Bionic nasal alar motion control device and control method

Abstract

This application discloses a biomimetic nose wing motion control device and method. The device includes a driving component comprising a flexible electro-actuating material that actively deforms under electric field excitation, disposed on a supporting substrate of the biomimetic nose wing, and configured to drive the biomimetic nose wing to generate expansion motion through deformation along its long axis under electric field excitation; wherein the angle between the long axis of the driving component and the physiological expansion direction of the biomimetic nose wing is less than 30 degrees; flexible electrodes are disposed on both sides of the driving component for applying a driving electric field to the driving component; and a constraint guide is configured to provide anisotropic mechanical constraints on the deformation of the driving component, wherein the stiffness of the constraint guide in the direction parallel to the long axis of the driving component is less than its stiffness in the transverse direction, and the transverse direction is perpendicular to the long axis. This solves the problems of unnatural biomimetic nose wing motion and inaccurate directional control in the prior art, achieving a highly biomimetic and controllable nose wing motion effect.

Description

Technical Field

[0001] This application relates to the field of biomimetic robot technology, specifically to a biomimetic nose wing motion control device and control method. Background Technology

[0002] With the development of bionic facial expression robots and highly realistic bionic face devices, the demand for motion components capable of accurately simulating subtle human facial expressions is increasing. The nasal wing expansion movement is one of the key facial movements for expressing various physiological and emotional states such as surprise, anger, and deeper breathing; its naturalness directly affects the realism of the entire facial expression and the user's perceptual experience.

[0003] Currently, the technical solutions for achieving bionic nose wing movement mainly fall into the following categories: First, using micro-motors or linear servos in conjunction with linkage mechanisms. These solutions suffer from drawbacks such as large size, significant noise, difficulty in natural integration with flexible bionic skin, and stiff movement lacking the suppleness of biological muscles. Second, utilizing pneumatic artificial muscles or flexible pneumatic actuators. While these solutions offer some suppleness, they require complex air pumps, valves, and piping systems, resulting in bulky overall equipment, limited response speed, and leakage risks, making them unsuitable for applications requiring high portability and quiet operation. Third, using shape memory alloys or polymers, but these often suffer from slow response speed, limited cycle life, high drive energy consumption, and difficulties in thermal management. Summary of the Invention

[0004] This application provides a bionic nasal wing motion control device and control method, which aims to at least partially solve or alleviate the existing technical problems described in the background art, such as providing a nasal wing driving scheme that is quieter, moves more naturally, has a more integrated structure, and can highly reproduce physiological dynamics.

[0005] In a first aspect, this application provides a biomimetic nose wing motion control device, wherein the flexible electro-actuated drive unit comprises: a drive member, including a flexible electro-actuated material that actively deforms under electric field excitation, disposed on a supporting substrate of the biomimetic nose wing, and configured to drive the biomimetic nose wing to generate expansion motion by deformation along its long axis under electric field excitation; wherein the angle between the long axis of the drive member and the physiological expansion direction of the biomimetic nose wing is less than 30 degrees; flexible electrodes disposed on both sides of the drive member for applying a driving electric field to the drive member; and a constraint guide member configured to provide anisotropic mechanical constraint on the deformation of the drive member, wherein the stiffness of the constraint guide member in the direction parallel to the long axis of the drive member is less than its stiffness in the transverse direction, the transverse direction being perpendicular to the long axis direction.

[0006] In one possible implementation, the at least one flexible electro-actuated drive unit is configured in at least one of the following ways: attached to or embedded on the inner or outer side of the support substrate of the bionic nose wing; at least a portion of the structure of the flexible electro-actuated drive unit is integrated with the support substrate or bionic skin layer of the bionic nose wing into a single structure.

[0007] In one possible implementation, the supporting base of the bionic nose wing has a curved shape adapted to conform to the human nose wing region, and is provided with an anchoring structure for mounting and positioning the flexible electro-actuated drive unit and a wiring channel for accommodating the wires of the flexible electrode.

[0008] In one possible implementation, the supporting base of the bionic nose wing has a curved shape suitable for conforming to the human nose wing region, and is provided with an anchoring structure for mounting and positioning the flexible electro-actuated drive unit and a wiring channel for accommodating the wires of the flexible electrode.

[0009] In one possible implementation, the device further includes a control module, which includes a signal input terminal, a microprocessor electrically connected to the signal input terminal, and a signal generator electrically connected to the microprocessor and the flexible electrode respectively. The microprocessor is programmed to control the signal generator to generate and output a drive signal with a preset voltage amplitude, frequency and / or duty cycle to the flexible electrode according to the action command received from the signal input terminal, thereby achieving precise electronic control drive.

[0010] In one possible implementation, the control module is further configured to perform coordinated closed-loop control of the flexible electro-actuated drive unit based on the target nose wing movement command and the deformation information of the flexible electro-actuated drive unit, so as to realize the target nose wing deformation movement.

[0011] In one possible implementation, the microprocessor stores an anthropomorphic motion model and can configure dynamic parameters such as start-up delay time, motion holding time, relaxation recovery time, and micro-vibration signals in the drive signal based on this model, thereby simulating the natural dynamic characteristics of biological muscles in the nasal wing movement.

[0012] In one possible implementation, when the number of the at least one flexible electro-actuated drive unit is two, it is configured to control the left and right bionic nose wings to perform bionic movements, respectively.

[0013] In one possible implementation, the constraint guide is a structure with anisotropic stiffness, the anisotropic stiffness structure comprising at least one of the following: a unidirectional fiber-reinforced composite material layer; an elastic film with oriented micropores or a mesh structure; or an intrinsically anisotropic material sheet composed of oriented graphene sheets.

[0014] In one possible implementation, the extension direction of the flexible electro-actuated drive unit is configured to simulate the mechanical transmission path of a target facial expression muscle, wherein the target facial expression muscle includes at least one of the nasal muscle and the levator labii superioris muscle.

[0015] In one possible implementation, the flexible electro-actuated drive unit has a fixed end and a free end at both ends along its extension direction, the fixed end being configured to be anchored at the position of the simulated muscle origin, and the free end being configured to be connected to the position of the simulated muscle insertion on the bionic nasal wing tissue.

[0016] Secondly, this application provides a bionic nose wing motion control method, applied to the device described in any one of the first aspects above. The method includes: receiving a target motion command, the target motion command including at least a nostril expansion command; parsing the target motion command into a target activation sequence corresponding to at least one of the flexible electro-actuated driving units, the activation sequence including a target driving unit identifier, motion amplitude, and duration; converting the target activation sequence into a set of driving signal waveform parameters for the corresponding driving unit according to a pre-stored mapping relationship library; generating and applying a corresponding driving electric field to the flexible electro-actuated driving unit according to the driving signal waveform parameters, so as to drive the bionic nose wing to perform an expansion motion matching the target motion command.

[0017] In one possible implementation, converting the target activation sequence into a set of drive signal waveform parameters for the corresponding drive unit according to a pre-stored mapping library includes: invoking a personalized parameter mapping relationship associated with the current user or current expression mode; generating the drive signal waveform parameters based on the mapping relationship, wherein the waveform parameters are configured to include at least: an independently settable voltage rise time corresponding to the start-up phase; an independently settable periodic or non-periodic signal fluctuation pattern corresponding to the action maintenance phase; and an independently settable voltage fall time corresponding to the end phase.

[0018] In this technical solution, firstly, the device receives a control signal, and the flexible electrode applies a corresponding driving electric field to the driving component accordingly. Subsequently, the driving component, made of flexible electro-actuating material, undergoes active deformation under the excitation of the electric field. Since the driving component is set on the supporting substrate of the bionic nose wing, and the angle between its long axis and the physiological expansion direction of the nose wing is limited to a small range, its deformation direction is basically consistent with the expansion direction of the nose wing. At the same time, the constraint guide component, which is wrapped or integrated around the driving component, effectively constrains unnecessary lateral expansion or bending of the driving component during deformation due to its anisotropic mechanical properties of low axial stiffness and high lateral stiffness. This efficiently guides and converts its deformation energy into directional expansion and contraction motion along its long axis. Finally, this directional expansion and contraction motion is directly transmitted to the bionic nose wing structure through the supporting substrate of the bionic nose wing, thereby driving the nose wing to produce a realistic expansion action. By employing a flexible electro-actuated material directly driven by an electric field as the driving core, the micro-motor and linkage mechanism are fundamentally eliminated, thus solving the problems of large size, high noise, stiff movement, and difficulty in integration with flexible skin in traditional solutions. This achieves a silent, compliant, and easily integrated driving effect. Secondly, this all-solid-state electro-drive mode eliminates the pumps, valves, and piping systems required by pneumatic solutions, overcoming their shortcomings of bulky equipment, slow response, and leakage risks, and significantly improving the portability, response speed, and reliability of the device. Finally, by introducing a constraint guide with a specific stiffness distribution and oriented the driving component along the nose wing expansion direction, the driving efficiency and motion accuracy are greatly improved, effectively overcoming the shortcomings of low driving efficiency and high energy consumption of solutions such as shape memory materials. At the same time, by simulating the directional contraction characteristics of muscles, a more natural and realistic biomechanical performance is obtained. Attached Figure Description

[0019] Figure 1 A schematic diagram of the structure of a bionic nose wing motion control device provided in one embodiment of this application;

[0020] Figure 2 This is a schematic diagram of the arrangement of a flexible electric actuation drive unit according to one embodiment of this application;

[0021] Figure 3 This is a schematic diagram of a dual-channel drive arrangement provided in one embodiment of this application;

[0022] Figure 4 A schematic diagram illustrating the path of a flexible electro-actuated drive unit simulating facial muscles, provided in one embodiment of this application;

[0023] Figure 5 A bionic nose wing motion control method is provided as an embodiment of this application. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the following description is intended to demonstrate how to implement multiple specific solutions of this application to fully support the scope of protection claimed in the claims, and does not constitute a limitation on the scope of protection.

[0025] Figure 1 This is a schematic diagram of the structure of a bionic nose wing motion control device provided in one embodiment of this application.

[0026] Reference Figure 1 As shown, the bionic nose wing motion control device 10 may include at least one flexible electro-actuated drive unit 100 (i.e. Figure 1 The flexible electro-actuated drive unit 100 shown may specifically include a drive member 101, a flexible electrode 102, and a constraint guide member 103.

[0027] The driving element 101 includes a flexible electro-actuated material that actively deforms under electric field excitation, disposed on the supporting substrate of the bionic nose wing, and configured to drive the bionic nose wing to generate expansion movement by deformation along its long axis under electric field excitation; wherein the angle between the long axis of the driving element 101 and the physiological expansion direction of the bionic nose wing is less than 30 degrees.

[0028] In some embodiments, the actuator 101 serves as the core power source of the device, and its operation begins with a driving electric field applied by a flexible electrode. Under the excitation of the electric field, physicochemical changes such as ion migration or dipole rearrangement occur within the flexible electro-actuating material constituting the actuator 101, resulting in macroscopic active deformation. Because its long axis is configured to maintain a small acute angle (i.e., essentially aligned) with the inherent physiological expansion direction of the bionic nasal wing, the primary deformation mode of the actuator 101 under the electric field—extension or bending along its long axis—is highly matched in direction vector to the expansion movement required by the nasal wing. The actuator 101, mounted on the supporting substrate of the bionic nasal wing, directly transmits its deformation to the bionic nasal wing structure through the substrate. This allows the extension and contraction movement along the long axis of the actuator to be efficiently converted into directional stretching or lifting of the nasal wing tissue, thereby precisely and directly driving the bionic nasal wing to produce realistic expansion movements. By physically aligning the deformation direction of the drive component with the physiological movement direction of the nose wing, the drive force transmission path is optimized, greatly improving the efficiency of mechanical energy transmission and ensuring a direct and rapid drive response. Secondly, since the drive is based on the intrinsic deformation of flexible materials, rather than the rigid rotation of traditional motors or the artificial inflation and deflation of pneumatic systems, the entire drive process is smooth, gentle, and noiseless, perfectly simulating the natural feeling of biological muscle contraction. This fundamentally overcomes the inherent defects of traditional electromechanical solutions, such as stiff movement and high noise, as well as pneumatic solutions, such as sluggish response and bulky systems, providing a core guarantee for achieving highly realistic and highly integrated biomimetic nose wing motion control.

[0029] The flexible electrode 102 is disposed on both sides of the driving member 101 and is used to apply a driving electric field to the driving member 101.

[0030] In some embodiments, the flexible electrode 102 serves as a component for transmitting driving signals and establishing an electric field. It is attached to both sides of the driving member 101, forming a parallel electrode structure capable of applying a directional electric field. During operation, a control signal is applied to the flexible electrode 102 in the form of a specific voltage waveform, thereby establishing a driving electric field with a direction perpendicular to the electrode surface and controllable intensity within the space between the electrode and the driving member 101. This electric field directly acts on the flexible electro-actuated material in the driving member 101, becoming the direct physical excitation source that induces the required active deformation. The flexibility and extensibility of the flexible electrode 102 allow it to closely adhere to the surface of the driving member 101 and deform accordingly, thus maintaining a stable and uniform electric field distribution throughout the driving process. The parallel electrode structure on both sides ensures the concentration and directional consistency of the electric field, maximizing the energy efficiency of the electric field applied to the driving member. This achieves precise and efficient control of the deformation of the driving member, providing a foundation for the fine movement of the nose wing. Secondly, the inherent flexibility of the electrodes prevents them from mechanically restricting the free deformation of the driving components, ensuring the overall compliance of the entire driving unit on a macroscopic level. This is a prerequisite for achieving natural integration and interference-free coordinated movement with flexible bionic skin, fundamentally avoiding the problems of local hardening, motion interference, or fatigue fracture that may be caused by traditional rigid electrodes or wires.

[0031] The constraint guide 103 is configured to provide anisotropic mechanical constraints on the deformation of the drive member 101. The stiffness of the constraint guide 103 in the direction parallel to the long axis of the drive member 101 is less than its stiffness in the transverse direction, and the transverse direction is perpendicular to the long axis.

[0032] In some embodiments, at least one flexible electro-actuated drive unit is configured in at least one of the following ways: attached to or embedded on the inner or outer side of the support substrate of the bionic nose wing; at least a portion of the structure of the flexible electro-actuated drive unit is integrated with the support substrate or bionic skin layer of the bionic nose wing into a single structure.

[0033] In one embodiment, the flexible electro-actuated drive unit is integrated with the bionic nose structure through various methods, including attachment, embedding, or integration with the substrate / skin layer. When attached, the drive unit is directly fixed to the surface of the bionic nose's supporting substrate, forming a reliable physical contact interface that allows for effective transmission of driving force, facilitating easy installation and maintenance. When embedded, the drive unit is partially or completely embedded within the substrate, providing a more stable mechanical coupling and a more direct force transmission path while maintaining the smoothness and naturalness of the nose's surface. The highest level of integration involves the drive unit and the bionic nose's supporting substrate or bionic skin layer forming a single structure. This eliminates interface slippage or stress concentration that can occur with traditional assembly, achieving integration of drive and structure, maximizing force transmission efficiency, and enabling an ultra-thin, highly realistic appearance. All these configurations ensure that the drive unit can stably and efficiently convert its own deformation into expansion drive for the nose. Based on the current configuration, the problem of traditional rigid actuators (such as micro motors) or independent pneumatic units being difficult to integrate with flexible and complex bionic facial tissues in a high-fidelity and interference-free manner can be solved, providing a key path for realizing natural, light and reliable facial expression movements in bionic robots.

[0034] In some embodiments, the support base of the bionic nose wing has a curved shape adapted to fit the human nose wing region, and is provided with an anchoring structure for mounting and positioning a flexible electro-actuated drive unit and a wiring channel for accommodating wires of flexible electrodes.

[0035] In one embodiment, the core design of the support base of the bionic nose wing directly serves the anatomical adaptation to the human nose and the efficient integration of the drive unit. Its curved shape, adapted to fit the human nose wing region, ensures stable and comfortable physical contact between the device and the natural contour of the real nose wing. This provides a precise anatomical alignment basis for all subsequent force transmission, a prerequisite for achieving imperceptible wear and realistic movement. Furthermore, a specially designed anchoring structure on the support base of the bionic nose wing provides a precise installation position and reliable mechanical fixing point for the flexible electro-actuated drive unit, ensuring that the drive unit does not shift or loosen during repeated deformation, thereby stably and efficiently transmitting the driving force to the target area. Simultaneously, the wiring channels integrated within the base provide a concealed, orderly, and protected routing path for the flexible electrode wires. This not only avoids the risks of entanglement, pulling, or damage that may result from exposed wires but also greatly improves the internal integration and overall appearance of the device, creating a flat and undisturbed underlying structure for the final bionic skin layer. Based on the aforementioned structural features, the key engineering challenges of achieving stable installation, precise force transmission, and high internal integration of the bionic actuation device on complex human body surfaces have been solved. Through an integrated design that combines form fit, structural anchoring, and built-in pipelines, the supporting base of this bionic nose wing not only ensures reliable actuation performance but also significantly improves the wearability, durability, and naturalness of the final appearance of the entire device. This provides an indispensable engineering platform for achieving high-performance, highly realistic bionic nose wing movement.

[0036] In one embodiment, the supporting substrate of this bionic nasal alar provides crucial structural support for the nasal alar driving process through the systematic design of its three-dimensional curved surface shape, anchoring structure, and integrated wiring channels. Its curved surface shape, conforming to the human nasal alar, ensures the entire device can be firmly attached to the target anatomical position, providing a stable platform for the driving unit that matches the physiological movement trajectory. This allows the linear deformation generated by the driving component to be efficiently converted into expansion motion along the natural curvature of the nasal alar, avoiding force loss or slippage caused by substrate mismatch. The precisely positioned anchoring structure not only firmly locks the flexible electro-actuated driving unit in the predetermined position and orientation, ensuring a high degree of consistency between the driving direction and the physiological expansion direction of the nasal alar, but also provides fatigue-resistant mechanical support during repeated deformation of the driving unit, ensuring the long-term reliability of the driving force transmission path. Simultaneously, the built-in wiring channels orderly house and fix the wires of the flexible electrodes inside the substrate, preventing wire failure due to entanglement or bending during movement and eliminating interference from external wiring on the deformation of the driving unit or the flatness of the bionic skin appearance.

[0037] In some embodiments, the flexible electro-actuated drive unit has a fixed end and a free end at both ends along its extension direction. The fixed end is configured to be anchored at the position of the simulated muscle origin, and the free end is configured to be connected to the position of the simulated muscle insertion on the bionic nasal wing tissue.

[0038] In one embodiment, the structure of the flexible electro-actuated drive unit is finely designed: its two ends in the extension direction are divided into a fixed end and a free end. Figure 2 This is a schematic diagram of the arrangement of a flexible electric actuation drive unit according to one embodiment of this application. (Refer to...) Figure 2 As shown, the fixed end P1 is firmly anchored to the supporting base of the bionic nasal ala, simulating the anatomical origin of the target facial muscle (such as the bony or cartilaginous support area beside the nasal ala), thus obtaining a stable mechanical fulcrum; the free end, through flexible connectors or direct integration, is attached to the bionic nasal ala tissue to simulate the location of the muscle's physiological insertion point, for example... Figure 2 The free ends P2a, P2b, and P2c are shown. When a driving electric field is applied to the flexible electrode, the flexible electro-actuated material within the driving element 101 actively contracts (or expands). Since the fixed end P1 is rigidly or semi-rigidly anchored, the contractile force generated by the driving element 101 cannot pull this end, so all deformation and tension are forced to the free end. The free end is then subjected to a pulling force along the long axis of the driving element 101, pointing towards the fixed end P1. This force acts directly on the bionic nasal alar tissue through its connection point, thereby precisely pulling the nasal alar tissue towards the fixed end P1, for example, producing lateral expansion or oblique lifting, perfectly simulating the mechanical transmission path of muscle "fixed origin, contraction pulling the endpoint". It greatly optimizes the transmission efficiency and directional fidelity of the driving force. By establishing a stable origin anchor, it ensures that the direction of the driving force strictly follows the preset anatomical path, almost eliminating energy loss and motion deviation caused by the overall sliding or rotation of the driving element 101. Secondly, it significantly enhances the naturalness and realism of the movement because its driving mechanics (fixed-point traction) is completely consistent with the working method of real muscles, resulting in a nose wing movement trajectory and dynamic characteristics that are closer to physiological reality. Finally, this design enhances the mechanical reliability of the device. The clear force transmission chain and stable anchoring reduce the risk of local stress concentration and interface fatigue failure, making the entire drive system more durable and stable during long-term dynamic operation.

[0039] In some embodiments, the device further includes a control module, which includes a signal input terminal, a microprocessor electrically connected to the signal input terminal, and a signal generator electrically connected to the microprocessor and the flexible electrode respectively. The microprocessor is programmed to control the signal generator to generate and output a drive signal with a preset voltage amplitude, frequency and / or duty cycle to the flexible electrode according to the action command received from the signal input terminal, thereby achieving precise electronic control drive.

[0040] In one embodiment, the control module constitutes the core hub for the device's intelligent and precise actuation. Its operation begins with the signal input receiving external action commands (such as nostril dilation), which are transmitted to the microprocessor. The microprocessor parses the command according to a preset algorithm, calculates the precise electrical parameters required to drive the target movement, and accordingly directs the signal generator to generate the corresponding drive signal. The key to this drive signal lies in the precise programming control of its voltage amplitude, frequency, and / or duty cycle, accurately simulating the excitation pattern of biological nerve signals on muscles. Finally, this modulated signal is applied to flexible electrodes, thereby establishing an electric field on the actuator whose intensity and dynamic process are controllable. Through digital programming of the microprocessor, various parameters of the drive signal can be flexibly and precisely adjusted, thereby controlling not only the "amplitude" and "speed" of the nasal wing movement, but also finely simulating the nonlinear dynamic characteristics (such as slow initiation and physiological tremors) during the activation and relaxation process of biological muscles. This fundamentally overcomes the shortcomings of pneumatic solutions, such as sluggish response and coarse control, as well as the rigid motion and difficulty in achieving smooth dynamic curves in traditional motor switch control, giving the bionic nose a human-like and expressive fine motion capability.

[0041] In some embodiments, the control module is further configured to perform coordinated closed-loop control of the flexible electro-actuated drive unit based on the target nose wing movement command and the deformation information of the flexible electro-actuated drive unit, so as to realize the target nose wing deformation movement.

[0042] In one implementation, the collaborative closed-loop control function of the control module is the core of its high-precision biomimetic motion. Specifically, after receiving a target nose movement command (such as "expand by 30%), the microprocessor simultaneously receives feedback from sensors (such as strain sensors) reflecting the actual deformation state of the flexible electro-actuated drive unit (such as the current elongation). The microprocessor, through its built-in control algorithm, compares the difference between the target deformation and the actual deformation in real time, dynamically calculates the correction parameters of the drive signal (such as increasing or decreasing the voltage amplitude), and immediately directs the signal generator to adjust the drive signal output to the flexible electrodes, thus forming a real-time closed-loop control loop of "command-drive-feedback-correction". Through real-time sensing and active correction, the system can automatically compensate for performance drift caused by factors such as nonlinearity of the drive material, changes in ambient temperature, fluctuations in mechanical load, or material fatigue, ensuring that each nose deformation highly reproduces the preset target movement. This fundamentally solves the common problems of insufficient accuracy, poor repeatability, and weak anti-interference ability in open-loop control systems, providing key technical guarantees for achieving long-term reliable and consistent realistic facial expressions.

[0043] In some embodiments, the microprocessor stores an anthropomorphic motion model and can configure dynamic parameters such as start-up delay time, motion hold time, relaxation recovery time, and micro-vibration signals in the drive signal based on this model, so that the nasal wing movement simulates the natural dynamic characteristics of biological muscles.

[0044] In one implementation, the anthropomorphic motion model stored in the microprocessor is essentially a digital motion template library built upon biological muscle kinematics and dynamics data. When the microprocessor receives an abstract motion instruction (such as "slight expansion"), it invokes the corresponding motion model. This model does not simply output a simple switching signal, but provides a finely tuned sequence of time-intensity parameters to precisely configure the dynamic profile of the drive signal: an initiation delay time is introduced to simulate the physiological delay from the emission of a nerve signal to the onset of muscle contraction; a hold time controls the stable maintenance of the muscle contraction state; a relaxation recovery time defines the speed at which the muscle smoothly recovers from the contraction state to the resting state; furthermore, the model superimposes a micro-vibration signal during the hold phase to reproduce the non-periodic micro-vibrations present in living muscles. Based on this set of parameterized instructions, a signal generator generates a drive voltage waveform with corresponding dynamic characteristics and applies it to the flexible electrodes. By programming to reproduce the smoothness of startup, the stability of hold, the naturalness of relaxation, and the subtle physiological vibrations, the movement of the bionic nose is no longer a rigid mechanical extension and contraction, but rather presents a smoothness, a sense of life, and emotional expressiveness that is indistinguishable from real facial expressions. This fundamentally solves the key defects of existing technologies (such as motors and pneumatic actuators) that result in stiff and unnatural movements due to their simple control and single response mode, providing crucial technical support for creating highly realistic and emotional human-computer interaction.

[0045] In some embodiments, when the number of at least one flexible electro-actuated drive unit is two flexible electro-actuated drive units, they are configured to control the left and right bionic nose wings to perform bionic movements respectively.

[0046] In one embodiment, when the device contains only one flexible electro-actuated drive unit, the implementation process is concentrated on one side of the bionic nasal wing: the control module generates a drive signal according to the instruction, and excites the drive unit through the corresponding flexible electrode, so that it produces directional deformation along the physiological expansion direction of the nasal wing, and then drives one side of the nasal wing to complete the expansion or recovery movement through the support base of the bionic nasal wing. Figure 3 This is a schematic diagram of a dual-channel drive arrangement provided in one embodiment of this application. (Refer to...) Figure 3 As shown, when the device is configured with two flexible electro-actuated drive units, the system is upgraded to a dual-channel independent drive control mode: two flexible electro-actuated drive units (such as...) Figure 3The flexible electro-actuated drive units 100a and 100b shown are precisely attached to or integrated onto the support substrates of the left and right nasal wings, respectively. The control module can be independently addressed and output two drive signals that are the same or different in timing, amplitude, and dynamic characteristics. This allows for synchronous or asynchronous excitation of the left and right drive units, achieving symmetrical coordinated movement of both nasal wings (such as simulating calm breathing) or asymmetrical differential movement. For example, it can simulate unilateral slight frowning or asymmetrical expansion under specific facial expressions. Based on the above configuration, a single flexible electro-actuated drive unit ensures the efficiency and realism of unilateral movement, while the independent control of the two units achieves, for the first time, precise coordinated control of the nasal wings, a paired organ, in a bionic device. This enables the device not only to perform simple synchronous expansion but also to reproduce rich emotional expressions and the unique bilateral asymmetry in physiological activities, greatly improving the realism and expressiveness of overall facial expressions. This solves the fundamental limitation of existing technologies, which can only perform bilateral rigid linkage and cannot simulate the subtle asymmetrical movements of real faces.

[0047] It should be noted that the placement of the flexible electro-actuated drive unit in the nose of the bionic robot can be set based on functional requirements, and this application does not impose any restrictions on this.

[0048] In some embodiments, the constraint guide is a structure with anisotropic stiffness, the anisotropic stiffness structure including at least one of the following: a unidirectional fiber-reinforced composite material layer; an elastic film with oriented micropores or a mesh structure; an intrinsically anisotropic material sheet composed of oriented graphene sheets.

[0049] In one embodiment, when the constraint guide uses a unidirectional fiber-reinforced composite material layer, the structure typically consists of high-modulus fibers (such as carbon fiber, glass fiber, or polymer fiber) continuously arranged in a single direction (i.e., transversely perpendicular to the long axis of the drive component) embedded in a flexible matrix (such as silicone rubber or polyurethane). During actuation, the high modulus of the fibers gives the composite material layer extremely high tensile and bending stiffness in the transverse direction, effectively restraining the lateral expansion of the drive component. Simultaneously, since the flexible matrix primarily bears load in the axial direction (i.e., the direction perpendicular to the fibers) and lacks continuous fiber reinforcement, its stiffness in this direction is significantly lower, thus offering almost no resistance to the expansion and contraction of the drive component along its long axis. This structure provides high mechanical constraint efficiency and durability. The high-modulus fibers endow it with excellent transverse stiffness and fatigue resistance, maintaining long-term stable constraint on parasitic deformation of the drive component and ensuring high consistency in the driving direction. At the same time, the entire structure remains a composite material, maintaining necessary flexibility and allowing it to deform in tandem with the drive component and the substrate. This solution is particularly suitable for applications requiring high driving force, long lifespan, and high reliability.

[0050] In one embodiment, the constraint guide is composed of materials such as porous silicone, anisotropic electrospun film, or laser-engraved mesh film, whose micropores or mesh geometry and arrangement have a clear directionality. For example, the film may contain a series of solid material strips or dense meshes extending laterally, while elliptical elongated holes or sparse mesh channels are distributed axially to allow material extension. When the drive component deforms, the lateral solid structure provides rigid support, restricting the lateral flow of material; while the axial channels or sparse regions act like "expansion joints," providing a low-resistance path for the axial elongation or shortening of the drive component. This structure achieves effective anisotropic constraint while maximizing lightweight, ultra-thinness, and overall flexibility. The porous or mesh structure itself is extremely lightweight, and the anisotropic stiffness ratio can be precisely controlled by changing the pore density and shape. Its integration with flexible actuators and bionic skin is extremely high, with almost no increase in the size and rigidity of the device. It can achieve near-invisible integration, making it ideal for realistic robots and wearable devices that have extremely high requirements for natural appearance, wearing comfort and smooth movement.

[0051] In one embodiment, this constraint guide utilizes the in-plane anisotropy of two-dimensional materials such as graphene, or by processing graphene sheets to preferentially align and stack them in a specific direction (lateral) within a plane. Because graphene sheets have extremely high in-plane modulus along their planar direction, when the sheets are laterally aligned, this direction provides extremely high stiffness approaching the intrinsic strength of graphene, thus constraining the lateral deformation of the actuator. In the axial direction perpendicular to this direction, the mechanical properties mainly depend on the interactions between the sheets (such as van der Waals forces), with stiffness several orders of magnitude lower, thus providing minimal constraint on axial deformation. The deformation of the actuator primarily overcomes the low-stiffness axial interfacial forces. The graphene sheet structure, while providing exceptional lateral stiffness, can also achieve ultra-thinness (nanometer-scale thickness), transparency, and excellent electrical or thermal conductivity. This brings unprecedented high-performance integration potential to the device; for example, the constraint guide itself can also function as an electrode or sensor. It represents an ideal choice for future miniaturized, multifunctional integrated biomimetic systems.

[0052] In one embodiment, the constraint guide can be designed as a layered composite structure, for example, by laminating a unidirectional fiber-reinforced composite material layer with an elastic film having a directional microporous structure. In this structure, the outer unidirectional fiber-reinforced composite material, with its high-modulus fibers arranged laterally, provides decisive, high-strength lateral rigidity constraint; while the inner directional microporous elastic film, as the interface layer in direct contact with the drive component, ensures a smooth fit with the deformation of the drive component through its axially low-stiffness microporous channels, while uniformly transferring the rigid constraint of the outer layer to the surface of the drive component. When the drive component deforms, the inner film first adaptively conforms to its surface change and immediately transfers the tendency of lateral expansion to the outer fiber layer through interlayer bonding; the fiber layer, with its extremely high lateral stiffness, acts as a final, reliable mechanical barrier, strongly suppressing any lateral deformation. Simultaneously, the axial deformability of the inner film combined with the low axial matrix stiffness of the outer composite material ensures unobstructed axial movement. This composite structure achieves superior constraint strength and long-term fatigue resistance compared to pure elastomer films through the fiber layer, ensuring reliability and durability under frequent and heavy loads. Simultaneously, the inner porous film maintains excellent lightweight and ultra-thin characteristics, as well as flexible conformal contact with the drive component, avoiding the localized over-hardening or interface stress concentration problems that may arise with pure fiber composites. This "rigid-flexible" composite design achieves an optimal solution between mechanical properties, thinness, interface compatibility, and service life, providing an ideal constraint guidance solution for realizing a biomimetic nose wing drive that integrates high performance, high reliability, and high realism.

[0053] In some embodiments, the extension direction of the flexible electro-actuated drive unit is configured to simulate the mechanical transmission path of a target facial expression muscle, wherein the target facial expression muscle includes at least one of the nasal muscle and the levator labii superioris muscle.

[0054] In one embodiment, when the target facial expression muscle is the nasal muscle, the extension direction of the flexible electro-actuation drive unit is designed to simulate the direction of the transverse fibers of the nasal muscle, extending transversely roughly along the outer edge of the nasal ala, generating... Figure 4The corresponding simulated nasal muscle flexible electro-actuated drive unit 401 is shown. The drive element is arranged on the support base of the bionic nasal ala, and its long axis is consistent with the lateral path (the included angle is less than a preset acute angle, for example, less than 15°, less than 20°, or less than 25°). When the flexible electrode applies a driving electric field, the drive element contracts along its long axis. At this time, the constraint guide, with its low axial stiffness and high lateral stiffness, ensures that the deformation energy of the drive element is concentrated and converted into a contraction force along this lateral path. This contraction force acts directly on the simulated soft tissue of the bionic nasal ala through the support base of the bionic nasal ala, laterally pulling the outer wall of the nasal ala, thereby accurately simulating the main physiological action of lateral expansion of the nostrils when the nasal muscles contract. The most direct and effective control of nostril expansion is achieved. Because the drive path is highly consistent with the biomechanical path of the target muscle, the force transmission efficiency is maximized, and the most obvious nostril opening and closing effect can be achieved with the minimum driving energy. The movement mode is simple and efficient, and it is particularly suitable for simulating expressions such as deepening breathing and slight surprise, which are mainly characterized by simple nostril expansion.

[0055] In one embodiment, when the target facial expression muscle is the levator labii superioris muscle, the extension direction of the driving unit simulates the mechanical effect of some fibers of the levator labii superioris muscle on the nasal alae, that is, it extends obliquely from the upper side of the nasal alae to generate... Figure 4 The diagram shows a corresponding flexible electro-actuated actuator 402 simulating the upper lip muscle. The actuator is positioned obliquely on the support base of the bionic nasal wing, with its long axis pointing outward and upward in a lifting direction. Flexible electrodes excite the actuator to contract along this oblique path. A constraint guide also provides anisotropic constraint, preventing unnecessary deformation of the actuator in a direction perpendicular to this oblique path. Ultimately, the contractile force of the actuator is converted into an upward lifting force, acting on the nasal wing through the support base of the bionic nasal wing. This not only causes lateral expansion of the nasal wing but also a slight upward lift, potentially affecting the adjacent upper lip area. This accurately simulates the nasal wing morphological changes (such as deepening of the nasal groove and slight upward lift of the nasal wing) caused by the contraction of the levator labii superioris muscle when humans express contempt, disgust, or certain smiling expressions. This makes the facial expressions of the bionic nasal wing more delicate, three-dimensional, and realistic, greatly enriching the detailed layers of facial expressions.

[0056] In one embodiment, when the target facial expression muscles include both the nasal muscles and the levator labii superioris muscle, at least two independently controllable flexible electro-actuated actuation units work collaboratively. One actuation unit (simulating the nasal muscles) is arranged laterally and is responsible for generating the dominant lateral expansion force; the other actuation unit (simulating the levator labii superioris muscle) is arranged obliquely upward and is responsible for generating the lifting and auxiliary expansion force. The control module can independently or collaboratively control the two flexible electrodes to apply a timing- and amplitude-programmable driving electric field to the two actuators. Guided by their respective constraint guides, the two actuators generate directional deformations. Their mechanical outputs are vector-superimposed on the supporting substrate and structure of the biomimetic nasal ala, thereby synthesizing a complex motion trajectory that continuously and dynamically changes from pure lateral expansion to oblique expansion with lifting. This multi-path collaborative actuation configuration achieves a "panoramic" simulation of the biomechanical mechanism of the nasal ala, marking a leap from performing a single action to reproducing complete physiological functions. It allows the device to be programmed to dynamically adjust the level of engagement of different "muscles" (drive units), thereby precisely generating an infinitely rich range of transitional states from calm breathing to strong emotional expressions (such as the significant expansion and lifting of the nostrils when angry). This solves the fundamental defects of existing technologies, such as limited functionality and rigid expressions, and provides a core technological foundation for creating anthropomorphic facial systems that can dynamically and delicately respond to and express complex emotions.

[0057] In some embodiments, the flexible electrodes in the flexible electro-actuated drive unit together with the drive element form a fully enclosed, multi-layered composite insulating encapsulation structure, which confines the drive electric field within the drive unit.

[0058] In one embodiment, the flexible electrodes on both sides of the drive unit are first completely wrapped with a high-dielectric-strength, highly elastic inner insulating layer (such as thin-layer silicone rubber) to achieve basic insulation. Outside this inner layer, a flexible shielding layer composed of metallized fabric or conductive nanomaterials is precisely coated and reliably connected to the system grounding terminal via wires to form electrostatic shielding. The outermost layer is covered with an outer protective layer (such as medical-grade silicone) that combines excellent insulation, flexibility, and biocompatibility, completing the final sealing and encapsulation. This integrated structure can be manufactured in one piece using co-extrusion, lamination, or sequential coating / curing technologies. This configuration solves the absolute safety problem of high-voltage drive units in human-machine tightly coupled scenarios. Specifically, the multi-layer structure physically constructs multiple insulation and shielding defenses, ensuring that the drive electric field of up to 3.5kV is completely confined within the package. Even if the outermost layer wears down, the internal shielding layer and grounding design can immediately conduct the induced charge to the ground, eliminating any possibility of electric shock to the human body. Meanwhile, the encapsulation maintains the overall flexibility of the drive unit without interfering with its deformation and motion functions, thus enabling the reliable and practical application of high-voltage flexible electric drive technology in bionic facial devices while ensuring safety.

[0059] In some embodiments, the flexible electro-actuated drive unit may further include a leakage current protection component configured to continuously monitor the leakage current to ground of the flexible electrode; when the leakage current exceeds a preset safety threshold, the output of the drive signal is immediately cut off and an alarm is triggered.

[0060] In one embodiment, the leakage protection component integrates a highly sensitive microampere-level current sensor and a fast-response circuit: the current sensor is connected in series in the grounding loop or independent detection loop of the flexible electrode to continuously collect analog signals of the leakage current to ground; this signal is converted from analog to digital and input to the safety monitoring unit in the control module, where it is compared in real time with a threshold (e.g., a value between tens and hundreds of microamperes) pre-stored in the safety strategy. Once an abnormal leakage current exceeding the threshold is detected, the monitoring unit will simultaneously issue two commands within milliseconds: first, send a hardware shutdown signal to the high-voltage signal generator to directly cut off the output of the drive voltage; second, activate an independent audible and visual alarm or send a fault code to the host computer. This configuration adds a dynamic, proactive safety layer to the flexible electro-actuated drive unit, which no longer relies solely on the static reliability of the insulation structure but can detect in real time the integrity degradation or sudden damage of the insulation system (such as material fatigue cracks or surface discharge caused by moisture). Once a safety hazard is detected, the system can completely cut off the power and issue an alarm before it causes any perception or harm to the human body. This represents a leap from "passive insulation" to "active monitoring and isolation," thereby greatly improving the absolute safety and reliability of the entire system in long-term, complex operating environments.

[0061] The following detailed description of the bionic nose wing motion control device provided in this application is provided through several specific embodiments.

[0062] Example 1

[0063] This embodiment provides a highly integrated, naturally moving bionic nose wing motion control device, the overall structure of which is as follows:

[0064] Reference Figure 1 As shown, the core of the device is a flexible electro-actuated drive unit 100. This unit 100 specifically includes:

[0065] Drive component 101: Constructed from a rectangular (e.g., 30 mm long, 5 mm wide, and 0.5 mm thick) dielectric elastomer film (such as acrylic or silicone VHB material). When an electric field is applied, this material contracts in the thickness direction and expands in the planar direction.

[0066] Flexible electrode 102: Made of conductive carbon paste or stretchable silver nanowire conductive coating, it is tightly attached to the upper and lower main surfaces of the drive component 101 by screen printing or coating to form two electrode layers.

[0067] Constraint Guide 103: In this embodiment, a unidirectional carbon fiber reinforced silicone composite film (approximately 0.2 mm thick) with dimensions substantially the same as the drive member 101 is used as the constraint guide 103. This film is firmly bonded to a main surface of the drive member 101 (as shown below) using a silicone adhesive. Due to the unidirectional arrangement of the carbon fibers within it (defined as the X direction), the tensile stiffness of this film parallel to the fiber alignment direction (X direction) (e.g., an elastic modulus of approximately 50 MPa) is significantly less than its tensile stiffness perpendicular to the fiber direction (Y direction) (e.g., an elastic modulus of approximately 500 MPa). The long axis direction of the drive member 101 (i.e., the direction of its 30 mm length) is aligned and fixed with the fiber alignment direction (X direction) of the constraint guide 103. Therefore, the stiffness of the constraint guide 103 parallel to the long axis direction of the drive member 101 is less than its stiffness perpendicular to this long axis direction (i.e., the width direction).

[0068] Multiple (e.g., two) of the aforementioned drive units 100 are mounted on a biomimetic nasal ala support base. This support base is made of flexible medical-grade silicone, its shape modeled using 3D scanning data of a real person's nasal ala region, creating a thin-layer structure (average thickness approximately 1.5 mm) that conforms to the physiological curvature of the human nasal ala. In the region of the support base corresponding to the anatomical location of the nasal alar, pre-set anchoring structures 201 (e.g., protruding silicone pillars or embedded rigid fasteners) and wiring channels 202 (micro-tubes embedded within the silicone) are pre-installed. The drive units 100 are attached and fixed to the inner side of the support base (i.e., the side close to simulated or real skin) via the peripheral area of ​​their constraint guides 103 using biocompatible adhesive or mechanical snap-fit. The long axis of the drive unit 101 is intentionally arranged to be substantially consistent with the main direction of movement of the human nasal ala during natural expansion (i.e., a roughly fan-shaped expansion direction from the root of the nasal ala outwards and upwards). The leads of the flexible electrode 102 are led out from the edge of the drive unit 100, embedded and passed through the wiring channel 202 of the carrier substrate, and converge to the interface at the edge of the carrier substrate.

[0069] The device also includes an external control module. This control module may include: a signal input terminal (such as a Bluetooth receiver chip or USB interface) for receiving commands from a host computer or sensor; an integrated microprocessor (such as an STM32 series MCU); and a high-voltage signal generator controlled by the microprocessor (such as one based on a DC-DC boost chip and an H-bridge circuit). The microprocessor stores the control program and a database of anthropomorphic motion models. When the signal input terminal receives a command for "nasal wing expansion with a slight surprised expression," the microprocessor determines that the left drive unit needs to be activated, with a moderate amplitude and a duration of 1.2 seconds. Subsequently, it calls the pre-stored "slight surprise" model parameters to generate a set of drive signal waveform parameters: including a 50ms start-up delay, a main drive pulse signal with a peak voltage of 3.5kV, a frequency of 1Hz, and a duty cycle of 70%, and superimposed a small fluctuation signal with a frequency of 8-12Hz and an amplitude of 5% (simulating physiological tremors). Finally, a relaxation recovery time of 300ms is set (i.e., the voltage linearly drops to 0 within 300ms). The high-voltage signal generator generates a corresponding driving electric field based on these parameters, which is applied to the flexible electrode 102 of the left-side driving unit 100 via leads. The flexible electrode and the driving component together form a fully enclosed, multi-layered composite insulating package structure, confining the driving electric field within the driving unit. It should be noted that the driving component typically employs a high-impedance, low-current driving mode. The received main driving pulse signal, with a peak voltage of 3.5kV, is specifically a high-voltage, low-current electrical signal, typically in the microampere range. Its working mechanism involves applying a high voltage across the high-impedance driving component to form an electrostatic field, requiring an extremely small current (e.g., <100μA), essentially similar to "electrostatic adsorption" rather than high-power discharge. This "high-voltage, low-current" characteristic is an inherent safety feature.

[0070] When a driving electric field is applied, the dielectric elastomer of the driving element 101 attempts to expand in the plane, but its expansion is greatly suppressed due to the strong constraint of the restraining guide 103 in the Y direction (high stiffness); while in the X direction (low stiffness), the resistance provided by the restraining guide 103 is relatively small. Therefore, the composite of the driving element 101 and the restraining guide 103 mainly produces significant bending or stretching deformation along the X direction (i.e., the long axis direction of the driving element) (the specific deformation mode depends on the boundary conditions at both ends). Since this long axis direction is consistent with the physiological expansion direction of the nasal ala, this deformation is directly and effectively converted into an outward and upward traction force on the supporting base of the bionic nasal ala and the bionic nasal ala tissue (or skin) attached thereto, thereby realizing a humanized and natural nasal ala expansion movement.

[0071] Example 2

[0072] Based on Embodiment 1, this embodiment provides an integrated dual-unit independent control device.

[0073] In this embodiment, the structure of the flexible electro-actuated drive unit is similar to that of Embodiment 1, but the constraint guide is made of a silicone film with an oriented elliptical microporous structure (the micropores are aligned along their long axes to form anisotropy), which is integrally formed with the drive unit (ion-polymer metal composite material, IPMC) through a molding process. The extension directions of the two drive units (left and right) are configured according to human facial anatomy to simulate the muscle fiber orientation of the left and right nasal alar and part of the levator labii superioris alar, respectively.

[0074] The biomimetic nasal alar's supporting base and biomimetic silicone skin layer are integrated using a layered casting process. During manufacturing, the drive unit is embedded between the silicone skin layer and a more inner reinforcing fabric layer. Its fixed end (corresponding to the muscle origin) is anchored to the simulated zygomatic bone hard area at the root of the nasal alar through silicone covering, while its free end (corresponding to the muscle insertion point) is directly connected to the area on the silicone skin layer simulating the edge of the nasal alar. Wiring channels are integrated within the reinforcing fabric layer.

[0075] The microprocessor in the control module is programmed to independently or collaboratively control the left and right drive units. For example, in "deep breathing" mode, the microprocessor simultaneously applies synchronized drive signals to both units; when simulating an asymmetrical expression such as "slight twitching of one nostril," it applies only a low-amplitude, short drive signal to one unit. The control module can also call different parameter sets based on preset personalized parameter mapping relationships (such as adjusting the signal amplitude according to differences in facial size and muscle elasticity among different users) to achieve personalized expression adaptation.

[0076] Example 3

[0077] This embodiment provides a control device based on intrinsically anisotropic materials.

[0078] In this embodiment, the constraint guide is composed of a thin film made of multilayer graphene sheets through vacuum filtration or directional stretching processes. The graphene sheets are highly oriented in-plane, resulting in an extremely high modulus (approximately 1 TPa) in the alignment direction and a lower modulus (approximately tens of GPa) in the vertical direction, forming intrinsic anisotropic stiffness. This graphene film is bonded to a PVDF-based flexible electro-actuated actuator as the constraint guide.

[0079] The control method of the device is specifically manifested as follows: receiving the command "nasal wing expansion under angry expression"; after analysis, it is determined that high intensity and rapid activation of both sides of the unit is required; according to the "anger" mapping relationship, it is converted into a drive signal waveform parameter with high voltage amplitude, short rise time (10ms), no significant jitter but long action holding time (2 seconds) and rapid cutoff; finally, an electric field is generated to drive the nasal wings to produce a powerful and lasting expansion action, accurately simulating the physiological characteristics of anger.

[0080] This application also provides a bionic nose wing motion control method, which is applied to the bionic nose wing motion control device provided in this application.

[0081] Figure 5 A bionic nose wing motion control method is provided as an embodiment of this application.

[0082] Reference Figure 5 As shown, the method may include the following process steps:

[0083] S1: Receive target action instructions, which include at least the nostril dilation instruction.

[0084] S2: Parse the target motion command into a target activation sequence corresponding to at least one flexible electro-actuated drive unit. The activation sequence includes the target drive unit identifier, motion amplitude, and duration.

[0085] S3: Based on the pre-stored mapping relationship library, the target activation sequence is converted into a set of drive signal waveform parameters for the corresponding drive unit; based on the drive signal waveform parameters, a corresponding drive electric field is generated and applied to the flexible electro-actuated drive unit to drive the bionic nose to perform an expansion movement that matches the target action command.

[0086] Regarding S1:

[0087] The input terminal can receive digital commands from various upper-level systems (such as facial expression synthesis software, breathing simulators, or direct user interfaces). The core command, "nostril enlargement," is an abstract, high-level command that may include intensity levels (e.g., "slight enlargement," "full enlargement") or emotional labels (e.g., "surprise," "anger"). Upon receipt, the command is converted into an internal data format and prepared for transmission to the microprocessor for decoding. This achieves the interface conversion from high-level intent to machine-readable signals, providing a flexible and standardized input method for the entire system. It allows the device to be easily integrated into complex human-computer interaction systems or biomimetic robot platforms, decoupling specific driver hardware from upper-level application logic and greatly expanding the device's applicable scenarios. Simultaneously, the reception of abstract commands lays the foundation for subsequent refined analysis based on models and personalized parameters.

[0088] Regarding S2:

[0089] Upon receiving the "nostril enlargement" instruction, the microprocessor does not forward it directly. Instead, based on its internally stored anthropomorphic action model and possible personalized parameter mappings, it "translates" this abstract command into a precise plan executable by the underlying drive units. The parsing process determines: which one or more drive units need to be activated (target drive unit identifier), the required deformation degree (action amplitude, which may be converted into target displacement or strain) for each unit, and the total time from start to finish and the allocation of each stage (duration). The output is a structured "activation sequence" with temporal information.

[0090] Regarding S3:

[0091] The microprocessor, based on the activation sequence generated by S2, queries a pre-stored mapping library and converts the sequence into a set of drive signal waveform parameters (such as voltage amplitude, frequency, duty cycle, rise / fall time, etc.) that can directly drive the hardware. These parameters are sent to a signal generator. The signal generator then generates a high-voltage or low-voltage drive electrical signal with precise waveform characteristics. This electrical signal is applied to flexible electrodes through a circuit, thereby establishing a controlled drive electric field on both sides of the drive element. The electric field excites the flexible electro-actuated material to produce active deformation, while the constraint guide ensures that this deformation is efficiently guided into a telescoping motion along the long axis, ultimately driving the bionic nose wing to complete an expansion motion highly matched with the target command through the supporting base of the bionic nose wing. This step ultimately achieves a high-fidelity, high-efficiency conversion from digital signals to simulated physical motion. Through precise modulation of waveform parameters (such as simulating muscle activation delay and relaxation), the drive signal itself possesses biocompatible dynamic characteristics. The direct deformation of flexible electro-actuated materials provides a silent and compliant force source, while the constrained guide ensures the directional transmission of force, greatly reducing energy loss. The benefits of the entire process are manifested in: extremely high motion fidelity, excellent response speed, extremely low operating noise, and excellent energy efficiency, systematically solving many inherent defects of traditional rigid actuators such as stiff motion, slow and bulky pneumatic systems, and low efficiency of shape memory alloys.

[0092] The above embodiments specifically illustrate the implementation of the technical solution of this application and highlight its beneficial effects:

[0093] 1. Solved the problems of "inaccurate driving direction and low efficiency": The core of Examples 1 and 3 lies in using a constrained guide (such as unidirectional fiber composite material, oriented microporous film, or graphene film) with a specific stiffness distribution (parallel stiffness < vertical stiffness) to forcibly guide and efficiently convert the inherent multidirectional deformation of the flexible electro-actuated material into directional mechanical motion along the long axis of the drive component. Combined with the arrangement of aligning the long axis with the physiological expansion direction of the nasal wing, precise control of the nasal wing motion trajectory is achieved, avoiding the dispersion of driving force and significantly improving driving efficiency and output accuracy.

[0094] 2. The problem of "stiff and unnatural movement" was solved: The control modules and methods in Examples 1 and 3, by introducing anthropomorphic motion models, precisely configure dynamic parameters such as start-up delay, micro-vibration, and relaxation process in the drive signal, so that the nasal wing expansion movement reproduces the natural dynamic characteristics of biological muscles, such as smoothness, delay, and subtle vibration. Example 2 further simulates the muscle force transmission path and origin and insertion points of specific facial muscles, achieving a high degree of biomimicry from anatomical structure to motor function, thereby obtaining a vivid and natural facial expression effect that far exceeds that of traditional electromechanical drive methods.

[0095] 3. Solved the problem of "complex structure and difficulty in integration": Examples 1 and 2 demonstrate various integration methods for the drive unit, which can be attached, embedded, or integrally molded with the support substrate / skin layer. Combined with a support substrate featuring physiological curvature, built-in anchoring structure, and wiring channels, the entire device achieves a thin and lightweight design with high fit, perfectly adapting to complex facial contours. This fundamentally simplifies the system structure, eliminates bulky external transmission mechanisms, and improves reliability and aesthetics.

[0096] 4. The additional advantages of "quiet and reliable operation" are achieved: All embodiments are based on all-solid-state flexible electro-actuation materials and solid-state electronic control, without any mechanical parts that require high-speed rotation or reciprocating motion (such as motors or air pumps), thus achieving completely silent operation and higher long-term reliability due to the simple structure and fewer moving parts.

[0097] In summary, this application innovatively combines "anisotropic constraint structural design" with "anthropomorphic dynamic control," and provides a complete solution from material selection and structural integration to control algorithms in its implementation. It effectively and in a closed loop solves the core pain points of inaccurate driving direction, stiff movement, and complex structure of existing bionic nose wings, achieving highly biomimetic, precise and efficient, easy-to-integrate, and quiet operation.

[0098] The above embodiments are merely illustrative of the technical solutions of this application. Those skilled in the art will understand that, without departing from the spirit and scope defined by the claims, various combinations, modifications, and substitutions can be made to the specific materials, shapes, sizes, arrangements, and control parameters of the driving component and the constraint guide. For example, the driving component can also be other electroactive polymers; the constraint guide can also be a unidirectional glass fiber or Kevlar fiber reinforced film; the number of driving units can be a single unit for simple driving, or more units for more complex motion synthesis; the control module can also be integrated onto the supporting substrate of the bionic nose wing or communicate with an external main controller. All these variations fall within the protection scope of this application.

Claims

1. A bionic alar movement control device, characterized in that, include: At least one flexible electro-actuated drive unit; The flexible electro-actuated drive unit includes: A driving element, comprising a flexible electro-actuated material that actively deforms under electric field excitation, is disposed on a support substrate of a bionic nose wing and is configured to drive the bionic nose wing to generate an expansion motion by deformation along its long axis under electric field excitation; wherein the angle between the long axis of the driving element and the physiological expansion direction of the bionic nose wing is less than 30 degrees. Flexible electrodes are disposed on both sides of the driving member and are used to apply a driving electric field to the driving member; A constraint guide is configured to provide anisotropic mechanical constraints on the deformation of the drive member, the stiffness of the constraint guide in the direction parallel to the major axis of the drive member being less than its stiffness in the transverse direction, the transverse direction being perpendicular to the major axis. The extension direction of the flexible electro-actuated drive unit is configured to simulate the mechanical transmission path of the target facial expression muscle, wherein the target facial expression muscle includes at least one of the nasal muscle and the levator labii superioris muscle. The flexible electro-actuated drive unit has a fixed end and a free end at both ends along its extension direction. The fixed end is configured to be anchored at the position of the simulated muscle origin, and the free end is configured to be connected to the position of the simulated muscle insertion on the bionic nasal alar tissue. The position of the simulated muscle origin is the bony or cartilaginous support area next to the nasal alar.

2. The bionic alar movement control device according to claim 1, characterized in that, The at least one flexible electric actuation drive unit is configured in at least one of the following ways: It is attached to or embedded in the inner or outer side of the supporting base of the bionic nose wing; At least a portion of the structure of the flexible electro-actuated drive unit is integrated with the supporting substrate or bionic skin layer of the bionic nose wing into a single structure.

3. The bionic nose wing motion control device according to claim 2, characterized in that, The bionic nose wing's supporting base has a curved shape suitable for conforming to the human nose wing area, and is provided with an anchoring structure for mounting and positioning the flexible electro-actuated drive unit and a wiring channel for accommodating the wires of the flexible electrode.

4. The bionic nose wing motion control device according to claim 1, characterized in that, It also includes a control module, which includes a signal input terminal, a microprocessor electrically connected to the signal input terminal, and a signal generator electrically connected to the microprocessor and the flexible electrode respectively; the microprocessor is programmed to control the signal generator to generate and output a drive signal with a preset voltage amplitude, frequency and / or duty cycle to the flexible electrode according to the action command received from the signal input terminal.

5. The bionic alar movement control device according to claim 2, characterized in that, When the number of the at least one flexible electro-actuated drive unit is two, it is configured to control the left and right bionic nose wings to perform bionic movements respectively.

6. The bionic alar movement control device according to claim 1, characterized in that, The constraint guide is a structure with anisotropic stiffness, and the anisotropic stiffness structure includes at least one of the following: Unidirectional fiber reinforced composite layer; Elastic films with oriented micropores or mesh structures; An intrinsically anisotropic material sheet composed of oriented graphene sheets.

7. A method of controlling a bionic alar movement, characterized in that, The method uses the bionic nose wing motion control device as described in any one of claims 1-6, and includes the following steps: Receive a target action command, the target action command including at least a nostril dilation command; The target action command is parsed into a target activation sequence corresponding to at least one of the flexible electro-actuated drive units, the activation sequence including a target drive unit identifier, action amplitude and duration; Based on the pre-stored mapping relationship library, the target activation sequence is converted into a set of drive signal waveform parameters for the corresponding drive unit; Based on the driving signal waveform parameters, a corresponding driving electric field is generated and applied to the flexible electro-actuated driving unit to drive the bionic nose wing to perform an expansion movement that matches the target action command.

8. The biomimetic alar movement control method of claim 7, wherein, The step of converting the target activation sequence into a set of drive signal waveform parameters for the corresponding drive unit according to the pre-stored mapping relationship library includes: Invoke the personalized parameter mapping relationship associated with the current user or the current expression mode; Based on the mapping relationship, the driving signal waveform parameters are generated, wherein the waveform parameters are configured to include at least: An independently configurable voltage rise time corresponding to the startup phase; A periodic or non-periodic signal fluctuation pattern that can be independently set to correspond to the action maintenance phase; An independently configurable voltage fall-edge time corresponding to the end phase.

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