b) it can recognize the contraction of the thin-film structure after inflation, and (c) it can recognize the passive stretching and rebound states of the inflated structure. Its sensing principle is as follows: when the structure actively contracts under the drive of internal fluid (gas or liquid), or is passively stretched and rebounded under external force, its surface geometry undergoes significant changes. This leads to changes in the spacing between conductive particles or microcracks within the conductive layer, resulting in a corresponding and predictable change in its resistance value. Furthermore, the significant contraction and deformation after inflation and the rebound after stretching cause internal contact, resulting in a corresponding and predictable change in its resistance value. By monitoring this resistance signal, the real-time morphology and stress state of the structure can be perceived.

[0071] The pneumatic actuator developed in this invention has a wide range of applications, such as in pneumatic / hydraulic actuators: injecting gas or liquid into the internal channel allows for rapid, wide-range contraction, bending, and torsion movements, while maintaining elasticity and supporting a large range of passive stretching after inflation. It can serve as artificial "muscles" for soft robots and wearable devices. It can be applied to deformable interactive products: products that are flat and portable before inflation and elastic and stretchable after inflation, such as launchable game controllers. It can serve as a microfluidic channel: the internal ultra-narrow sealed channel can be directly used as a conduit for microfluidic reactions, mixing, or transport. Its flexible nature also allows the channel to dynamically deform during use, enabling pumping or valve functions. It can also serve as a dynamically reconfigurable mold: by injecting curable materials (such as silicone or epoxy resin) into it, different soft structures or soft-hard composite structures can be quickly obtained.

[0072] Example 1: Preparation of basic units

[0073] like Figure 1 As shown, a double-layer PE film with a thickness of 0.07 mm was selected and tightly laminated using the principle of electrostatic self-adhesion. By setting the laser processing parameters (power 33%, speed 50 m / s, focal length 0.1 mm), the film was simultaneously cut and welded in a single scan, resulting in a basic unit containing an optimized paper-cut Kirigami structure.

[0074] like Figure 2As shown, the basic unit remains flat and soft when uninflated. After inflation, it shrinks significantly due to the internal Kirigami slits, exhibiting remarkable active shrinkage performance. Simultaneously, the unit retains a certain degree of elasticity after inflation, allowing it to be passively stretched under external force and quickly rebound after unloading, demonstrating excellent stretchability and resilience.

[0075] Example 2: Fabrication of a multi-layered, multi-chamber structure

[0076] like Figure 16 As shown, based on Example 1, a laser parameter control process combining "welding only" and "welding and cutting" modes is used to simultaneously obtain multi-layer, multi-chamber structures in a single processing step. For example, a third layer is added to a double-layer base film, and by adjusting the laser power, welding is performed in certain areas without cutting through, forming independent sealed gas cavities.

[0077] The resulting multi-layered structure comprises two or more independently inflatable chambers. Through selective inflation, different chambers can contract or bend independently, thereby achieving multi-directional motion modes, including forward bending, lateral bending, and even torsion. This multi-chamber structure demonstrates the potential of this invention in complex motion control and multi-functional actuation.

[0078] Example 3: Wearable device application - eyelid lifting device

[0079] like Figure 13 As shown, this embodiment provides an auxiliary lifting device suitable for patients with ptosis. The device consists of a miniature Kirigami inflatable structure, and the user can attach the upper and lower edges of the device to the eyelid in a manner similar to double eyelid tape.

[0080] When deflated, the device is soft and thin, conforming naturally to the skin without affecting normal blinking. When inflated, the internal Kirigami structure contracts to generate a lifting force, assisting in lifting the eyelids for functional correction. The lifting force can be quickly adjusted by changing the inflation level to suit different users' needs.

[0081] As an optional solution, a conductive carbon layer or graphene layer can be sprayed onto the surface of the structure to form a sensing circuit, enabling the device to monitor the inflation status and the user's blinking activity in real time, further realizing the integration of sensing and actuation.

[0082] Example 4: Interactive Device Application - Sensor-Actuation Integrated Multi-Mode Inflatable Game Controller

[0083] like Figure 14As shown, this embodiment proposes a deformable inflatable game controller based on a Kirigami structure. The controller is composed of a multi-chamber Kirigami inflatable structure, which is easy to carry when deflated; after different chambers are inflated, it can present multiple shapes and provide differentiated tactile feedback. For example, inflating one chamber can produce a forward-protruding grip shape, while inflating another chamber can provide lateral support.

[0084] Meanwhile, conductive graphene is deposited on the surface of the handle using a mask spraying method to form a sensing circuit. The resistance of this sensing layer changes as the Kirigami structure is stretched and contracted, thereby realizing the perception of user operations, such as simulating the "stretch-release" interaction of a slingshot.

[0085] This handle not only combines pneumatic drive and haptic feedback, but also achieves real-time sensing, resulting in a good human-computer interaction experience and promising product application prospects.

[0086] Example 5: Interactive Product Application - Bionic Jellyfish Breathing Lamp

[0087] like Figure 15 , 16 As shown, this embodiment develops a lamp that can change shape depending on its inflation state. In the deflated state, the lamp hangs naturally under the influence of gravity, presenting a soft, pre-stretched posture and creating a tranquil atmosphere; in the inflated state, the lamp actively contracts and forms a stable three-dimensional shape, bringing a sharp visual contrast.

[0088] Different Kirigami module designs can deliver distinct visual effects. For example, array units can form regular geometric shapes when inflated; honeycomb modules transform into a taut saddle shape when inflated. The dynamic changes in the lamp's form give users a direct sense of "breathing," enhancing the product's artistry and interactivity.

[0089] In a further implementation, a low-boiling-point liquid can be injected into the airbag as a working fluid, utilizing the heat generated by the lamp to achieve automatic inflation and deflation. When the lamp is turned on, the liquid vaporizes, inflating the airbag and shaping the lamp into a three-dimensional form; when the lamp is turned off, the liquid cools and flows back, causing the lamp to hang naturally again. This design imbues the lamp with a dynamic sense of life and unique aesthetic value.

[0090] Example 6: Wearable Device Application - Adjustable Pressure Dynamic Protective Gear

[0091] like Figure 17 As shown, this embodiment provides an adjustable pressure elbow brace with a Kirigami structure. The brace is soft and comfortable when deflated, and automatically contracts upon inflation to provide support and pressure to the elbow. Users can achieve personalized pressure control by adjusting the inflation level of the airbag, eliminating the need for frequent donning and doffing.

[0092] The brace also supports rapid inflation and deflation, providing a dynamic compression function similar to a massage. Unlike traditional rigid or ordinary airbag braces, the Kirigami structure of this brace provides support while preserving the flexibility of the joints, without hindering movement.

[0093] This protective gear is particularly suitable for sports training and rehabilitation scenarios, and can adjust the balance between protection and flexibility in real time during exercise; during long-term work, it can also achieve relief and protection through periodic inflation and deflation, and has high practical value and market potential.

[0094] Furthermore, to better assist in the design and manufacture of inflatable structures with internal slits, this embodiment of the invention also provides an online platform (https: / / kiriinflate.github.io / ), offering users structured and easily accessible online documentation resources in web page format. This aims to provide end-to-end technical support and reference for users with different backgrounds and skill levels. The web page covers the manufacturing process, including material preparation, cutting parameter settings, and precautions; a library of various achievable deformable structures, intuitively demonstrating achievable deformation strategies, covering deformation control laws corresponding to various design parameters, and providing auxiliary tools that can be directly used online or downloaded for the design and generation of parametric patterns for each structure. This allows users to quickly customize patterns and obtain manufacturing files through drag-and-drop interaction. In addition, the web page also provides application case studies to help users better understand the scalability and application potential of this invention.

[0095] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A method for fabricating an inflatable actuator with an embedded slit microstructure based on an electrostatic adsorption thin film, characterized in that, The method employs integrated laser fabrication and includes the following steps: 1) Take at least two layers of thermoplastic film with electrostatic self-adhesion properties, stack them together, and use the electrostatic adsorption force between the films to make the adjacent layers of film adhere tightly. 2) Place the multilayer film obtained in 1) on the worktable of the laser cutting machine. According to the preset kirigami paper-cutting two-dimensional pattern path, control the laser beam to perform a single scan. Adjust the laser parameters so that the laser can simultaneously complete the cutting of the multilayer film to form a slit and the hot-melt welding along the edge of the cutting path to form a sealing weld during the single scan, thus obtaining an inflatable actuator in an uninflated state.

2. The method for preparing the built-in slit microstructure pneumatic actuator based on an electrostatic adsorption thin film according to claim 1, characterized in that, The weld is an ultra-narrow edge weld, with a width as low as 0.125mm or less, and the slit spacing, i.e. the width of the air passage formed, can be as low as 0.25mm or less.

3. The method for preparing the built-in slit microstructure pneumatic actuator based on an electrostatic adsorption thin film according to claim 2, characterized in that, Using a double-layer PE film with a total thickness of 0.03mm-0.2mm, the laser parameters for simultaneously forming cuts and sealing welds are: 40W CO2 laser cutting machine with a power range of 25-80%, a speed of 30-50m / s, and a focal length of 0.1-0.4mm.

4. The method for preparing the built-in slit microstructure pneumatic actuator based on an electrostatic adsorption thin film according to claim 1, characterized in that, By adjusting the laser parameters, it is possible to perform thermal welding on multi-layer films without forming a cut in a single scan. The laser parameters are: 20-30% power range for a 40W CO2 laser cutting machine. Under the same film thickness, laser speed, and focal length conditions, the laser power needs to be reduced compared to the laser parameters that simultaneously form a cut and seal the weld.

5. The method for preparing the built-in slit microstructure pneumatic actuator based on an electrostatic adsorption thin film according to claim 1, characterized in that, After laser synchronous formation of notches and sealing welds, a conductive layer is deposited on the surface of the formed pneumatic actuator according to the designed circuit pattern; or before laser synchronous formation of notches and sealing welds, a conductive layer is deposited on the surface of the thin film according to the designed circuit pattern; thereby integrating sensing or other functional circuits on the pneumatic actuator.

6. The method for preparing the pneumatic actuator with built-in slit microstructure based on electrostatic adsorption film according to claim 1, characterized in that, By filling the pneumatic actuator with gas or other fluid, the actuator actively contracts due to the action of the kirigami paper-cutting structure cuts, and the resulting overall structure has tensile and resilient properties.

7. The method for preparing the pneumatic actuator with built-in slit microstructure based on electrostatic adsorption film according to claim 6, characterized in that, The cut ends with rounded chamfered tips.

8. The method for preparing the pneumatic actuator with built-in slit microstructure based on electrostatic adsorption film according to claim 1, characterized in that, For films with three or more layers, in laser processing, by adjusting the laser power, cuts and sealing welds can be formed simultaneously in some areas, while only sealing welds are formed in other areas without cutting through. This allows the resulting multi-layered structure to contain two or more independently inflatable chambers. By selectively inflating, different chambers can shrink or bend and deform, thereby achieving multi-directional motion control.

9. The method for preparing the pneumatic actuator with built-in slit microstructure based on electrostatic adsorption film according to claim 1, characterized in that, The built-in slit microstructure forms different airway structures by adjusting the organization of the kirigami slits. The structural variations of the airway structure include: array type, non-uniform channel type, curved type, multi-layer chamber type, three-dimensional elastic curved surface type, and dynamic hollow pattern type.

10. A pneumatic actuator with an embedded slit microstructure based on an electrostatic adsorption film, characterized in that, It is prepared by the method described in any one of claims 1-9.

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