actuator assembly

Abstract

An actuator assembly is provided. The actuator assembly includes at least one smart material actuator (SMA) device comprising a smart material. The actuator assembly also includes at least one stimulation element. The at least one stimulation element is arranged to provide non-mechanical stimulation to the at least one SMA device to induce a geometrical change in the SMA device, thereby generating a force. The actuator assembly also includes at least one coupling element directly or indirectly attached to the at least one SMA device, wherein the at least one coupling element is arranged to be directly or indirectly attached to an object to transmit the generated force to the object upon attachment.

Description

Technical Field

[0001] This disclosure relates to an actuator assembly including a smart material actuator device. Background Technology

[0002] Actuators are typically devices responsible for realizing physical motion in a mechanical system. Therefore, actuators are widely used whenever physical motion of components within a mechanical system is required. Physical motion is achieved by converting energy from an energy source into mechanical force.

[0003] Various types include soft actuators, hydraulic actuators, pneumatic actuators, electric actuators, thermal actuators, magnetic actuators, and mechanical actuators.

[0004] Although various types of actuators are available on the market, further development is still needed in areas such as minimizing overall system weight, improving system response speed, and / or adding new system functionality. Summary of the Invention

[0005] The invention is defined in the independent claims. Further embodiments of the invention are defined in the dependent claims.

[0006] In a first aspect, this disclosure generally includes an actuator assembly. The actuator assembly includes: an actuation module; and a plurality of coupling elements coupled to the actuation module, wherein the actuation module includes at least three layers of smart material actuator (SMA) devices and a stimulation element arranged stacked on top of each other, wherein the stimulation element is configured to provide stimulation to the SMA devices, and wherein each SMA device is configured to undergo a geometrical change in response to receiving the stimulation to generate a force.

[0007] In a second aspect, this disclosure generally includes an actuator device. The actuator device includes: an object; and an actuator assembly as described herein, wherein an actuation module of the actuator assembly is configured to generate a force acting on the object.

[0008] In a third aspect of this disclosure, an actuator assembly may be provided. The actuator assembly may include: at least one smart material actuator (SMA) device comprising a smart material; and at least one stimulation element.

[0009] The at least one stimulation element may be arranged to provide non-mechanical stimulation to the at least one SMA device to induce a geometrical change in the at least one SMA device, thereby generating a force. The at least one coupling element may be attached directly or indirectly to the at least one SMA device. The at least one coupling element may be arranged to be able to attach directly or indirectly to an object to transmit the generated force to the object upon attachment.

[0010] In one example, the non-mechanical stimulus is limited to any one or more of the following: light energy (such as light) and heat energy (heat).

[0011] In another example, at least one of the SMA devices is thermally responsive or photothermally responsive.

[0012] In yet another example, the at least one SMA device in the SMA device is photoresponsive.

[0013] In another example, the smart material includes a light-responsive shape memory polymer or is at least partially made of such a light-responsive shape memory polymer.

[0014] In another example, the photoresponsive shape memory polymer comprises or is made in part from any of the following: spiropyran-based polymers; diarylethylene-containing polymers; azobenzene-containing polymers; liquid crystal elastomers; and polydopamine-modified polymers.

[0015] In another example, at least one SMA device in the SMA device is arranged in a first layer, and at least one of the stimulating elements is arranged in a second layer, wherein the second layer at least partially overlaps the first layer.

[0016] In another example, the actuator assembly includes: at least a first SMA device disposed in a first layer of the at least one SMA device; at least a second SMA device disposed in a second layer of the at least one SMA device; and at least a first stimulating element disposed in a third layer of the at least one stimulating element, wherein the third layer is disposed between the first layer and the second layer.

[0017] In another example, the actuator assembly includes: at least a first stimulating element disposed in a first layer of the at least one stimulating element; at least a first SMA device disposed in a second layer of the at least one SMA device; and at least a second SMA device disposed in a third layer of the at least one SMA device, wherein the third layer is disposed between the first layer and the second layer.

[0018] In another example, the actuator assembly includes at least one actuation module, which includes at least one SMA device in the SMA device and at least one stimulation element in the stimulation element.

[0019] In another example, the coupling element is attached indirectly or directly to the at least one actuation module.

[0020] In another example, the at least one actuation module in the actuation module includes a stretchable housing.

[0021] In another example, the at least one stimulating element is stretchable.

[0022] The objective of this disclosure is to provide an actuator assembly that improves upon one or more disadvantages of the prior art, or at least provides a useful alternative to the actuator assembly. Attached Figure Description

[0023] These and other features, aspects, and advantages of this disclosure are described with reference to the accompanying drawings of certain embodiments, which are intended to illustrate certain examples, in which: Figure 1 A cross-sectional side view of the actuator assembly according to the example in a first state is shown; Figure 2 It shows Figure 2 A cross-sectional side view of the actuator assembly in the second state; Figure 3 A cross-sectional side view of the actuator assembly according to the example in a first state is shown; Figure 4 It shows Figure 3 A cross-sectional side view of the actuator assembly in the second state; Figure 5 A cross-sectional side view of the actuator assembly according to the example in a first state is shown; Figure 6 It shows Figure 5 A cross-sectional side view of the actuator assembly in the second state; Figure 7 A schematic perspective view of an actuator assembly based on an example is shown; Figure 8 A schematic perspective view of the actuation module in a first state according to an example is shown, wherein the actuation module has a tubular configuration; Figure 9 It shows Figure 8 A schematic perspective view of the actuation module in the second state; Figure 10a shows a cross-sectional view of the actuator assembly according to the example in a first state; Figure 10b shows a cross-sectional side view of the actuator assembly of Figure 10a in a second state; Figure 11a shows a cross-sectional view of the actuator assembly according to the example in a first state; Figure 11b shows a cross-sectional view of the actuator assembly of Figure 11a in the second state; Figure 12a shows a cross-sectional view of an actuator assembly with a pulley device according to an example in a first state; Figure 12b shows a cross-sectional view of the actuator assembly of Figure 12a in the second state; Figure 13a shows a cross-sectional view of an actuator assembly with a pulley device according to an example in a first state; Figure 13b shows a cross-sectional view of the actuator assembly of Figure 13a in the second state; Figure 14a shows a cross-sectional view of an actuator assembly with a housing according to an example in a first state; Figure 14b shows a cross-sectional view of the actuator assembly of Figure 14a in the second state; Figure 15a shows a cross-sectional view of an actuator assembly with a housing according to an example in a first state; Figure 15b shows a cross-sectional view of the actuator assembly of Figure 15a in a second state; Figure 16a shows a cross-sectional view of an actuator assembly with a telescopic housing according to an example in a first state; Figure 16b shows a cross-sectional view of the actuator assembly of Figure 16a in the second state; Figure 17a shows a cross-sectional view of an actuator assembly with a telescopic housing according to an example in a first state; Figure 17b shows a cross-sectional view of the actuator assembly of Figure 17a in a second state; Figure 18a shows a cross-sectional view of an actuator assembly with a telescopic housing according to an example in a first state; Figure 18b shows a cross-sectional view of the actuator assembly of Figure 18a in a second state; Figure 19a shows a cross-sectional view of an actuator assembly with a telescopic housing according to an example in a first state; Figure 19b shows a cross-sectional view of the actuation module of Figure 19a in the second state; Figure 20a shows a cross-sectional view of an actuator assembly with a telescopic housing according to an example in a first state; Figure 20b shows a cross-sectional view of the actuator assembly of Figure 20a in a second state; Figure 21a shows a cross-sectional view of an actuator assembly with a telescopic housing according to an example in a first state; Figure 21b shows a cross-sectional view of the actuator assembly of Figure 21a in a second state; Figure 22a shows a schematic view of an actuator assembly for asymmetric bending in a first state, according to an example. Figure 22b shows a schematic view of the actuator assembly of Figure 22a in a second state; Figure 23a shows a schematic view of an actuator assembly for asymmetric bending in a first state, according to an example. Figure 23b shows a schematic view of the actuator assembly of Figure 23a in a second state; Figure 24 A schematic view of an actuator assembly for asymmetric bending in a first state, according to an example, is shown. Figure 25a shows a perspective view of the actuation module for a concentric application in a first state according to an example; Figure 25b shows a perspective view of the actuation module of Figure 25a in the second state; Figure 26 A perspective view of the actuation module for a concentric application in a first state, according to an example, is shown; Figure 27a shows a schematic view of an actuator assembly for guided flexible actuation in a first state, according to an example. Figure 27b shows a perspective view of the actuator assembly of Figure 27a in a second state; Figure 28 A perspective side view of an actuator module for helical compression, based on an example, is shown. Figure 29 A schematic view of an actuator assembly for a lever application, based on an example, is shown. Figure 30 A schematic view of an actuator assembly for a lever application, according to another example, is shown. Figure 31 A schematic view of an actuator assembly for a lever application, based on an example, is shown. Figure 32 A schematic view of an actuator assembly for controlling the operation of an aircraft flap, according to an example, is shown. Figure 33 A schematic side view of an actuator assembly for a rotary application, based on an example, is shown. Figure 34 A schematic side view of an actuator assembly for a rotary application, based on an example, is shown. Figure 35 A schematic side view of an actuator assembly for a rotary application, according to yet another example, is shown. Figure 36 and Figure 37 Schematic top views of an SMA device with an SMA unit according to an example are shown in the idle state and the active state, respectively. Figure 38 A schematic view of the actuation module in a layered configuration, according to an example, is shown; Figure 39A perspective side view of an actuator assembly for fiber optic stimulation, based on an example, is shown. Figure 40 A perspective side view of an actuator assembly for fiber optic stimulation, based on an example, is shown. Figure 41 A perspective side view of an actuator assembly for fiber optic stimulation, based on an example, is shown. Figure 42 A perspective side view of an actuator assembly having a fiber stimulation element for fiber optic stimulation, according to an example, is shown. Figure 43 a shows a perspective cross-sectional side view of an actuator assembly having a fiber stimulation element for fiber optic stimulation, according to an example. Figure 43 b shows an example. Figure 43 A perspective side view of the actuator assembly of a; Figure 44 A schematic view of a wearable item including actuator components, based on an example, is shown; Figure 45 A schematic view of a wearable item including actuator components, according to another example, is shown; Figure 46 A schematic view of a wearable item including actuator components, based on an example, is shown; Figure 47 A schematic view of a wearable item including actuator components, according to another example, is shown; Figure 48 A schematic view of a wearable article including actuator components, according to yet another example, is shown; Figure 49 A schematic view of a wearable article including actuator components, according to yet another example, is shown; Figure 50 A schematic view of a wearable article including actuator components, according to yet another example, is shown; Figure 51 A schematic view of the control module based on the example is shown; Figure 52 A schematic view of a control module according to another example is shown; Figure 53 A schematic view of the control module according to yet another example is shown; and Figure 54 A schematic view of the control module according to yet another example is shown. Detailed Implementation

[0024] This disclosure has been described with reference to several examples. Although certain examples are described below, those skilled in the art will understand that this disclosure may extend beyond the specific examples and / or uses disclosed herein, as well as their obvious modifications and equivalents. Therefore, the scope of the disclosure herein is not intended to be limited to any particular example described below.

[0025] The general idea of ​​this disclosure is to provide an actuator assembly including at least one smart material actuator (SMA) device. The at least one SMA device includes a material arranged to undergo a change in its physical material properties in response to a non-mechanical stimulus or a change in the non-mechanical stimulus. The change in the physical material properties can lead to a geometric change. The actuator assembly also includes at least one stimulation element arranged to provide a non-mechanical stimulus to the at least one SMA device.

[0026] Depending on the type of material used in the SMA device, each SMA device can be arranged to mechanically contract or expand upon receiving a non-mechanical stimulus. As will be explained further below, when the actuator assembly (such as via a coupling element) is attached to an external object, changes in the physical material properties of the SMA device's material allow the actuator assembly to facilitate or impede the object's movement via the SMA device.

[0027] In one example, actuator components or SMA devices and their stimulating elements can be used to actuate or act on an object.

[0028] When the SMA device of the actuator assembly mechanically contracts or expands, the SMA device generates a force acting on the object. For example, the generated force can be used to pull or push the object. Subsequently, the object subjected to the generated force can move in response to the contraction or expansion of the SMA device.

[0029] In some examples, the actuator assembly can function as a force transmission mechanism via an SMA device. This force transmission mechanism allows forces generated by geometric changes in the SMA device to be transmitted to the object.

[0030] In some examples, the actuator component may include an object (which is non-biological).

[0031] The following describes various examples of actuator components.

[0032] Actuator assembly 100 may be provided. Actuator assembly 100 may include at least one smart material actuator (SMA) device. The SMA device may include at least one smart material. Actuator assembly 100 may include at least one stimulation element. The at least one stimulation element may be arranged to provide non-mechanical stimulation to the at least one SMA device. The non-mechanical stimulation may be arranged to cause a geometrical change in the at least one SMA device, thereby resulting in the generation of force.

[0033] The actuator assembly 100 may further include at least one coupling element that is directly or indirectly attached to at least one SMA device. The at least one coupling element may be arranged to be directly or indirectly attached to an object to transmit the force generated thereon to the object upon attachment.

[0034] In some examples, the actuator assembly may include one or more SMA devices. Alternatively or additionally, the actuator assembly may include one or more stimulation elements.

[0035] The actuator assembly also includes at least one stimulation element arranged to provide non-mechanical stimulation to at least one SMA device. The provision of non-mechanical stimulation can be used to activate (i.e., actuate) at least one SMA device. Specifically, the non-mechanical stimulation can be used to cause the SMA device to mechanically contract or expand, thereby causing the SMA device to generate force.

[0036] SMA devices can operate in an idle state (also known as a deactivated state) and an activated state. The idle state refers to the following state: the SMA device does not receive any non-mechanical stimulus, or the non-mechanical stimulus is insufficient to activate the SMA device.

[0037] The “activated state” mentioned in this article refers to the following state: the SMA device receives a non-mechanical stimulus, which is sufficient to activate the SMA device.

[0038] The degree of change in physical material properties can depend on various parameters of the non-mechanical stimulus, as will be explained further below. A change in one parameter of the provided non-mechanical stimulus can cause a correlated change in the physical material properties of the SMA device. Therefore, the active state encompasses a range of changes in the physical material properties of the SMA device that differ from those associated with the idle state.

[0039] In its idle state, the SMA device requires non-mechanical stimulation to transition to its activated state.

[0040] As will be explained further below, the associated stimulatory element can, for example, provide non-mechanical stimulation to the SMA device according to a defined activation sequence.

[0041] Actuation module

[0042] At least one SMA device and at least one associated stimulation element of the actuator assembly described above may be referred to as forming at least a portion of the actuation module.

[0043] The stimulation element of the actuation module can be arranged to provide non-mechanical stimulation to the SMA device of the actuation module. The actuation module can generate or induce actuation through at least one SMA device.

[0044] In some examples, one or more actuation modules may be coupled to or connected to an object, for example, via a coupling element.

[0045] In some examples, the actuator component may include multiple actuator modules.

[0046] In some examples, multiple actuation modules can be arranged in series.

[0047] In some examples, multiple actuation modules may be arranged in parallel with each other, at least substantially.

[0048] In some examples, multiple actuation modules can be arranged along different axes (or in different directions).

[0049] In some examples, multiple actuation modules can be arranged to provide rotation, for example, by being arranged in a staggered manner similar to muscles.

[0050] Size of the actuation module

[0051] Depending on the application, actuator components or their actuation modules may be designed or packaged with different widths and / or lengths.

[0052] Wider (wider) actuator modules can be provided to provide or generate larger (greater) forces, or to amplify those forces. In this way, “wider” actuator assemblies can be provided.

[0053] Additionally or alternatively, to generate a larger force or to increase that force, multiple actuation modules may be provided, or these modules may be arranged laterally relative to each other so that they together form an effective, wider actuation module, defining a “wider” actuator assembly. Multiple actuation modules may be arranged side-by-side. Multiple actuation modules may be arranged at least substantially in parallel with each other. In some examples, multiple actuation modules may be arranged, for example, stacked vertically on top of each other in a layered arrangement.

[0054] Longer actuation modules can be provided to provide or generate larger actuation strains, or to increase those actuation strains. In this way, “longer” actuator assemblies can be provided.

[0055] Additionally or alternatively, to provide or generate a large (greater) actuating strain, or to increase such actuating strain, multiple actuating modules may be connected in series (or attached or arranged) to form an effective, long (longer) actuating module, thus defining a "longer" actuator assembly. Multiple actuating modules may be arranged end-to-end. In some embodiments, the generated force may also be increased.

[0056] It should be understood that combinations of such "wider" and "longer" actuator components may be provided.

[0057] anti-wear agent

[0058] In some examples, the actuation module may also contain an anti-wear agent (e.g., for assisting the movement of the SMA device).

[0059] In some examples, the anti-wear agent may be applied to the inner surface of the housing (such as a shell) of the actuation module.

[0060] In some examples, the anti-wear agent may include at least one of a lubricant or a non-stick material.

[0061] case

[0062] For any of the actuation module examples, the actuation module may also include a housing, such as a shell. For example, in Figure 7 In this embodiment, the actuation module 102 (of the actuator assembly 100) may include a housing 106. As will be further explained below, components of the actuation module 102 (such as an SMA device and / or its stimulation element) may be disposed in a layered device 104 within the housing 106.

[0063] Sensing components

[0064] In some examples, actuator assembly 100 or actuator module 102 may also include at least one sensor 116. The sensor may also be referred to as a sensing element.

[0065] The sensing element may be disposed on or above one or more SMA devices in at least one associated SMA device 108.

[0066] The sensor 116 can be housed within the housing 106.

[0067] The sensing element can be used to determine the condition or state of the actuation module 102 or the actuator assembly 100. As a non-limiting example, the sensing element can collect data from the actuation module 102 or the actuator assembly 100. The sensing element may be provided as part of the actuation module 102. The sensing element may be disposed within a housing 106 (e.g., a case).

[0068] One or more sensing elements may be used to complete a closed feedback loop and / or collect data from the actuation module 102 or the overall actuator assembly 100. The sensing elements may include, but are not limited to, at least one of the following: a temperature sensor (e.g., disposed between layers in the actuation module), a strain sensor, or an optical sensor (e.g., an optical sensor that can sense changes in the properties of a stimulus or a stimulus element).

[0069] In various embodiments, one or more sensing elements may be flexible or stretchable.

[0070] Heat dissipation

[0071] In one example, the actuation module 102 may also include at least one heat dissipation component.

[0072] At least one heat dissipation component may be arranged to cool at least one SMA device 110 and / or at least one stimulation element 112 by dissipating or removing heat from at least one SMA device 110 and / or at least one stimulation element 112, thereby providing a cooling effect.

[0073] At least one heat dissipation component can also enhance or facilitate the expansion of at least one SMA device 110 after contraction.

[0074] In one example, the heat dissipation component is disposed within the housing 106 of the actuation module 102.

[0075] In some examples, the heat dissipation components may form heat dissipation (such as cooling) layers 118, 120.

[0076] The heat dissipation layers 118 and 120 can be housed within the housing 106.

[0077] As a non-limiting example, at least one heat dissipation component may be sandwiched between SMA devices, such as sandwiched between SMA devices. As another non-limiting example, two heat dissipation components may be present sandwiching the SMA devices.

[0078] Heat dissipation components may be disposed on the SMA device and / or the stimulation element. For example, a heat dissipation layer may be disposed on one or more SMA devices in at least one SMA device. Additionally or alternatively, heat dissipation components may be disposed on one or more stimulation elements in at least one stimulation element.

[0079] In some examples, a heat dissipation layer may be placed between the SMA device and the stimulation element.

[0080] In some examples, one or more heat dissipation components may be stacked together with the layered configuration of the SMA device.

[0081] In some examples, the heat dissipation layer may be physically adhered to the SMA device and / or stimulation element.

[0082] In some examples, one or more heat dissipation components may be embedded in the SMA device.

[0083] One or more heat dissipation components may be rigid, flexible, or stretchable (e.g., retractable with the SMA device).

[0084] In some examples, heat dissipation components may include, but are not limited to, one or more of the following: copper strips integrated into the PCB (which can cool both the SMA device (or its SMA unit) and the LED), thermal paste, thermal pads, water cooling using microfluidics, fans, copper (or any thermally conductive material) woven into fabric, Peltier elements, thermally conductive gel, fins that can dissipate heat from the SMA device, and cooling channels / holes on the housing components to aid in heat dissipation.

[0085] In some examples, the heat dissipation component may be in the form of an air gap. It should be understood that other types or forms of heat dissipation components or coolants may be provided or employed.

[0086] Different types of actuation modules

[0087] In some examples, reference Figures 33 to 35 The actuation module may also include at least one pulley, and the SMA device may be at least partially wound around at least one pulley.

[0088] In some examples, reference Figure 8 and Figure 9 The actuation module may also include an elastic inner tube 280 surrounded by associated SMA devices 208 and stimulation elements 212 (or at least three layers thereof), and wherein each SMA device in the SMA devices 208 may be configured to generate a force acting on the elastic inner tube 280 in response to receiving a non-mechanical stimulus.

[0089] In some examples, the actuation module can be constructed as a strip or a sleeve.

[0090] Control module

[0091] The actuator assembly 100 may also include a control module 150. Figure 7 Example control module 150 is shown in the figure.

[0092] The control module 150 may include a photoelectric module 152. The photoelectric module 1525 may include one or more optical or optoelectronic components / devices to drive a stimulating element and / or generate light.

[0093] Optoelectronic devices may include one or more light sources (e.g., lasers) for generating light and / or one or more drivers for driving the light sources, such as LED drivers or laser drivers. In an example where the stimulus for SMA devices 108, 110 is light, the light may be generated by stimulating elements 112, 114 and / or optoelectronic module 152.

[0094] Additionally or alternatively, the optoelectronic component / device may include at least one LED, an LED driver, and a driver for other stimulating elements such as electroluminescent coatings, optical fibers, optical splitters, fiber coupling components, collimators, or polarizers. It should be understood that other optoelectronic components may be provided or employed.

[0095] Optoelectronic modules can form optical assemblies.

[0096] The control module 150 may include a power supply (also referred to as a power supply group) 154. In some examples, the power supply group 154 ​​may be arranged to power the control module 150.

[0097] In some examples, power supply group 154 ​​may be arranged to power actuator module 102 and / or the entire device or actuator assembly 100. Power supply group 154 ​​may include, but is not limited to, at least one of a battery or a rechargeable battery.

[0098] Additionally or alternatively, power supply 154 can also deliver power (or electricity) from a wall outlet.

[0099] Additionally or alternatively, the power supply 154 may enable the actuator module 102 and / or actuator assembly 100 to be remotely powered (e.g., via wireless energy). It should be understood that other power supplies or power delivery mechanisms may be provided or employed.

[0100] The control module 150 may also include a control system or controller 156 to control the operation of the actuation module 102. The controller 156 may control the action or operation of at least one of the photoelectric module 152, the power supply group 154, or the actuation module 102.

[0101] The control module 150 may include a housing 158 to house or support any one or more of the optoelectronic module 152, the power supply 154, and the control system 156.

[0102] A human-machine interface (HMI), such as a power button 160, can be provided through housing 158 to allow a user to power on or activate control module 150. Other HMIs may be provided to allow the user to provide input to control module 150.

[0103] One or more mounting fasteners 162 may be provided on the control module 150 (such as at the lower side 163 of the control module 150) to enable the control module 150 to be fastened or mounted on, for example, clothing or body parts.

[0104] Actuation module 102 can be coupled to control module 150 via connection cable 164. Non-mechanical stimulation (e.g., light) from photoelectric module 152, power (or electricity) from power supply group 154 ​​and / or signals from controller or control system 156 can be provided or sent to actuation module 102 via connection cable 164.

[0105] The size of the optical assembly and / or power supply assembly may depend on one or more of the following: the power requirements of the actuation modules, the number of actuation modules being powered, and the overall efficiency of the system.

[0106] The external dimensions of the optical assembly and / or power supply assembly may vary. As a non-limiting example, the optical assembly and / or power supply assembly may be box-shaped or box-like. It may bend around the box. As another non-limiting example, the optical / power supply assembly may have a flexible external dimension, like a belt.

[0107] The optics and / or power supply may also include a controller (or control system). The controller can control the stimulation of the SMA device (or its SMA unit). The controller can control the photoelectric components. The controller can acquire or receive input or data from one or more sensors. The controller can acquire or receive (user) input from actions provided via an HMI (Hardware Management Interface) element. The controller can take or execute actions or processes in response to input from sensors and / or input from the HMI element.

[0108] In some examples, the controller may, for instance, control the manner in which stimulation is provided or delivered to the SMA device based on or in response to a defined activation sequence.

[0109] In some examples, the controller has access to memory. The memory may be part of the optics / power supply group, or it may be part of the controller, or it may be located outside the controller.

[0110] A controller can be a (complete) system or it can be broken down into multiple parts, for example, including a low-level controller (or control unit) and an application (high-level) controller (or control unit).

[0111] The controller may include, but is not limited to, at least one of the following: closed-loop feedback, open-loop control, sensors, thermal management systems, or AI (artificial intelligence) systems or applications (e.g., adaptive and predictive motion).

[0112] The optics and / or power supply group may also include one or more HMI elements to allow user device input, i.e., the user can provide user input to the optics / power supply group or its controller via the HMI element. The HMI element may include, but is not limited to, at least one of the following: buttons, switches, levers, dashboards, touchscreens, etc. It should be understood that other HMI elements may be provided or used.

[0113] The optics assembly and / or power supply assembly may also include one or more peripheral components or elements. Peripheral components enable external communication with the device. Peripheral components may include, but are not limited to, at least one of the following: Bluetooth components, NFC (Near Field Communication) components, charging ports, or connection ports (or coupling ports). Connection ports may allow connection to a connecting cable to deliver power from the optics / power supply assembly to the actuation module, such as to a stimulator. Some examples may have or provide (direct) optical connections to deliver light to the actuation module or stimulation element via optical fiber. The optical fiber may be connected to the connection port. It should be understood that other peripheral components may be provided or employed.

[0114] The optics and / or power assembly may also include a mounting system, or one or more mounting fasteners or components. Such systems or components enable the optics / power assembly to be attached, coupled, or secured to any surface or object, such as as a wearable assembly attached, coupled, or secured to a person or robotic components. Mounting fasteners may include, but are not limited to, straps, buckles, hooks, buttons, belt loops, or engineered fasteners such as bolts, screws, rivets, etc. It should be understood that other mounting fasteners may be available or employed.

[0115] In various embodiments, the mounting fastener may be located on one side of the optical / power assembly (e.g., on the underside of the optical and / or power assembly).

[0116] The optics and / or power supply may also include a heat dissipation (or cooling) system, or one or more heat dissipation components, to remove or dissipate heat from the stimulating element and SMA device, and / or to dissipate heat from the optics / power supply. The heat dissipation system may interface with heat dissipation components in the actuation module 102 to aid in heat dissipation from the actuation module 102. Non-limiting examples of heat dissipation components in the optics and / or power supply may include, but are not limited to, fans or liquid cooling components or coolants. It should be understood that other heat dissipation components or coolants may be provided or employed.

[0117] The optics and / or power supply may also include a housing for accommodating or supporting all components of the optics / power supply and allowing ports for peripheral components and HMI elements. Depending on the application, the housing may have any form factor (e.g., curved for wearable applications, or in some embodiments, in the form of a belt). The housing may be made of materials including, but not limited to, plastics, metals, ceramics, or composites. It should be understood that other materials may be used.

[0118] In various examples, actuator assembly 100 may also include connecting cable 164 for connection to an optical assembly (e.g., an optoelectronic module) and / or a power supply assembly.

[0119] The optical assembly and / or power supply assembly may be part of the actuator assembly 100. The optical assembly and / or power supply assembly may be assembled together as a single unit.

[0120] In some examples, connecting cable 164 can connect actuator module 102 to the optics / power supply group to power the stimulator.

[0121] In some examples, the connecting cable 164 may include, but is not limited to: wires for embodiments employing LEDs, optical fibers for embodiments employing waveguides, or combinations thereof.

[0122] It should be understood that other types of connecting cables may be provided or used.

[0123] The connecting cable 164 may have a protective sheath or outer layer to minimize or prevent abrasion and / or exposure to the external environment.

[0124] Materials for SMA device

[0125] An SMA device may include at least one material whose material properties are arranged to change when the material receives a non-mechanical stimulus. The material of an SMA device that undergoes a change in material properties upon receiving a change in non-mechanical stimulus may also be referred to as a smart material.

[0126] In one example, smart materials include materials that can change their material properties in response to external stimuli, such as external non-mechanical stimuli.

[0127] In some examples, smart materials may be related to photoresponsive smart materials, as will be explained further below.

[0128] In some examples, at least one SMA device in the SMA device may include a photoresponsive actuator device. The photoresponsive actuator device includes at least one photoresponsive smart material.

[0129] Smart materials for light-responsive actuator devices may include photoactive polymer monomers, such as 2,4-dihydroxy-4-nitroazobenzene or 2,4-dihydroxy-4-azo-(4-nitroazobenzene)benzene. Experiments have shown that these photoactive polymer monomers can provide a suitable specific intensity sufficient to scale to macroscopic actuation, thereby achieving a fast response rate and / or enabling any electronic device to be safely isolated from the body of clothing or garment components when light-activated.

[0130] Alternatively or additionally, the photoresponsive smart material may also be selected from photoresponsive or photoactive acrylates, such as azobenzene monomer acrylates, such as 7-((4-((2-cyano-4-nitrophenyl)azo)phenyl)(ethyl)amino)heptyl acrylate.

[0131] Alternatively or additionally, the photoresponsive smart material may also be selected from photoresponsive or photoactive stilbene monomers, such as distilbene monomers. For example, 4,4'-((propane-2,2-diylbis(4,1-phenylene)bis(oxy)bis(4,1-phenylene))bis(ethylene-2,1-diyl))diphenylamine may be used.

[0132] Alternatively or additionally, the light-responsive smart material may include a photoactive liquid crystal polymer actuator, such as a photoactive liquid crystal elastomer.

[0133] In some embodiments, the smart material may be selected from one or more of the following: dielectric or electrostrictive elastomer actuators (DEA), conductive polymer actuators (CP), electroactive polymer actuators (EAP), and magnetostrictive actuators (MA).

[0134] The SMA device or its SMA unit (as will be further explained below) may be provided in one geometry (or design) or a combination of different geometries (designs), which are selected from, but not limited to, the following: film; Electrospun layers: Electrospinning can be directional or isotropic. Directionality can lead to actuation along the alignment direction; Fibers or tubes: These may include wet-spun fibers. The tubular form may, for example, allow optical fibers to be embedded within the tube to transmit light; Solid-liquid phase transition: Smart materials in this category can undergo a phase transition from solid to liquid upon stimulation, resulting in a change in stiffness and thus actuation. Alternative smart materials in this category may undergo a change in material properties from solid to viscous (rather than a liquid phase change), which may also alter stiffness. Non-limiting examples of phase transition smart materials may include magnetorheological fluids. Magnetorheological fluids may include suspensions of iron particles in a carrier liquid (e.g., water) that change to a solid phase in the presence of a magnetic field. Further non-limiting examples of smart materials may include suitable supramolecular gels; Thin film units (e.g., for SMA units) are arranged sequentially or in parallel: the thin film units of the smart material can be arranged sequentially or aligned in parallel. Sequential arrangement can be achieved by directly attaching the SMA units to each other using an adhesive, or by having connectors to bind the units together. Sequential arrangement increases length and therefore strain. Parallel arrangement (such as one or more SMA units arranged in parallel with each other) increases the applied force.

[0135] It should be understood that other geometries or designs may be provided or adopted.

[0136] In some examples, for each SMA device in an SMA device, the SMA device may include a phase change smart material configured to change from a first phase to a second phase in response to receiving a non-mechanical stimulus, thereby causing a geometric change in the SMA device.

[0137] Within the context of this disclosure, one or more types of non-mechanical stimuli or input energy received by an SMA device (e.g., for activating the SMA device) can be collectively referred to as "energy-based external stimuli." In some examples, the non-mechanical stimuli (or energy-based external stimuli) consist of light energy (such as light) or heat energy (heat) or a combination of both. Light and heat energy can be transferred radiatively or via conduction. Smart materials for SMA devices designed in response to such energy-based stimuli can exhibit specific responses, such as photoinduced (photoresponsive), thermoinduced (thermal responsive), or photo-thermal co-induced (photothermal responsive) changes, thereby enabling controllable and reversible alteration of their functional properties.

[0138] In some examples, at least a portion of the smart material in an SMA device may be a solid smart material, rather than a liquid or gel. By providing non-mechanical stimulation (or energy-based external stimulation) consisting of light energy (such as light) or heat energy (heat) or a combination of both, and by excluding, for example, electrode / electrical components (such as those containing liquid electrolytes), any or more of the following potential advantages can be provided: reduced or avoided dehydration, improved environmental sensitivity, reduced leakage, reduced likelihood of delamination, and reduced likelihood of power degradation over time.

[0139] In some examples, the SMA device may be formed of one or more smart materials having two metastable states that can be transitioned between through external stimuli. In other words, the smart material of the SMA device can exist in two different stable forms (e.g., an active state and an inactive / idle state) and can be switched from one form to the other through external stimuli. The external stimuli may be non-mechanical stimuli (or energy-based stimuli) and / or may consist of light energy (such as light) or heat energy (heat), or a combination of both.

[0140] In some examples, the linear actuation strain of the SMA device (or smart material) can range from 1% to 50% of the contraction.

[0141] In some examples, SMA devices include combinations or composites of: (a) two or more smart materials, or (b) smart materials and other materials. These combinations or composites may be superimposed on each other or interwoven.

[0142] As mentioned above, in some examples, smart materials can be any one or more of the following: photoresponsive smart materials, thermally responsive smart materials, or photothermal responsive smart materials.

[0143] In examples where the smart material is a photoresponsive shape memory polymer (SMA), the SMA may include a photoresponsive shape memory polymer. In some examples, the photoresponsive shape memory polymer may include, or be at least partially made of, any of the following: spiropyran-based polymers, diarylethylene-containing polymers, azobenzene-containing polymers, liquid crystal elastomers, and polydopamine-modified polymers.

[0144] Spiropyranyl polymers

[0145] In one example, the shape memory polymer contains spiropyran molecules. In response to light, the spiropyran molecules switch between a spirocyclic form and a cyanine form. Upon activation with light (e.g., UV light), the polymer undergoes a shape recovery process. An exemplary material is a spiropyran-doped polyurethane that exhibits shape recovery upon UV light activation and reverses this upon exposure to visible light.

[0146] Polymers containing diarylethene

[0147] In one example, the shape memory polymer contains a diarylethylene chromophore. The diarylethylene unit undergoes a reversible photochromic reaction upon exposure to UV or visible light, thereby allowing the polymer to transition between two shapes. An example is a diarylethylene-functionalized epoxy polymer in which UV radiation induces shape recovery.

[0148] Azobenzene polymers

[0149] In one example, the shape memory polymer contains an azobenzene chromophore integrated into the polymer backbone. The azobenzene unit undergoes reversible cis-trans isomerization upon exposure to ultraviolet (UV) or visible light, triggering a shape transition. In one example, azobenzene-functionalized poly(methyl methacrylate) (PMMA) is employed, wherein the polymer recovers its predetermined shape upon irradiation with light in the UV or visible spectrum.

[0150] Liquid crystal elastomer (LCE)

[0151] In one example, the shape memory polymer is a liquid crystal elastomer (LCE) incorporating liquid crystal portions. When exposed to light, the liquid crystal portions undergo reorientation, resulting in a macroscopic shape change. In another example, the shape memory polymer comprises an LCE having photoreactive molecules (e.g., cinnamic acid derivatives) that exhibit deformation upon exposure to UV light and recover their original shape upon irradiation with visible light or heat.

[0152] Polydopamine modified polymers

[0153] In one example, the shape memory polymer comprises a polydopamine coating. The polydopamine coating absorbs light in the near-infrared region. Polydopamine modification enables the polymer to respond to near-infrared light to achieve shape recovery. An exemplary material is a polydopamine-coated polyurethane shape memory polymer in which shape recovery is triggered by near-infrared light. These photoresponsive shape memory polymers are particularly suitable for applications where non-invasive actuation is desired, such as in medical devices.

[0154] Smart materials contract or expand upon stimulation.

[0155] As discussed above, smart materials are materials arranged to change their material properties in response to changes in the non-mechanical stimuli they receive. When the smart material and its associated SMA device do not receive any non-mechanical stimuli (or the non-mechanical stimuli are insufficient to activate the smart material or the SMA device), the smart material is said to be in an idle state. In the idle state, the smart material possesses a first set of material properties. When the smart material receives a non-mechanical stimuli sufficient to activate the smart material (and thus the SMA device), the smart material is said to be in an activated state. In the activated state, the smart material possesses a second set of material properties, which differs from the first set of material properties.

[0156] In some examples, the geometric changes can therefore depend on the type, nature, or characteristics of the stimulus.

[0157] The second set of material properties can vary within a specific range of material properties, where the variation depends on one or more parameters associated with the received non-mechanical stimulus.

[0158] Each material property in the second set of material properties may have a lower limit and an upper limit, as well as a range of possible integers (such as values) specific to the material property between the lower limit and the upper limit.

[0159] The specific range of material properties includes a lower limit, an upper limit, and a possible integer range for each material property in the second group of material properties.

[0160] The parameters associated with the non-mechanical stimuli that cause changes in the second set of material properties may depend on the type of smart material used, the type of non-mechanical stimuli, and the physical configuration of the associated SMA device and the associated stimulating element. When the second set of material properties varies within a specific range associated with the activation state, at least one of the material properties in the second set may produce an effect or change.

[0161] In one example, the parameters associated with the non-mechanical stimulus may be related to its intensity. In another example, when the intensity of the received non-mechanical stimulus changes, a second set of material properties may have an effect or change within a specific range associated with the activation state.

[0162] In one example, at least one (or each) of the SMA devices may be configured to mechanically contract in response to receiving a non-mechanical stimulus (e.g., reduce the length of the SMA device).

[0163] In other examples, at least one (or each) of the SMA devices may be configured to mechanically expand in response to receiving a non-mechanical stimulus (e.g., increase the length of the SMA device).

[0164] For example, as discussed above, when the intensity of the received non-mechanical stimulus decreases, the associated smart material can change from a state of higher contraction to a state of lower contraction, thus experiencing expansion upon receiving the non-mechanical stimulus. Conversely, when the intensity of the received non-mechanical stimulus increases, the associated smart material can change from a state of lower contraction to a state of higher contraction, thus experiencing contraction upon receiving the non-mechanical stimulus. While some examples related to the contraction of SMA devices have been provided, it should be understood that actuation modules can be constructed based on similar or other configurations to cause the SMA device to expand.

[0165] In some examples, at least one (or each) of the SMA devices may be configured to undergo geometrical changes along an axis (or a dimension) in response to receiving a non-mechanical stimulus. This can be achieved, for example, by employing a linear configuration and / or arranging the SMA devices with sequentially arranged associated SMA units.

[0166] In some examples, at least one (or each) of the SMA devices may be configured to undergo geometric changes along multiple axes (or multiple dimensions) in response to receiving non-mechanical stimuli.

[0167] In response to non-mechanical stimuli, an SMA device (or its SMA unit) may undergo geometrical changes, such as due to geometrical variations in the associated smart materials. As discussed above, in response to non-mechanical stimuli, an SMA device (or its SMA unit) may undergo changes in physical material properties that may lead to geometrical changes in the SMA device (or its SMA unit).

[0168] As a non-limiting example, changes in physical material properties may include changes in the stiffness and / or phase of the material in the SMA device (or its SMA unit).

[0169] In some examples, an SMA device may include a set of SMA units, wherein one or more or all of the SMA units may be activated to perform mechanical contraction or expansion. In some embodiments, an SMA device may include a set of SMA units, wherein a portion having one or more SMA units may be activated to perform mechanical contraction, while another portion having one or more SMA units may be activated to perform mechanical expansion.

[0170] SMA device

[0171] In one example, an SMA device may include at least one SMA unit. The at least one SMA unit may be formed as discrete units.

[0172] In one example, an SMA device may include a single SMA unit.

[0173] In some examples, an SMA unit can define the entire SMA device.

[0174] In some examples, at least one SMA device in an SMA device may include multiple SMA units. Multiple SMA units may define a set of SMA units.

[0175] Configuration of the SMA device

[0176] Series connection, etc.

[0177] In some examples, at least one SMA device in an SMA device may include multiple SMA units arranged sequentially or in series with each other.

[0178] In some examples, multiple SMA units can be directly connected to each other.

[0179] In some examples, multiple SMA units may be spaced apart from each other, with connectors positioned between and connecting two adjacent SMA units. Two (nearest) adjacent or neighboring SMA units may be connected to each other via connectors between them. Each connector may be or may define a force-transmitting component to transmit forces generated by the SMA units or SMA devices.

[0180] Formed in the layer

[0181] In one example, each SMA device may be arranged in layers (such as in a layered form). SMA devices arranged in layers, i.e. layered SMA devices, may also be referred to as SMA layers.

[0182] In some examples, actuator assembly 100 includes multiple layered SMA devices. As will be further explained below, one or more stimulating elements may also be arranged in layers. In some examples, actuator assembly 100 includes multiple layered stimulating elements.

[0183] In some examples, the actuation module 102 may include a two-layer arrangement of a stimulation element and an SMA device.

[0184] In one example, refer to Figure 1 and Figure 2 An actuator assembly 100 is provided. The actuator assembly 100 includes a first SMA device 10. The first SMA device 10 may be arranged in a first layer. The actuator assembly 100 may also include at least one stimulation element 20. The at least one stimulation element may be arranged in a second layer. The at least one stimulation element 20 may be arranged to provide non-mechanical stimulation to activate the at least one SMA device. Upon activation, the at least one SMA device may be arranged to undergo a first geometric change from its idle state. Upon deactivation, the at least one SMA device may be configured to undergo a second geometric change from its activated state back to its idle state. The second geometric change may be the reverse of the first geometric change. When the geometric change causes the at least one SMA device to contract (such as after activation), the distance between the first end 30A and the second end 30B may decrease. Conversely, when the geometric change causes the at least one SMA device to expand (such as after activation termination), the distance between the first end 30A and the second end 30B may increase.

[0185] Figure 1 A cross-sectional side view of an actuator assembly according to an example is shown in an idle state. The distance between the first end 30A and the second end 30B in the idle state is labeled D.

[0186] Figure 2 A cross-sectional side view of an actuator assembly according to an example is shown in the active state. The distance between the first end 30A and the second end 30B in the active state is denoted as d. The distance d in the active state is less than the associated distance D in the idle state.

[0187] In one example, refer to Figure 3 and Figure 4 The actuator assembly 100 includes one more stimulation element 20 (e.g., two stimulation elements) than the SMA device 10 (e.g., one SMA device), meaning the number of stimulation elements 20 is one more than the number of SMA devices 10. In this example, the SMA device 10 may be arranged between the two stimulation elements 20. The SMA device 10 may be described as being sandwiched between the two stimulation elements 20. The two stimulation elements 20 may be arranged to provide non-mechanical stimulation to the SMA device 10, such as on either side of the SMA device 10. This configuration allows for improved response of the smart material of the SMA device 10 upon receiving non-mechanical stimulation. Figure 3A cross-sectional side view of the actuator assembly 100 in the idle state is shown. The distance between the first end 30A and the second end 30B in the idle state is labeled D. Figure 4 A cross-sectional side view of the actuator assembly 100 in the active state is shown. The distance between the first end 30A and the second end 30B in the active state is denoted as d. The distance d in the active state may be less than the associated distance D in the idle state.

[0188] In one example, refer to Figure 5 and Figure 6 The actuator assembly 100 includes one more SMA device 10 (e.g., two SMA devices) than the number of stimulation elements 20 (e.g., one stimulation element), meaning the number of stimulation elements 20 is one less than the number of SMA devices 10. In this example, the stimulation element 20 may be arranged between the two SMA devices 10. The stimulation element 20 may be described as being sandwiched between the two SMA devices 10. The stimulation element 20 may be arranged such that it provides non-mechanical stimulation to both SMA devices 10 at least on one side of each SMA device 10. This configuration allows for providing a compact actuator assembly 100 while (by using two SMA devices 10; in contrast, the above) Figure 3 and Figure 4 The example in the text uses an SMA device to provide increased strain. Figure 5 A cross-sectional side view of the actuator assembly 100 in the idle state is shown. The distance between the first end 30A and the second end 30B in the idle state is labeled D. Figure 6 A cross-sectional side view of the actuator assembly in the active state is shown. The distance between the first end 30A and the second end 30B in the active state is denoted as d. The distance d in the active state may be less than the associated distance D in the idle state.

[0189] In some examples, each SMA device in an SMA device may include a single, uniform layer of smart material.

[0190] As described herein, two or more components of an actuation module can be arranged in a layered layout. This layered layout can be planar or circular (or concentric or tubular).

[0191] In one example, actuator assembly 100 may include a first SMA device disposed in a first layer. Actuator assembly 100 may also include a second SMA device disposed in a second layer. Furthermore, actuator assembly 100 may include a stimulation element disposed in a third layer. The third layer may be disposed between the first and second layers.

[0192] In another example, actuator assembly 100 may include a first stimulation element disposed in a first layer. Actuator assembly 100 may also include a second stimulation element disposed in a second layer. Furthermore, actuator assembly 100 may also include an SMA device disposed in a third layer. The third layer may be disposed between the first and second layers.

[0193] Depending on the type of application, it should be understood that the number of SMA devices in the actuator assembly may differ from the number of stimulating elements in the actuator assembly. Therefore, in some examples, the number of SMA devices in the actuator assembly may be equal to the number of stimulating elements in the actuator assembly. In other examples, the number of SMA devices in the actuator assembly may be greater than or less than the number of stimulating elements in the actuator assembly.

[0194] When the SMA device and stimulation element of the actuator assembly are arranged in multiple layers, as discussed above, the actuator assembly (or an actuator module comprising layered SMA devices and layered stimulation elements) may be referred to as having a layered arrangement.

[0195] In some examples, the layers of the actuation module can be constructed as a thin-film array. For example, at least three layers of the actuation module can be constructed as a thin-film array.

[0196] The layered arrangement can be alternating or staggered. Therefore, the layered SMA devices 108, 110 and the layered stimulating elements 112, 114 can be arranged as alternating or staggered layered devices 104. This arrangement of alternating layers of SMA devices and stimulating elements ensures that light can penetrate (enter) the SMAs between the stimulating elements. For example, each stimulating element sandwiched between SMA layers can emit light to one side (i.e., toward one SMA layer) or both sides (e.g., LEDs mounted on opposite sides of a PCB) (i.e., toward SMA layers on opposite sides of the stimulator).

[0197] This will be discussed further below. Figure 7 A layered device 104 of an actuation module is disclosed, the actuation module including a plurality of layered SMA devices 108, 110 and a plurality of layered stimulation elements 112, 114.

[0198] In one example, such as reference Figure 5 and Figure 6 The example shown includes an actuator assembly comprising at least two lamellar SMA devices and a lamellar stimulation element. Alternatively, in another example, such as a reference... Figure 3 and Figure 4 The example shown may include at least two layered stimulation elements and at least one layered SMA device.

[0199] Each layered SMA device and / or stimulating element may form a layer of the actuator assembly. Each layered SMA device and / or stimulating element may form a layer of the actuator module to which it belongs.

[0200] It should be understood that each of these layers may be stacked on top of each other. Each layer may at least partially overlap with an adjacent layer or each neighboring layer. In some examples, at least one or more of these layers may surround another layer of the actuator assembly 100 (e.g., one layer surrounding another). [Reference] Figure 8 and Figure 9 This shows an example of such a thing.

[0201] In one example, two layered SMA devices can be arranged adjacent to each other, with no layered stimulation element placed between the two layered SMA devices.

[0202] In one example, two layered stimulation elements can be arranged adjacent to each other, with no layered SMA device positioned between the two layered stimulation elements.

[0203] In one example, the SMA device and the stimulation element may be arranged alternately in the actuation module (such as in a layered arrangement of the actuation module).

[0204] In some examples, the actuation module may include at least three layers of stimulating elements and SMA devices. At least three alternating layers of stimulating elements and SMA devices may be present. This could mean the presence of two layered SMA devices sandwiching a stimulating element, or two layered stimulating elements sandwiching an SMA device. The stimulating elements and SMA devices may define a stimulating element-SMA device pair. In various examples, the stimulating elements and SMA devices arranged stacked on top of each other may be in direct contact, or one or more other components or layers may be arranged between them. The stimulating elements and SMA devices may be spaced apart from each other.

[0205] For example, an actuator assembly comprising at least three layers may include one of the following: (i) SMA device-SMA device-stimulating element, (ii) SMA device-stimulating element-SMA device, (iii) stimulating element-SMA device-SMA device, (iv) stimulating element-stimulating element-SMA device, (v) stimulating element-SMA device-stimulating element, and (vi) SMA device-stimulating element-stimulating element.

[0206] Each actuation module may include any number of SMA devices (such as laminar SMA devices) and any number of stimulation elements (such as laminar stimulation elements).

[0207] In some examples, there may be more than three layers (e.g., four, five, six, or any greater number of layers) of SMA devices and stimulating elements. For example, a four-layer actuator assembly may include the following configurations: stimulating element-SMA device-SMA device-stimulating element, or SMA device-stimulating element-stimulating element-SMA device or SMA device-stimulating element-SMA device-stimulating element.

[0208] In some examples, each of the SMA device and the stimulation element can form a discrete layer of the actuation module.

[0209] In some examples, the actuation module may include the following arrangement or configuration.

[0210] A pair consisting of an SMA device and a stimulation element (e.g., arranged in a layered, stacked arrangement); Multiple layered SMA devices with intercalated layered stimulation elements; Multiple pairs, each pair having, for example, an SMA device and a stimulating element arranged, stacked on top of each other in a layered arrangement.

[0211] In some examples, the layers of the actuation module (such as at least three layers) can form a planar layer.

[0212] In some examples, the layers of the actuation module (such as at least three layers) can form concentric layers.

[0213] In some examples, the actuation module may include two SMA devices clamping a stimulation element or two stimulation elements clamping an SMA device.

[0214] An SMA device or its SMA unit may be configured to provide one type of actuation or a combination of different types of actuation, which may be selected from, but is not limited to, the following: Linear actuation: This can include linear contraction and / or linear expansion; Multidirectional actuation: This can include multidirectional contraction and / or multidirectional expansion. Actuation can occur in two or more or all directions (or axes), for example, contraction from all directions. Such multidirectional actuation can be achieved, for example, by an isotropic and misaligned SMA device (or its SMA unit) or its material. Non-limiting examples of suitable materials may include ionicly electroactive polymers that may be misaligned or do not require alignment and may undergo volumetric or geometrical changes (e.g., contraction or expansion) in response to electrical stimulation. Further non-limiting examples may include conductive polymers, as such polymers function by absorbing solvents through ion diffusion into / out. Bending actuation; or Concentric actuation. The ends of the SMA device or the ends of the actuation module having the SMA device may be coupled or attached to each other to form a loop. In response to a stimulus, the SMA device may contract or expand diametrically around an object or part. For example, the SMA device may contract to apply or transmit a contractile force around an object (e.g., a limb); It should be understood that other types of actuation may be provided.

[0215] In one example, the actuator assembly may include one or more SMA device-stimulator layer pairs (or in the form of fibers) with or without a housing. Additional layer pairs in the actuator assembly can increase the force applied or generated by the actuator assembly.

[0216] In some examples, the stimulating element and SMA device can be arranged in a stacked configuration. Multiple layers of stimulating elements and SMA devices may be present in a stacked arrangement (e.g., alternating or staggered). In a stacked arrangement, the SMA devices may be stacked on top of each other. In some examples, one or more components other than the SMA device or stimulating element may be arranged or stacked between the stimulating element and SMA device of the actuation module.

[0217] Stimulating elements and stimuli

[0218] In various embodiments, the stimulating element may include one or more LEDs and / or one or more waveguides.

[0219] In one example, the stimulatory element may be equipped with an SMA device. The stimulatory element may be embedded within the SMA device.

[0220] As discussed above, stimulatory elements can be arranged in layers to form layered stimulatory elements.

[0221] In some embodiments, the SMA device is paired with a laminar stimulation element.

[0222] In one example, the type of smart material used in the SMA device determines the type of non-mechanical stimulation to be provided. The type of non-mechanical stimulation to be provided determines the type of stimulation element to be used. For example, photoresponsive smart materials respond to electromagnetic radiation or light energy (such as light). Therefore, a suitable stimulation element for a photoresponsive smart material is an element capable of emitting light energy (e.g., light) to be received by the photoresponsive smart material.

[0223] Non-mechanical stimuli can include at least one of the following: electromagnetic radiation, light energy (such as light), heat, electrical signals, or magnetic fields. Similarly, the type of non-mechanical stimulus can be determined by the smart material used.

[0224] Nonmechanical stimulation based on light

[0225] In some examples, each SMA device in an SMA device may include a photoresponsive smart material configured to receive light energy (e.g., light) as a non-mechanical stimulus.

[0226] In some examples, each actuation module (including an SMA device) may include at least one fiber, and each stimulation element may include at least one optical fiber.

[0227] In some examples, the actuator assembly may also include a laser source or LED optically coupled to at least one optical fiber.

[0228] In some examples, at least one (such as each) of the stimulating elements may include a light guide configured to send light to the SMA device.

[0229] In some examples, the actuator assembly may also include a light source configured to produce light.

[0230] In some examples, each of the stimulating elements may include multiple LEDs configured to produce light.

[0231] In some examples, the stimulating element may include one or more LEDs and / or one or more waveguides.

[0232] In one example, a stimulating element in the form of a stimulating layer may include one or more LEDs (light-emitting diodes) or be composed of one or more LEDs (light-emitting diodes). LEDs may include, but are not limited to, at least one of the following: ordinary LEDs, micro LEDs, OLEDs (organic LEDs), or QLEDs (quantum LEDs). It should be understood that other types of LEDs may be provided or employed.

[0233] LEDs can be set or mounted on one or more PCBs (printed circuit boards).

[0234] In some examples, the printed circuit board can be flexible or stretchable.

[0235] As a non-limiting example, the stimulating element may include one or more LEDs mounted on a flexible PCB.

[0236] PCB may include, but is not limited to, at least one of the following: Ordinary rigid PCB; Flexible PCB, which provides flexibility around a curved surface; Stretchable PCB: In some examples, one or more LEDs can be mounted on one or more stretchable PCBs that can shrink and expand together with the SMA device; or Heat sink PCB: One or more PCBs may have one or more heat sinks to help dissipate heat from the LEDs.

[0237] It should be understood that other types of PCBs may be provided or used.

[0238] In some examples, the stimulating element (such as a layered stimulating element) may include one or more (optical) waveguides or light guides, or may be composed of one or more (optical) waveguides or light guides.

[0239] Waveguides can be provided in one geometry (or design) or a combination of different geometries (designs), which are selected from, but not limited to, the following.

[0240] Optical guide film.

[0241] Light guide plate with low flexibility ratio.

[0242] Optical fiber: Some examples may have optical fiber between SMA films, SMA fibers, or inside SMA tubes.

[0243] Tubular waveguides: Some examples may have SMA fibers embedded in the waveguide.

[0244] It should be understood that other waveguide geometries (or designs) may be provided or adopted.

[0245] In some examples, waveguides with different stiffnesses can be provided. Waveguides can be provided with one degree (or level) of stiffness or a combination of different degrees (or levels) of stiffness, selected from, but not limited to, the following.

[0246] Flexible waveguide that provides flexibility around a curved surface.

[0247] Stretchable waveguide: An example of a waveguide designed to contract and expand along with the SMA layer.

[0248] Ordinary rigid waveguide.

[0249] It should be understood that other waveguide stiffness may be provided or adopted.

[0250] Waveguides may include, but are not limited to, at least one of the following, or may be made of at least one of the following: quartz, glass, or plastic. It should be understood that other materials may be provided or used.

[0251] In some examples, one or more waveguides may be coupled or optically coupled to one or more LEDs and / or other types of light sources (e.g., lasers). In some examples, the laser may be housed in an optical assembly and / or a power supply assembly. The waveguides may be (optically) coupled using one or more optical fibers in a connecting cable to directly (optically coupled) to the laser in the optical / power supply assembly.

[0252] In one example, each of the stimulating components may include at least one of the following: an electroluminescent material, a chemiluminescent material, or a bioluminescent material.

[0253] Additionally or alternatively, the stimulating element may include, but is not limited to, one or more of the following: An electroluminescent coating, which may be a thin stimulant coating. The electroluminescent coating may be or may define a thin-film light source, wherein the electroluminescent coating can emit light when electrically stimulated (e.g., by applying an electrical signal to the electroluminescent coating via electrodes electrically coupled to the electroluminescent coating); Chemiluminescent or bioluminescent elements. Such elements may be or can define a light source in which bioluminescent light is emitted by a living organism, or chemiluminescent light is generated due to a chemical change / reaction; or A light collector or light guide that directs sunlight and / or ambient light onto the SMA device (or its material).

[0254] Thermal nonmechanical stimulation

[0255] In one example, the nonmechanical stimulus is at least partially related to a thermal nonmechanical stimulus. In some examples, the material properties of the smart material may undergo at least partially a change due to heating. In some examples, the stimulating element may be arranged to provide thermal energy to the associated SMA device (alone or together with other types of nonmechanical stimuli). In this example, the nonmechanical stimulus provided by the stimulating element may at least partially refer to heating. Therefore, the stimulating element may at least partially act as a heater.

[0256] In some configurations, each of the stimulation elements (such as a layered stimulation element) may include one or more thermal conductors.

[0257] A heat conductor may include, but is not limited to, at least one of the following; Heating elements, such as tungsten filaments, can be embedded within the SMA device or can be presented as a separate layer. As a non-limiting example, the heating elements and the SMA device can be arranged in layers stacked on top of each other; or... Nanoparticles, which are embedded within the SMA device or individually Within the layer. Nanoparticles can be heated, for example, through induction heating using the induction layer. The induction layer and the SMA device can be arranged in a layered, stacked arrangement.

[0258] It should be understood that other heat conductors may be provided or used.

[0259] In some examples, the SMA device (or its SMA unit) can be (directly) activated or actuated in response to thermal stimulation or heat.

[0260] In other examples, the thermal heating of the SMA device (causing a change in its material properties) may be due to the SMA device receiving non-thermal, non-mechanical stimulation from the stimulating element.

[0261] Changes in the SMA device or its properties in response to non-mechanical stimuli can be caused by heating the SMA device. As a non-limiting example, when light (as a non-mechanical stimulus) is supplied to an SMA device comprising photoresponsive or photothermal responsive smart materials, the SMA device absorbs at least some of the photons, which then results in heating of the SMA device.

[0262] Heating the SMA device via photon absorption is preferable to direct heating via a heating element, for example, because of its faster response time or higher response rate. Photon absorption occurs as soon as light is supplied to the SMA device, unlike the time lag that occurs when a heating element needs to heat itself first. Furthermore, the heating source is removed once the light is removed; in contrast, a heating element requires a period of time to cool down after power is cut off, during which time it can still provide some heat to the SMA device.

[0263] In addition to light-responsive SMA devices, thermal-responsive SMA devices, or combinations thereof, other types of SMA devices may be used.

[0264] For example, at least one (such as each) of the SMA devices may include: a magnetically responsive actuator device, a dielectric actuator device, a conductive polymer actuator device, or an electroactive hydrogel actuator device.

[0265] It should be understood that stimulating elements or stimulating layers can be provided in different combinations of components, elements, materials, properties and characteristics described above and in this document.

[0266] It should also be understood that different combinations of the SMA device (or its SMA unit) and stimulation element described herein may be provided.

[0267] Stretchable stimulator that realizes a stretchable actuation module

[0268] In some examples, the stimulation element can be stretchable. A stretchable stimulation element can be configured to undergo geometrical changes along with the SMA device in response to receiving non-mechanical stimulation.

[0269] An actuation module that includes one or more stretchable stimulation elements can make the actuation module (including the SMA device and the stimulation element) stretchable.

[0270] A stretchable actuation module may include one or more (such as multiple) layered SMA devices and layered stretchable stimulation elements. These stretchable layered stimulation elements may be stacked one on top of the other. A stretchable actuation module may include several layers of SMA devices and layered stretchable stimulators that are alternating or staggered.

[0271] In some examples, at least one (such as each) of the stimulating elements may be non-stretchable, such as rigid.

[0272] In one example embodiment, the stretchable actuation module may include at least one SMA device and at least one stimulation element housed within a stretchable housing that retracts with the SMA device. The stimulation element may be stretchable or non-stretchable.

[0273] Taking an SMA device and a stimulation element as an example, in an example with a stretchable stimulation element, the stretchable stimulation element can contract along with the SMA device; while in an example with a non-stretchable stimulation element, when the SMA device contracts, the SMA device slides over the non-stretchable stimulation element. The SMA device can be longer than the non-stretchable stimulation element so that the non-stretchable stimulation element does not obstruct the contraction.

[0274] Stimulator configuration

[0275] In some examples, the stimulating element can be static or move with actuation. Stimulating elements configured to move with actuation (such as layered stimulating elements) can be flexible or stretchable.

[0276] For examples with non-stretchable stimulating elements, the stimulating elements (such as layered stimulating elements) can be arranged or configured to “slide” over the layered SMA device without hindering the actuation of the associated smart material.

[0277] As a supplement or alternative to anti-wear agents, a lubricating element may also be provided to facilitate sliding. This lubricating element may include a liquid lubricant or a non-stick coating, such as Teflon, applied to the stimulating element and / or SMA device.

[0278] In examples where the stimulating element is stretchable, the stimulating element can contract and expand together with the SMA device (such as a layered SMA device). The stimulating element can form a separate layer that adheres to the surface of the SMA device or is embedded within the SMA device itself.

[0279] Configuration of stimulation element and SMA device

[0280] To ensure that the non-mechanical stimulation (e.g., energy-based external stimulation) received by the SMA device from the stimulating element is sufficient or appropriate (e.g., for activating the SMA device), one or more aspects or variables of the actuator component (e.g., the stimulation) can be controlled or kept within certain limits. This can be achieved by setting thresholds for one or more such variables.

[0281] In some examples, there may be a correlation between the non-mechanical stimulus (e.g., its intensity) received by the SMA device and the distance between the SMA device and the stimulating element (also known as the "working distance").

[0282] For example, to ensure that the non-mechanical stimulus (e.g., its intensity) received by the SMA device is sufficient to activate the SMA device, a threshold working distance may be established between the SMA device and the stimulating element. Additionally or alternatively, a lower threshold for the non-mechanical stimulus (e.g., its intensity) received and / or transmitted may be established to ensure that the non-mechanical stimulus received by the SMA device is sufficient to activate the SMA device. The lower threshold for the non-mechanical stimulus may apply to a range of working distances between the SMA device and the stimulating element. That is, the lower threshold may be different outside of the working distance range.

[0283] In cases of non-mechanical stimulation intensity, the unit mW / cm can be used. 2 To quantify non-mechanical stimuli.

[0284] In some examples, the intensity of the non-mechanical stimulation (e.g., light and / or heat energy) that the SMA device needs to receive for its own activation can be sufficient, regardless of the working distance between the SMA device and the stimulating element.

[0285] In some examples, the intensity of the non-mechanical stimulus (e.g., light and / or heat energy) required for the SMA device to activate itself can be at least 10 mW / cm². 2 For example, at relatively close proximity (i.e., within a small working distance below a relatively low limit), this relatively low intensity may be sufficient for, for example, activating an SMA device.

[0286] In some examples, the intensity of the non-mechanical stimulus (e.g., light and / or heat energy) required for the SMA device to activate itself can be at least 50 mW / cm². 2 Or at least 100mW / cm 2 In some examples, the range of working distances increases as the lower threshold increases. When the working distance is variable, the intensity of the non-mechanical stimulus should be sufficient so as not to decrease as the distance increases.

[0287] For example, in applications where the SMA device and the stimulation element can move relative to each other (e.g., in wearable devices including an SMA device), at least 50 mW / cm 2 The strength is likely appropriate. Naturally, at least 100 mW / cm². 2 The intensity can provide the ability to activate SMA devices over an increased distance range.

[0288] While a lower threshold can be set to ensure that non-mechanical stimulation is sufficient for, for example, activating an SMA device, an upper threshold can also be set for non-mechanical stimulation. Although there may be no limitation on non-mechanical stimulation that can activate an SMA device, an upper threshold can be established to comply with the limitations imposed by thermal degradation that may occur under certain conditions. The likelihood of thermal degradation (or concern about thermal degradation) can be inversely proportional to the working distance between the SMA device and the stimulating element. In other words, as the working distance between the SMA device and the stimulating element decreases, the smart material's sensitivity to thermal degradation may increase.

[0289] Therefore, as an alternative or supplement to the lower threshold, it may be desirable to set an upper threshold to prevent thermal degradation of the smart materials in the SMA device.

[0290] In some examples, the upper limit threshold for non-mechanical stimulation can be set to be equal to or less than 1000 mW / cm². 2 Such as 500mW / cm 2 Or 300mW / cm 2 .

[0291] In some examples, both a lower and upper threshold for the non-mechanical stimulus are set. This ensures that the received non-mechanical stimulus is sufficient while preventing the smart material from facing the risk of thermal degradation. For example, the intensity of the non-mechanical stimulus can be controlled within any of the following ranges: approximately 10 to 1000 mW / cm². 2 Approximately 50 to 1000 mW / cm 2 Approximately 100 to 1000 mW / cm 2 Approximately 10 to 500 mW / cm 2 Approximately 50 to 500 mW / cm 2 Approximately 100 to 500 mW / cm 2 Approximately 10 to 300 mW / cm 2 Approximately 50 to 300 mW / cm 2 and 100 to 300 mW / cm 2 .

[0292] It should be understood that the upper and / or lower thresholds described above can vary depending on the characteristics of the non-mechanical stimulus. For example, with regard to light energy, the upper and / or lower thresholds can differ for different wavelengths. In some examples, at lower wavelengths such as less than 450 nm (e.g., UV light), activating the SMA device may require lower intensities (and therefore lower thresholds). In one example, UV light may be used at 100 to 300 mW / cm². 2 Non-mechanical stimulation within the intensity range. At higher wavelengths (e.g., above 450 nm), activating an SMA device may require higher intensities (and therefore higher thresholds).

[0293] In some examples, the stimulating element may include one or more LEDs for providing light energy (e.g., light) to the SMA device as a non-mechanical stimulus. The LEDs of the stimulating element may be high-power. In some examples, the LEDs may be arranged to provide at least 10 mW / cm² to the SMA device. 2 The intensity is provided that the SMA device is positioned within 65 mm of the stimulating element. In some examples, the LEDs can be arranged to provide at least 100 mW / cm² to the SMA device. 2 The intensity is provided that the SMA device is positioned within 30mm of the stimulation element.

[0294] In some examples, the relationship between the non-mechanical stimulus intensity (L) and the working distance (r) between the SMA device and the stimulating element can be as follows:

[0295] Therefore, under the condition that the non-mechanical stimulus remains constant: To double the intensity, the distance would need to be reduced to one-quarter of its original value. Doubling the distance will reduce the intensity to 1 / 4 of its original value; To increase the intensity tenfold, the distance would need to be reduced to one-tenth of its original value. 0.5 .

[0296] For example, for supplying an SMA device with an intensity of 250 mW / cm 2 The working distance can be increased by using non-mechanical stimulation (e.g., light energy) and a stimulation element positioned 3 mm away from the SMA device: Increase the strength of the transmitted signal. For example, increasing the strength by approximately 44 times means that the distance could be increased by approximately 6.7 (44) times. 0.5 ) times; and Reduce the stimulation intensity required for activation. For example, reduce the stimulation intensity to 250 mW / cm. 2 Reduced to 100mW / cm 2 This means the distance can be increased by 2.5.0.5 times.

[0297] Therefore, for example, a distance of 3mm can be increased to: 3 × 2.5 0.5 ×6.7 ​​= 31mm.

[0298] In some examples, the working distance is controlled from 0 mm (i.e., contact) to 10 mm. In other examples, the working distance may be greater than 0 mm. In one example, the working distance is between 0.5 mm and 10 mm. In other examples, the working distance may be between 0.5 mm and 5 mm.

[0299] Coupling elements and termination elements

[0300] The actuator assembly 100 may also include at least one coupling element for coupling the actuator module 102 to an object. The object may be inanimate.

[0301] In some examples, the actuation module includes at least one coupling element.

[0302] One or more coupling elements may be located at or together with the actuation module for coupling to the object.

[0303] In some examples, multiple coupling elements can be used to couple the actuator module to at least one object.

[0304] The coupling element can be formed as an attachment for (e.g., removably) attaching the actuation module 102 to an object.

[0305] At least one coupling element may be attached to an end of the actuation module, such as a termination end. In one example, a first end of the coupling element is attached to a termination end of the actuation module.

[0306] In some examples, at least one coupling element is attached to each of the two opposing terminations of the actuation module.

[0307] At least one coupling element may include or form an anchor point (also referred to as an anchoring zone).

[0308] In some examples, the anchoring zone may form part of the actuation module.

[0309] In one example, the anchoring area may be located at or near the object end of the coupling element for attaching the object to the coupling element. In some examples, the object end of the coupling element may be the end of the coupling element opposite to the first end attached to the actuation module.

[0310] In some examples, the ends of the actuation module (such as termination ends) may be attached to the object via one or more anchoring zones.

[0311] In some examples, the ends of the actuation module (such as termination ends) may be coupled to the anchoring zone.

[0312] The anchoring zone can be arranged to attach at least one end of the actuation module to the object.

[0313] In some examples, multiple coupling elements can be configured to couple to each other to form an actuation module as a ring.

[0314] In one example, at least one coupling element may be attached to the termination ends of two actuation modules. For example, a first end of the coupling element may be attached to the termination end of a first actuation module. A second end of the coupling element may be attached to the termination end of a second actuation module. The coupling elements can thus connect the actuation modules sequentially or in a loop.

[0315] In some examples, the object may include coupling elements for coupling to the actuation module disclosed herein.

[0316] Additionally or alternatively, one or more coupling elements may be located at or together with the object to be actuated by the actuation module.

[0317] In some examples, the coupling element may include, but is not limited to, one or more of the following garment accessory types: snap fasteners, ratchet buckles, belt buckles, clasps (e.g., similar to necklace clasps), snap buttons, buttons (e.g., similar to regular shirt buttons), hooks and loops (e.g., Velcro), zippers, key rings, fabric knots or loops (e.g., similar to shoelaces or paracord), and fabric ends or seams (e.g., for sewing module ends to textiles). It should be understood that other garment accessory types may be provided or employed.

[0318] Additionally or alternatively, the coupling element may include, but is not limited to, one or more of the following engineering type attachments: (e.g., for fastening with bolts, screws, etc.) washers, clamp mounts, bearing ends, ratchet mechanisms, clamps (e.g., bullhead clamps), magnets, ball joints, suction cups, clips, adhesives (e.g., resins), bolts, nuts, screws, staples, nails, and rivets. It should be understood that other engineering type attachments may be provided or used.

[0319] In some examples, a coupling element or multiple coupling elements can be a fully custom or bespoke attachment type.

[0320] In some examples, the coupling element can be replaceable or modular. The coupling element can be modular, for example, and can be replaced with other coupling elements (e.g., standard threaded ends that can be adapted to different coupling elements).

[0321] In some examples, at least one (or more) of the coupling elements may include or be configured as strips or hoops.

[0322] Termination components

[0323] In some examples, the termination end of the actuation module may include at least one termination element.

[0324] Termination components can be part of the actuation module.

[0325] In some examples, at least one termination element may be configured to terminate at least one end of the actuation module.

[0326] In some examples, at least one termination element may be configured to terminate at least one end of each SMA device in the SMA device.

[0327] In some examples, the coupling element may be coupled to the termination element. The coupling element may form an extension of the termination element.

[0328] In one example, such as reference Figure 1 The actuator assembly 100 may include two coupling elements 134, 136, wherein the respective coupling elements 134, 136 are coupled to the respective termination elements 130, 132. Each coupling element 134, 136 may include, for example, two arms for defining a U-shaped coupling element.

[0329] Termination elements and / or coupling elements may be coupled (such as attached) to the end of an actuation module (such as a stretchable actuation module) (such as a termination end).

[0330] In some examples, terminating elements can form the terminating ends of the actuation module.

[0331] In some examples, the coupling element may be coupled to a corresponding termination element, or may be an extension of the corresponding termination element. In some examples, the coupling element and the corresponding termination element may be an integral part or component.

[0332] For any of the actuation module configurations, the actuation module may include a termination element at one end of the actuation module, or a corresponding termination element at the opposite end of the actuation module.

[0333] For any of the actuation module configurations, the actuation module may include a coupling element at one end of the actuation module, or a corresponding coupling element at the opposite end of the actuation module.

[0334] In some examples, at least one termination element may be configured to seal at least one end of the actuation module.

[0335] In some examples, the terminating element may form a terminating cap or a terminating point.

[0336] Termination elements can provide one or more of the following functions: The end of the sealed housing is designed to completely encapsulate the optional layered stimulation element and SMA device within the housing; It acts as a force transmission component to transmit the force generated by the SMA device (or its SMA unit) to the coupling element and / or anchorage area; In examples where the actuation module is directly attached / anchored to one or more objects via one or more termination elements, one or each termination element can act as a permanent attachment / anchoring area (e.g., like a tendon in a muscle); or In applications where the internal parts or components of the actuation module need to be tightly sealed (e.g., marine applications), termination elements can act as hermetically sealed components that work in conjunction with a non-porous housing.

[0337] In some examples, termination elements can be attached to the housing when the actuation module’s housing is stretchable, allowing it to contract and / or expand along with the SMA device.

[0338] In one example, such as in an example where the housing is stretchable, the termination element may terminate the end of the actuation module that includes the housing.

[0339] In some examples, when the housing of the actuation module is rigid, inflexible, or non-stretchable, making it unable to contract and / or expand with the SMA device, termination elements may be attached to (or terminate) the end of the SMA device.

[0340] In some examples, when the housing of the actuation module is rigid, inflexible, or non-stretchable, preventing it from contracting and / or expanding with the SMA device, a termination element may be attached to (or terminated) the end of the stimulation element when the stimulation element is stretchable.

[0341] In some examples, such as in cases where the housing is rigid, non-flexible, or non-stretchable, the termination element may terminate one or both ends of the SMA device and the stimulation element (but not the ends of the housing), and the housing acts as a channel within which the SMA device (or its SMA unit) can be actuated independently of the housing.

[0342] For example, in an example where the stimulation element is stretchable and thus can stretch with SMA actuation or contraction, the termination element can terminate both ends of the SMA device and the stimulation element.

[0343] In examples where the stimulating element is non-stretchable, one (identical) end of the SMA device and the stimulating element may be completely terminated by a termination element, while the other end of the SMA device (but not the stimulating element) may be terminated by another termination element. In such examples, the stimulating element (such as a layered stimulating element) may be shorter than the SMA device (such as a layered SMA device) so that the SMA device (or its SMA unit) is retractable.

[0344] In various examples, the termination element may be made of one or more of the following materials, including but not limited to: Cast or injection molded plastic / polymer ends; Metal caps or crimping parts; and Ceramic hat.

[0345] In various examples, where the termination element has a plastic end, the plastic end can be one or more of the following: Injection molding; Mold casting; and It can be fused with materials, such as polymerized with SMA materials.

[0346] It should be understood that other suitable materials may be provided or used for termination components.

[0347] object

[0348] In some examples, the object may include, but is not limited to, wearable items (e.g., clothing, fabric, gloves, or sleeves).

[0349] In some examples, the object may include, but is not limited to, levers, components, rotatable components, pivotable components, a pair of clamping components, pulleys, cables, ropes, etc.

[0350] In some examples, the object may be located outside the actuator component.

[0351] In some examples, the object may be located outside the actuator module.

[0352] In some examples, the object may form part of an actuator component and / or at least one of its actuator modules.

[0353] External objects may include subjects (e.g., human body parts, robot parts, etc.).

[0354] The object can be flexible or rigid.

[0355] In some examples, the actuator device may also include a flexible guide element, in which the actuation module may be arranged.

[0356] In some examples, the actuation module may be coupled to the object, for example, via a coupling element (e.g., removably).

[0357] In some examples, the actuation module can be arranged around a portion of the object.

[0358] In some examples, the actuation module can be wound around the object in a spiral configuration.

[0359] In some examples, the object can be flexible.

[0360] In some examples, the object may be or may include wearable items.

[0361] In some examples, wearable items can be or may include at least one of the following: clothing, fabric, gloves, or sleeves. Clothing may include trousers, shirts, socks, etc., that can be worn by the subject.

[0362] In some examples, the wearable item may be or may include gloves, and the actuation module may be configured to generate a force acting on the finger portion of the glove.

[0363] In some examples, the wearable item may be or may include gloves. The actuator assembly may include a plurality of actuation modules configured to generate forces acting on finger portions of the glove. For a given actuation module among the plurality of actuation modules, the given actuation module may be configured to generate forces acting on a given finger portion of the finger portion.

[0364] In some examples, the wearable item may be or may include gloves, and the actuation module may be configured to generate a force acting on the palm portion of the glove.

[0365] In some examples, the actuator component may include multiple actuation modules that can be configured to generate forces acting on an object.

[0366] In some examples, multiple actuation modules may include a pair of active-antagonistic actuation modules arranged on opposite sides of an object.

[0367] Actuator components can, for example, represent or be used as (artificial) muscle modules.

[0368] Interconnecting and connecting elements / force transmission components / connectors

[0369] In some examples, the actuator assembly may also include a force transmission component coupled to one end of at least one (such as each) SMA device.

[0370] The force transmission component may include one or more connectors.

[0371] In one example, one or more connectors may be arranged to sequentially attach two SMA units or two SMA devices together. The connectors may form part of a force transmission mechanism.

[0372] In some examples, the connector may be positioned between the SMA device and the coupling element. In other examples, the connector may be positioned between the SMA unit (of the SMA device) and the coupling element, the SMA unit being arranged closest to the termination end of the actuation module or the associated anchoring area. Each connector may be or may define a force-transmitting component to transmit forces generated by the SMA unit or the SMA device.

[0373] In some examples, one or more connectors may have an elastic modulus S higher than a predetermined threshold. =Stress and strain For example, Young's modulus.

[0374] The predetermined threshold can be set above the force generated by the associated SMA device, thereby limiting the tendency of the connector to deform when the SMA device is subjected to changes in non-mechanical stimuli.

[0375] In one example, one or more connectors may be made of a material that is at least partially rigid, inflexible, or inelastic along its longitudinal direction. This allows the associated connectors to transmit forces generated by the SMA device due to changes in non-mechanical stimuli received by the SMA device.

[0376] It should be understood that other materials may be provided or used.

[0377] Some examples may include one or more connectors to help transmit forces along the SMA device or to connect individual SMA units into a group of SMA units. The force transmission mechanism or its connectors may be made of, but are not limited to, at least one of, SEBS (styrene-ethylene-butene-styrene), epoxy resin (e.g., medium-hardness epoxy), TPE (thermoplastic elastomer), or TPU (thermoplastic polyurethane). It should be understood that other materials may be provided or employed.

[0378] It should be understood that SMA devices (or their SMA units) or actuation modules having SMA devices can be provided in different combinations of geometries (designs), actuation types and connectors as described above and herein.

[0379] In one example, the SMA device may be in the form of a thin film that is designed or constructed to linearly contract or expand in the activated state.

[0380] In some examples, one or more force transmission components may be provided, for example coupled to the SMA device, to assist in the transmission or delivery of forces generated by the SMA device in response to receiving a stimulus.

[0381] In one example, the coupling element includes a cable or cord. The cable or cord may be arranged to attach its first end to the end of the SMA device or its stimulation element, such as the termination end of an actuation module or housing. The cable or cord may also be arranged to attach its second end (e.g., removably) to an object (which may be external).

[0382] In some examples, the actuator assembly may also include at least one interconnecting element (e.g., a cable or cord) configured to couple at least one of a plurality of coupling elements to the actuator module.

[0383] In some examples, multiple SMA units may be spaced apart from each other, and the SMA device may also include multiple connectors, wherein a corresponding connector among the multiple connectors may be arranged between corresponding adjacent SMA units in the multiple SMA units to connect the corresponding adjacent SMA units to each other.

[0384] In an example with connectors that connect adjacent SMA units, the connectors can also be part of a force transmission mechanism.

[0385] In one example, the coupling element includes one or more connectors. The connectors of the coupling element can be used to attach the coupling element to the actuation module via a first end of the connector. A second end of the connector can be attached to an anchoring area for attaching the coupling element to an object.

[0386] shell / shell

[0387] In some configurations, the actuator assembly may also include a housing (such as a shell) configured to house the stimulation element of the SMA device and / or actuation module.

[0388] In some examples, the shell can be flexible.

[0389] In some examples, the shell may be stretchable. As a non-limiting example, a stretchable shell may include textiles that encapsulate the SMA device and stimulator elements. For example, textiles such as knitted fabrics may be stretchable and can serve as the shell.

[0390] In some examples, the shell may be non-stretchable.

[0391] In some examples, one or more guides (e.g., slots, orifices, or channels) may be provided or defined within the housing. The guides may be located on opposite sides of the housing. Stimulating elements (e.g., flexible PCBs) may be held suspended within or through the guides.

[0392] In some examples, the housing may include a first housing segment having a first cross-sectional dimension. The housing may also include a second housing segment having a second cross-sectional dimension. The second cross-sectional dimension is smaller than the first cross-sectional dimension. The second housing segment may be slidably movable relative to the first housing segment. The second housing segment may be received by the first housing segment, such as being received within the first housing segment.

[0393] In some examples, the housing may also include a third housing segment having a third cross-sectional dimension. The third cross-sectional dimension may be smaller than the first cross-sectional dimension. The third housing segment may be slidably movable relative to the first housing segment. The third housing segment may be received by the first housing segment, such as being received within the first housing segment.

[0394] In some examples, the second and third shell segments may be arranged on opposite sides of the first shell segment. In this way, an alternating arrangement of smaller and larger shell segments can be provided. It should be understood that more than three shell segments may exist, such as four, five, six, or any greater number of alternating smaller and larger shell segments.

[0395] In some examples, the third cross-sectional dimension may be smaller than the second cross-sectional dimension. The third shell segment may also be slidably movable relative to the second shell segment. The third shell segment may be received by the second shell segment, such as being received within the second shell segment.

[0396] In one example, the housing may form a support structure for the actuator assembly or its actuation module.

[0397] In one example, the housing may form a cage that at least partially surrounds the actuator assembly or its actuation module.

[0398] In some examples, the SMA device may be located within the housing or within an internal cavity of the housing.

[0399] The housing can be, or may serve as, an outer layer, such as the outer layer of an actuator assembly or its actuation module. The housing can be arranged to protect the SMA device. The housing may include or form a cover layer, encapsulation layer, or protective layer. Stimulating elements (such as layered stimulating elements) may be disposed within the housing to protect the stimulating elements.

[0400] In one example, the housing may form the outer housing of the actuator assembly or its actuation module.

[0401] In one example, the housing forms a sleeve component of the actuator assembly or its actuation module.

[0402] The housing may include cavities (such as channels) to receive one or more stimulation elements, and one or more SMA devices (or their SMA units).

[0403] In one example, the actuator assembly includes two or more housings.

[0404] For example, each housing may accommodate one or more stimulation element-SMA device pairs.

[0405] The housing can provide one or more of the following functions: Enclose the stimulation element and SMA device (or its SMA unit) to minimize or prevent light leakage; Minimize or prevent external wear of the stimulating element and SMA layer; Protect the stimulation element and SMA device from external environmental influences; and For examples where the housing is not stretchable, the housing may provide channels for the SMA device (or its SMA unit) to be actuated within it. Anti-wear agents, such as liquid lubricants or non-stick coatings, may be provided or coated onto the interior portions (or inner walls or inner surfaces) of the housing to enhance or facilitate the sliding of the SMA device. The outer portions (or outer walls or outer surfaces) of the housing may also be made of non-stick materials or coatings.

[0406] The housing may be made of different materials or be constructed from different materials.

[0407] In some examples, the housing may be made of a hard or rigid material, including, but not limited to, at least one of the following: (hard) plastics, metals, ceramics, or composite materials (e.g., carbon fiber). It should be understood that other hard or rigid materials may be provided or employed.

[0408] In some examples, the housing may be or include a flexible housing (which allows for flexibility around the curved surface). The housing may be made of a (flexible) material, including but not limited to at least one of the following: fabric / textile, woven nylon, flexible plastic, rubber, TPU (thermoplastic polyurethane), or TPE (thermoplastic elastomer). It should be understood that other flexible materials may be provided or employed.

[0409] In some examples, the housing may be or include a stretchable housing (which can contract and expand with SMA actuation). The housing may be made of a (stretchable) material, including but not limited to at least one of the following: fabric / textile, woven nylon, rubber, TPU (thermoplastic polyurethane), or TPE (thermoplastic elastomer). It should be understood that other stretchable materials may be provided or employed.

[0410] It should be understood that the shell can be provided in different combinations of materials, properties and characteristics described above and in this document.

[0411] It should also be understood that different combinations of the SMA device (or its SMA unit), stimulation element, and housing described herein may be provided.

[0412] Example - Attached Image

[0413] Various examples or techniques will now be described in further detail by way of the following non-limiting examples and with reference to the accompanying drawings.

[0414] Various examples may provide actuator assemblies having the actuation modules disclosed herein, as well as one or more coupling elements coupled to the actuation modules.

[0415] Figure 7 A schematic perspective view of an actuator assembly 100 according to various examples is shown. The actuator assembly 100 includes an actuation module 102.

[0416] In some examples, the housing 106 may completely surround the perimeter of the layered device 104.

[0417] The layered device 104 can be arranged in planar layers.

[0418] refer to Figure 7 The layered device 104 may include one or more layered SMA devices 108, 110 and one or more layered stimulation elements 112, 114. The SMA devices 108, 110 and stimulation elements 112, 114 may be arranged in alternating or staggered layers of the layered device 104.

[0419] In some examples, each stimulating element 112, 114 may include one or more light sources, such as one or more LEDs.

[0420] Stimulating elements 112, 114 may provide non-mechanical stimulation (e.g., light) to SMA devices 108, 110. In response to the non-mechanical stimulation, SMA devices 108, 110 may be arranged to undergo geometric or dimensional changes. For example, each SMA device 108, 110 may contract or expand in response to receiving a non-mechanical stimulation.

[0421] Figure 7 The actuation module may also include two heat dissipation components 118 and 120. These heat dissipation components may be provided as corresponding heat dissipation layers.

[0422] The heat dissipation layer 118 may be arranged on or above the stimulation element 112, while the layered heat dissipation layer 120 may be arranged on or above the SMA device 110.

[0423] A heat dissipation layer 118 may be disposed between the SMA device 108 and the stimulation element 112, while a heat dissipation layer 120 may be disposed between the stimulation element 112 and the SMA device 110.

[0424] In some examples, the housing 106 itself may serve as or be a heat dissipation layer.

[0425] The actuator assembly 100 may further include at least one termination element to terminate an end or end region of the actuation module 102. As discussed above, each termination element may be disposed at or form a termination end of the actuation module. For example, the actuator assembly 100 may include two termination elements 130, 132 to terminate opposite ends or end regions of the actuation module 102.

[0426] As will be described in more detail below, the actuation module 102 can be constructed in a variety of different ways. It should be understood that one or more components (e.g., SMA device, stimulation element, housing, etc.) related to the various configurations of the actuation module described below can be or may include any one or more corresponding components described above and herein.

[0427] Now refer to Figures 8 to 2 1. Describe various examples of actuation modules.

[0428] Figure 8 A schematic perspective view of an actuation module 202 according to various examples is shown. The actuation module 202 may be in a tubular configuration.

[0429] The actuation module 202 may include an inner tube 280, which may be flexible and resilient. The actuation module 202 may also include a tubular SMA device 208 and a tubular stimulation element 212, which are arranged in a layered, stacked arrangement. For clarity, dashed circles are shown to indicate the boundaries of the tubular SMA device 208.

[0430] The inner tube 280, the tubular SMA device 208, and the tubular stimulation element 212 can be arranged concentrically.

[0431] The inner tube 280, the tubular SMA device 208, and the tubular stimulation element 212 can be housed within the housing or the outer tube 206. The outer tube 206 can be a rigid tube. This may mean that the outer tube 206 can be a static tube.

[0432] The stimulation element 212 may cover the inner surface of the outer tube 206. In various examples, the stimulation element 212 may include one or more LEDs and / or one or more waveguides.

[0433] exist Figure 8In the diagram, the tubular SMA device 208 is shown in an idle state, thus no non-mechanical stimulation is provided to the tubular SMA device 208.

[0434] Figure 9 The same tubular actuation module 202 is shown in an activated state, wherein non-mechanical stimulation (e.g., light) is provided to the SMA device 208.

[0435] As shown in the figure, in response to non-mechanical stimuli, the SMA device 208 can (radially) contract, thereby applying a radial force or constriction force to the inner tube 280. Due to the force acting on the inner tube 280, the size (or area or volume) of the inner tube 280 decreases.

[0436] As discussed above, it should be understood that multilayer SMA devices and stimulation elements can be provided in a layered arrangement in actuation module 202.

[0437] In one example, a three-layer SMA device and stimulation element may be provided. For example, another stimulation element (e.g., having an LED and / or a waveguide) may be arranged between the inner tube 280 and the tubular SMA device 208, for example covering the outer surface of the inner tube 280. As another example, another SMA device may be arranged between the stimulation element 212 and the outer tube 206, for example covering the inner surface of the outer tube 206.

[0438] Although Figure 8 and Figure 9 Not shown, but it should be understood that any one or more termination elements and / or any one or more coupling elements described herein may be provided for the actuation module 202.

[0439] In various examples, the actuation module may have or may be a concentric or circular configuration. In such configurations, the (distal) ends of the actuation module may be attached or coupled together to form a (closed) loop. One or more SMA devices and / or one or more stimulation elements may be present.

[0440] Using an SMA device and a stimulation element as a non-limiting example, when the SMA device (or its SMA unit) contracts, the circumference of the ring decreases or shortens, and the ring contracts diametrically to transmit kinetic forces around an object or limb surrounded by the actuation module. The housing may be stretchable and contracts with the SMA device. In some examples, the stimulation element may be stretchable and contracts with the SMA device. In some examples, the stimulation element may be non-stretchable, and the SMA device slides over the stimulation element when the SMA device contracts. The SMA device is longer than the non-stretchable stimulation element so that the stimulation element does not impede contraction.

[0441] Figure 10A and Figure 10BA schematic cross-sectional view of an actuation module 402 in a concentric configuration according to various examples is shown.

[0442] The actuation module 402 may include an SMA device 408 and a stretchable stimulation element 412. The SMA device 408 and the stretchable stimulation element 412 may be arranged in layers stacked on top of each other.

[0443] In various examples, the stimulating element 412 may include one or more LEDs and / or one or more waveguides.

[0444] The actuation module 402 may also include a stretchable housing 406 for accommodating the SMA device 408 and the stretchable stimulation element 412.

[0445] Termination element 430 may be provided to terminate the end of actuator module 402. Coupling element 434 may be coupled to termination element 430 and attached together to form actuator module 402 as a loop. Coupling element 434 may be, for example, a pull ring or a sleeve.

[0446] The upper (or top) view in Figure 10 shows the actuation module 402 in an idle state, which means that no non-mechanical stimulation is provided to the SMA device 408.

[0447] The lower (or bottom) view in Figure 10 shows the activated actuation module 402, in which non-mechanical stimulation (e.g., light) is provided to the SMA device 408. As shown, in response to the non-mechanical stimulation, the SMA device 408 can retract (radially). Since the stimulation element 412 is stretchable, the stimulation element 412 retracts (radially) along with the SMA device 408. Furthermore, since the housing 406 is stretchable, the housing 406 retracts (radially) along with the SMA device 408. Therefore, the actuation module 402 retracts (radially) as a whole, as illustrated by the arrow. Thus, the actuation module 402, or its perimeter, decreases in size (radially). In the example where the actuation module 402 is arranged around an object, the retraction of the SMA device 408, and therefore also the retraction of the actuation module 402, can apply a radial force or constriction force to the object.

[0448] Figure 11A and Figure 11B A schematic cross-sectional view of an actuation module 502 in a concentric configuration according to an example is shown.

[0449] The actuation module 502 may include an SMA device 508 and a non-stretchable stimulation element 512. The SMA device 508 and the non-stretchable stimulation element 512 may be arranged in layers stacked on top of each other.

[0450] In various examples, the stimulating element 512 may include one or more LEDs and / or one or more waveguides.

[0451] The actuation module 502 may also include a stretchable housing 506 for accommodating the SMA device 508 and the non-stretchable stimulation element 512.

[0452] As discussed above, a termination element 530 may be provided to terminate the end of the actuation module 502. A coupling element 534 may be coupled to the termination element 530 and attached together to form the actuation module 502 as a loop. The coupling element 534 may be, for example, a pull ring or a sleeve.

[0453] The upper (or top) view in Figure 11 shows the actuation module 502 in an idle state, meaning that no non-mechanical stimulation is being provided to the SMA device 508. As shown, the SMA device 508 is longer than the non-stretchable stimulation element 512. This may mean that one end of the non-stretchable stimulation element 512 could be a loose end or a floating end within the housing 506, rather than being terminated by the termination element 430.

[0454] The lower (or bottom) view in Figure 11 shows the activated actuation module 502, in which non-mechanical stimulation (e.g., light) is provided to the SMA device 508. As shown, in response to the non-mechanical stimulation, the SMA device 508 can retract (radially). Since the stimulation element 512 is non-stretchable, the SMA device 508 slides over the stimulation element 512 when it retracts. Furthermore, since the housing 506 is stretchable, it retracts (radially) along with the SMA device 508. Therefore, the actuation module 502 retracts (radially) as a whole, as illustrated by the arrow. Thus, the actuation module 502, or its perimeter, decreases in size (radially). In the example where the actuation module 502 is arranged around an object, the retraction of the SMA device 508, and therefore also the retraction of the actuation module 502, can apply a radial force or constriction force to the object.

[0455] In some examples, the actuator assembly or actuation module has a pulley device or system with one or more pulleys. A series of pulleys may be disposed within the housing of the actuation module, wherein the SMA device and the stimulation element may wrap around, be wrapped around, or pass over these pulleys. The stimulation element may be stretchable or non-stretchable. One or more SMA devices and / or one or more stimulation elements may be present.

[0456] Using pulleys can effectively increase the overall length of an SMA device while maintaining the same actuation module length. In such examples, the SMA device is able to retract and pull the object over a greater distance.

[0457] Using an SMA device and a stimulation element as a non-limiting example, in the example with a stretchable stimulation element, the stretchable stimulation element can contract along with the SMA device; while in the example with a non-stretchable stimulation element, when the SMA device contracts, the SMA device slides over the non-stretchable stimulation element. The SMA device is longer than the non-stretchable stimulation element so that the non-stretchable stimulation element does not obstruct the contraction.

[0458] Figure 12A and Figure 12B A schematic cross-sectional view of an actuation module 602 with a pulley system is shown, which has two pulleys 670. It should be understood that any number (e.g., one, two, three, four, or any greater number) of pulleys 670 may be provided.

[0459] The actuation module 602 may include an SMA device 608 and a stretchable stimulation element 612. The SMA device 608 and the stretchable stimulation element 612 may wrap around or pass over the pulley 670.

[0460] The SMA device 608 and the stretchable stimulation element 612 can be arranged in layers stacked on top of each other.

[0461] In various examples, the stimulating element 612 may include one or more UEDs and / or one or more waveguides.

[0462] The actuation module 602 may also include a housing 606 for accommodating the SMA device 608, the stretchable stimulation element 612, and the pulley 670. The housing 606 may be non-stretchable.

[0463] A termination element 630 may be provided to terminate one end of the actuation module 602 to a coupling element 634 coupled to the termination element. The other end of the actuation module 602 may be terminated or closed by a housing 606, which defines an opening or orifice to allow the force transmission component 672 to pass through.

[0464] One end region of the force transmission component 672 may be coupled to the SMA device 608 and the stimulation element 612, wherein the other end region of the force transmission component 672 is terminated by another termination element 632 to a coupling element 636 coupled to the termination element for attachment or coupling to an object.

[0465] Figure 12A The upper (or top) diagram shows the actuation module 602 in an idle state, meaning that no non-mechanical stimulation is being provided to the SMA device 608.

[0466] Figure 12BThe lower figure (or bottom view) shows the actuation module 602 in an activated state, where a non-mechanical stimulus (e.g., light) is provided to the SMA device 608. As shown, in response to the non-mechanical stimulus, the SMA device 608 can contract to provide linear actuation. Since the stimulation element 612 is stretchable, it contracts along with the SMA device 608. When the SMA device 608 contracts, the force transmission member 672 is pulled toward the housing 606. The force transmission member 672 can be pulled into the housing 706. When an object (not shown) is coupled to the force transmission member 672 via the coupling element 636, when the SMA device 608 contracts, a force is transmitted by the force transmission member 672 to act on the object, thereby pulling the object toward the actuation module 602.

[0467] Figure 13A and Figure 13B A schematic cross-sectional view of an actuation module 702 with a pulley system is shown, which has two pulleys 770. It should be understood that any number (e.g., one, two, three, four, or any greater number) of pulleys 770 may be provided.

[0468] The actuation module 702 may include an SMA device 708 and one or more non-stretchable stimulation elements 712. The SMA device 708 may wrap around or pass over the pulley 770.

[0469] The SMA device 708 and the non-stretchable stimulation element 712 can be arranged in layers stacked on top of each other.

[0470] In various examples, the stimulating element 712 may include one or more LEDs and / or one or more waveguides.

[0471] The actuation module 702 may also include a housing 706 for accommodating the SMA device 708, the non-stretchable stimulation element 712, and the pulley 670. The housing 706 may be non-stretchable.

[0472] A termination element 730 may be provided to terminate one end of the actuation module 702 to a coupling element 734 coupled to the termination element. The other end of the actuation module 702 may be terminated or closed by a housing 706, which defines an opening or orifice to allow the force transmission component 772 to pass through.

[0473] One end region of the force transmission component 772 may be coupled to the SMA device 708, while the other end region of the force transmission component 772 is terminated by another terminating element 732 and a coupling element 736 coupled to the terminating element, for attachment or coupling to an object.

[0474] Figure 13AThe upper (or top) diagram shows the actuation module 702 in an idle state, meaning that no non-mechanical stimulation is being provided to the SMA device 708. As shown, the SMA device 708 is longer than the non-stretchable stimulation element 712. This may mean that one end of the non-stretchable stimulation element 712 can be a loose end or a floating end within the housing 706.

[0475] Figure 13B The lower figure (or bottom view) shows the activated actuation module 702, in which a non-mechanical stimulus (e.g., light) is provided to the SMA device 708. As shown, in response to the non-mechanical stimulus, the SMA device 708 can retract to provide linear actuation. When the SMA device 708 retracts, the force transmission member 772 is pulled toward the housing 706. The force transmission member 772 can be pulled into the housing 706. When an object (not shown) is coupled to the force transmission member 772 via the coupling element 736, when the SMA device 708 retracts, the force transmission member 772 transmits a force to act on the object, thereby pulling the object toward the actuation module 702. Since the stimulation element 712 is non-stretchable, the SMA device 708 slides past the stimulation element 712 when the SMA device 708 retracts.

[0476] Various examples provide an actuation module having an SMA device and a stimulation element housed within a static or non-stretchable housing. As the SMA device retracts, it slides within the housing. In some examples, the SMA device can slide into the housing. The stimulation element can be stretchable or non-stretchable. One or more SMA devices and / or one or more stimulation elements may be present.

[0477] Using an SMA device and a stimulation element as a non-limiting example, in the example with a stretchable stimulation element, the stretchable stimulation element can contract along with the SMA device; while in the example with a non-stretchable stimulation element, when the SMA device contracts, the SMA device slides over the non-stretchable stimulation element. The SMA device is longer than the non-stretchable stimulation element so that the non-stretchable stimulation element does not obstruct the contraction.

[0478] As discussed above, the SMA device can be attached to one or more connectors. These connectors can be inelastic, at least longitudinally, and maintain their longitudinal length under the force generated by the SMA device during use. Connectors can include cables, ropes, cords, fishing lines, and fiber bundles, etc. When the SMA device generates a force (such as tension), this force is transmitted to the connector. Therefore, the connector acts as a force-transmitting component. The connector can be coupled to an object / body. When the SMA device retracts, a force is applied to the connector, and this force then acts on the object. The connector can be pulled into a housing.

[0479] Figure 14A and Figure 14B A schematic cross-sectional view of an actuation module 802 having a static housing (or non-stretchable housing) 806 is shown according to various examples.

[0480] The actuation module 802 may include an SMA device 808 and a stretchable stimulation element 812, which are housed within a housing 806. The SMA device 808 and the stretchable stimulation element 812 may be arranged in layers stacked on top of each other.

[0481] In various examples, the stimulating element 812 may include one or more LEDs and / or one or more waveguides.

[0482] Termination elements 830 and 832 may be provided to terminate the ends of the actuation module 802. Coupling elements 834 and 836 may be coupled to termination elements 830 and 832. One termination element 830 may terminate one end of the housing 806, the SMA device 808, and the stimulation element 812, while another termination element 832 may terminate the opposite ends of the SMA device 808 and the stimulation element 812, and this other termination element may be movable relative to the housing 806.

[0483] Figure 14A The upper (or top) diagram shows the actuation module 802 in its idle state, which means that no non-mechanical stimulation is being provided to the SMA device 808.

[0484] Figure 14B The lower figure (or bottom view) shows the actuation module 802 in an activated state, where a non-mechanical stimulus (e.g., light) is provided to the SMA device 808. As shown, in response to the non-mechanical stimulus, the SMA device 808 can retract to provide linear actuation. Since the stimulation element 812 is stretchable, it retracts along with the SMA device 808. When the SMA device 808 retracts, the termination element 832 and the coupling element 836 are pulled toward the housing 806. If an object (not shown) is coupled to the coupling element 836, when the SMA device 808 retracts, a force is transmitted by the termination element 832 and the coupling element 836 to act on the object, thereby pulling the object toward the actuation module 802.

[0485] Figure 15A and Figure 15B A schematic cross-sectional view of an actuation module 902 having a static housing (or non-stretchable housing) 906 is shown according to various examples.

[0486] The actuation module 902 may include an SMA device 908 and a non-stretchable stimulation element 912, both of which are housed within a housing 906. The SMA device 908 and the non-stretchable stimulation element 912 may be arranged in layers stacked on top of each other.

[0487] In various examples, the stimulating element 912 may include one or more LEDs and / or one or more waveguides.

[0488] Termination elements 930 and 932 may be provided to terminate the ends of the actuation module 902. Coupling elements 934 and 936 may be coupled to termination elements 930 and 932. One termination element 930 may terminate one end of the housing 906, the SMA device 908, and the stimulation element 912, while another termination element 932 may terminate the opposite ends of the SMA device 908 and the stimulation element 912, and this other termination element may be movable relative to the housing 906.

[0489] Figure 15A The upper (or top) diagram shows the actuation module 902 in an idle state, meaning that no non-mechanical stimulation is being provided to the SMA device 908. As shown, the SMA device 908 is longer than the non-stretchable stimulation element 912. This may mean that one end of the non-stretchable stimulation element 912 can be a loose end or a floating end within the housing 906.

[0490] Figure 15B The lower figure (or bottom view) shows the actuation module 902 in an activated state, where a non-mechanical stimulus (e.g., light) is provided to the SMA device 908. As shown, in response to the non-mechanical stimulus, the SMA device 908 can retract to provide linear actuation. When the SMA device 908 retracts, the termination element 932 and the coupling element 936 are pulled toward the housing 906. If an object (not shown) is coupled to the coupling element 936, when the SMA device 908 retracts, a force is transmitted by the termination element 932 and the coupling element 936 to act on the object, thereby pulling the object toward the actuation module 902. Since the stimulation element 912 is non-stretchable, the SMA device 908 slides past the stimulation element 912 when the SMA device 908 retracts.

[0491] Figure 16A and Figure 16B A schematic cross-sectional view of an actuation module 1002 is shown, which may be as described in the context of actuation module 802, except that actuation module 1002 includes a force transmission component 1072.

[0492] For the actuation module 1002, a termination element 830 may be provided to terminate one end of the actuation module 1002 to a coupling element 834 coupled to the termination element. The other end of the actuation module 1002 may be terminated or closed using a static housing 1006, which defines an opening or orifice to allow the force transmission component 1072 to pass through.

[0493] One end region of the force transmission component 1072 may be coupled to the SMA device 808 and the stimulation element 812, wherein the other end region of the force transmission component 1072 is terminated by another termination element 832 with a coupling element 836 coupled to the termination element for attachment or coupling to an object.

[0494] Figure 16A The upper (or top) diagram shows the actuation module 1002 in an idle state, which means that no non-mechanical stimulation is being provided to the SMA device 808.

[0495] Figure 16B The lower figure (or bottom view) shows the actuation module 1002 in an activated state, where a non-mechanical stimulus (e.g., light) is provided to the SMA device 808. As shown, in response to the non-mechanical stimulus, the SMA device 808 can contract to provide linear actuation. Since the stimulation element 812 is stretchable, it contracts along with the SMA device 808. When the SMA device 808 contracts, the force transmission member 1072 is pulled toward the housing 1006. The force transmission member 1072 can be pulled into the housing 1006. When an object (not shown) is coupled to the force transmission member 1072 via the coupling element 836, when the SMA device 808 contracts, a force is transmitted by the force transmission member 1072 to act on the object, thereby pulling the object toward the actuation module 1002.

[0496] Figure 17A and Figure 17B A schematic cross-sectional view of an actuation module 1102 is shown, which may be as described in the context of actuation module 902, except that actuation module 1102 includes a force transmission component 1172.

[0497] For the actuation module 1102, a termination element 930 may be provided to terminate one end of the actuation module 1102 to a coupling element 934 coupled to the termination element. The other end of the actuation module 1102 may be terminated or closed using a static housing 1106, which defines an opening or orifice to allow the force transmission component 1172 to pass through.

[0498] One end region of the force transmission component 1172 may be coupled to the SMA device 908 and the stimulation element 912, wherein the other end region of the force transmission component 1172 is terminated by another termination element 932 with a coupling element 936 coupled to the termination element for attachment or coupling to an object.

[0499] Figure 17AThe upper (or top) diagram shows the actuation module 1102 in an idle state, meaning that no non-mechanical stimulation is being provided to the SMA device 908. As shown, the SMA device 908 is longer than the non-stretchable stimulation element 912. This may mean that one end of the non-stretchable stimulation element 912 can be a loose end or a floating end within the housing 1106.

[0500] Figure 17B The lower figure (or bottom view) shows the activated actuation module 1102, in which non-mechanical stimulation (e.g., light) is provided to the SMA device 908. As shown, in response to the non-mechanical stimulation, the SMA device 908 can retract to provide linear actuation. When the SMA device 908 retracts, the force transmission member 1172 is pulled toward the housing 1106. The force transmission member 1172 can be pulled into the housing 1106. When an object (not shown) is coupled to the force transmission member 1172 via the coupling element 936, when the SMA device 908 retracts, the force transmission member 1172 transmits a force to act on the object, thereby pulling the object toward the actuation module 1102. Since the stimulation element 912 is non-stretchable, the SMA device 908 slides past the stimulation element 912 when the SMA device 908 retracts.

[0501] Figure 18A and Figure 18B A schematic cross-sectional view of an actuation module 1202 with a telescopic housing according to various examples is shown. The telescopic housing includes a first housing segment 1206 and a second housing segment 1207 that are slidably movable relative to each other. The second housing segment 1207 may be received by and located within the first housing segment 1206. The first housing segment 1206 has a longer circumference or a larger radius than the second housing segment 1207.

[0502] The actuation module 1202 may include an SMA device 1208 and a stretchable stimulation element 1212, which are housed within a telescopic housing (or within a first housing segment 1206 and a second housing segment 1207). The SMA device 1208 and the stretchable stimulation element 1212 may be arranged in layers stacked on top of each other.

[0503] In various examples, the stimulating element 1212 may include one or more LEDs and / or one or more waveguides.

[0504] Termination elements 1230 and 1232 may be provided to terminate the ends of the actuation module 1202. Coupling elements 1234 and 1236 may be coupled to termination elements 1230 and 1232. One termination element 1230 may terminate one end of the first housing segment 1206, the SMA device 1208, and the stimulation element 1212, while the other termination element 1232 may terminate one end of the second housing segment 1207 and the opposite ends of the SMA device 1208 and the stimulation element 1212.

[0505] Figure 18A The upper (or top) diagram shows the actuation module 1202 in an idle state, meaning that no non-mechanical stimulation is being provided to the SMA device 1208.

[0506] Figure 18B The lower figure (or bottom view) shows the activated actuation module 1202, in which a non-mechanical stimulus (e.g., light) is provided to the SMA device 1208. As shown, in response to the non-mechanical stimulus, the SMA device 1208 can contract to provide linear actuation. Since the stimulation element 1212 is stretchable, it contracts along with the SMA device 1208. As the SMA device 1208 contracts, the termination element 1232, the coupling element 1236, and the second housing segment 1207 are pulled toward the first housing segment 1206. When an object (not shown) is coupled to the coupling element 1236, when the SMA device 1208 contracts, a force is transmitted by the termination element 1232 and the coupling element 1236 to act on the object, thereby pulling the object toward the actuation module 1202.

[0507] Figure 19A and Figure 19B A schematic cross-sectional view of an actuation module 1302 with a telescopic housing according to various examples is shown. The telescopic housing includes a first housing segment 1306 and a second housing segment 1307 that are slidably movable relative to each other. The second housing segment 1307 may be received by and located within the first housing segment 1306. The first housing segment 1306 has a longer circumference or a larger radius than the second housing segment 1307.

[0508] The actuation module 1302 may include an SMA device 1308 and a non-stretchable stimulation element 1312, which are housed within a telescopic housing (or within a first housing segment 1306 and a second housing segment 1307). The SMA device 1308 and the non-stretchable stimulation element 1312 may be arranged in layers stacked on top of each other.

[0509] In various examples, the stimulating element 1312 may include one or more LEDs and / or one or more waveguides.

[0510] Termination elements 1330 and 1332 may be provided to terminate the ends of the actuation module 1302. Coupling elements 1334 and 1336 may be coupled to termination elements 1330 and 1332. One termination element 1330 may terminate one end of the first housing segment 1306, the SMA device 1308, and the stimulation element 1312, while the other termination element 1332 may terminate one end of the second housing segment and the opposite end of the SMA device 1308.

[0511] Figure 19A The upper (or top) diagram shows the actuation module 1302 in an idle state, meaning that no non-mechanical stimulation is being provided to the SMA device 1308. As shown, the SMA device 1308 is longer than the non-stretchable stimulation element 1312. This may mean that one end of the non-stretchable stimulation element 1312 can be a loose end or a floating end located within the telescopic housing. The non-stretchable stimulation element 1312 may be the same length as the first housing segment 1306, or shorter than the first housing segment.

[0512] Figure 19B The lower figure (or bottom view) shows the activated actuation module 1302, in which a non-mechanical stimulus (e.g., light) is provided to the SMA device 1308. As shown, in response to the non-mechanical stimulus, the SMA device 1308 can retract to provide linear actuation. As the SMA device 1308 retracts, the termination element 1332, the coupling element 1336, and the second housing segment 1307 are pulled toward the first housing segment 1306. When an object (not shown) is coupled to the coupling element 1336, when the SMA device 1308 retracts, a force is transmitted by the termination element 1332 and the coupling element 1336 to act on the object, thereby pulling the object toward the actuation module 1302. Since the stimulation element 1312 is non-stretchable, the SMA device 1308 slides past the stimulation element 1312 when the SMA device 1308 retracts.

[0513] It should be understood that the telescopic housing may include more than two housing segments. The additional housing segments may be arranged in series with the first housing segments 1206, 1306 and the second housing segments 1207, 1307 and are slidably movable, and can be received by and located within the first housing segments 1206, 1306.

[0514] Figure 20A and Figure 20BA schematic cross-sectional view of an actuation module 1402 with a telescopic housing according to various examples is shown. The telescopic housing includes a first housing segment 1406, a second housing segment 1407a, and a third housing segment 1407b that are slidably movable relative to each other. The second housing segment 1407a and the third housing segment 1407b may be received by and located within the first housing segment 1406. The first housing segment 1406 has a longer perimeter or a larger radius than the second housing segment 1407a and the third housing segment 1407b. The second housing segment 1407a and the third housing segment 1407b may have the same perimeter.

[0515] The actuation module 1402 may include an SMA device 1408 and a stretchable stimulation element 1412, which are housed within a telescopic housing (or within a first housing segment 1406, a second housing segment 1407a, and a third housing segment 1407b). The SMA device 1408 and the stretchable stimulation element 1412 may be arranged in layers stacked on top of each other.

[0516] In various examples, the stimulating element 1412 may include one or more LEDs and / or one or more waveguides.

[0517] Termination elements 1430 and 1432 may be provided to terminate the ends of the actuation module 1402. Coupling elements 1434 and 1436 may be coupled to termination elements 1430 and 1432. One termination element 1430 may terminate one end of the third housing segment 1407b, the SMA device 1408, and the stimulation element 1412, while another termination element 1432 may terminate one end of the second housing segment 1407b and the opposite ends of the SMA device 1408 and the stimulation element 1412.

[0518] Figure 20A The upper (or top) diagram shows the actuation module 1402 in an idle state, which means that no non-mechanical stimulation is being provided to the SMA device 1408.

[0519] Figure 20BThe lower figure (or bottom view) shows the actuation module 1402 in an activated state, where a non-mechanical stimulus (e.g., light) is provided to the SMA device 1408. As shown, in response to the non-mechanical stimulus, the SMA device 1408 can retract to provide linear actuation. Since the stimulation element 1412 is stretchable, it retracts along with the SMA device 1408. When the SMA device 1408 retracts, the termination elements 1430, 1432 and the coupling elements 1434, 1436 can be pulled toward each other, and the second housing segment 1407a and the third housing segment 1407b can be received within the first housing segment 1406. An object (not shown) can be coupled to one of the coupling elements 1434, 1436, while the other of the coupling elements 1434, 1436 can be coupled to a fixed point or fixed surface or another object. When the SMA device 1408 contracts, force is transmitted to act on the object, thereby pulling the object toward the actuation module 1402.

[0520] Figure 21A and Figure 21B A schematic cross-sectional view of an actuation module 1502 with a telescopic housing according to various examples is shown. The telescopic housing includes a first housing segment 1506, a second housing segment 1507a, and a third housing segment 1507b that are slidably movable relative to each other. The second housing segment 1507a and the third housing segment 1507b may be received by and located within the first housing segment 1506. The first housing segment 1506 has a longer perimeter or a larger radius than the second housing segment 1507a and the third housing segment 1507b. The second housing segment 1507a and the third housing segment 1507b may have the same perimeter.

[0521] The actuation module 1502 may include an SMA device 1508 and a non-stretchable stimulation element 1512, which are housed within a telescopic housing (or within a first housing segment 1506, a second housing segment 1507a, and a third housing segment 1507b). The SMA device 1508 and the stretchable stimulation element 1512 may be arranged in layers stacked on top of each other.

[0522] In various examples, the stimulating element 1512 may include one or more LEDs and / or one or more waveguides.

[0523] Termination elements 1530 and 1532 may be provided to terminate the ends of the actuation module 1502. Coupling elements 1534 and 1536 may be coupled to termination elements 1530 and 1532. One termination element 1530 may terminate one end of the third housing segment 1507b, the SMA device 1508, and the stimulation element 1512, while another termination element 1532 may terminate one end of the second housing segment 1507b and the opposite end of the SMA device 1508.

[0524] Figure 21A The upper (or top) diagram shows the actuation module 1502 in an idle state, meaning that no non-mechanical stimulation is being provided to the SMA device 1508. As shown, the SMA device 1508 is longer than the non-stretchable stimulation element 1512. This may mean that one end of the non-stretchable stimulation element 1512 can be a loose end or a floating end located within a telescopic housing (e.g., within a third housing segment 1507b and partially within a first housing segment 1506).

[0525] Figure 21B The lower figure (or bottom view) shows the actuation module 1502 in an activated state, where a non-mechanical stimulus (e.g., light) is provided to the SMA device 1508. As shown, in response to the non-mechanical stimulus, the SMA device 1508 can retract to provide linear actuation. When the SMA device 1508 retracts, termination elements 1530, 1532 and coupling elements 1534, 1536 can be pulled toward each other, and the second housing segment 1507a and the third housing segment 1507b can be received within the first housing segment 1506. An object (not shown) can be coupled to one of the coupling elements 1534, 1536, while the other of the coupling elements 1534, 1536 can be coupled to a fixed point or fixed surface or another object. When the SMA device 1508 retracts, a force is transmitted to act on the object, thereby pulling the object toward the actuation module 1502. Since the stimulation element 1512 is non-stretchable, the SMA device 1508 slides over the stimulation element 1512 when the SMA device 1508 contracts.

[0526] In some examples, as a complement or alternative to the extensibility of the housing, the housing (or its segments) may be capable of expansion (e.g., in one dimension, such as along the length of the housing). As a non-limiting example, the expandable housing may include flexible hoses or corrugated flexible hoses that are flexible and stretchable.

[0527] Figure 38A schematic view of an actuation module 3202 having a layered arrangement (e.g., a planar layered arrangement) is shown. The actuation module 3202 may include two SMA devices 3208a, 3208b and two stimulation elements 3212a, 3212b. Each stimulation element 3212a, 3212b may include a PCB 3215a, 3215b having one or more LEDs 3213a, 3213b to provide non-mechanical stimulation to the SMA devices 3208a, 3208b. Each stimulation element 3212a, 3212b may also include an optically transparent spacer 3282 spaced from and coupled to the PCB 3215a, 3215b via a resin 3234.

[0528] Spacers 3283 may be provided to separate SMA devices 3208a, 3208b from stimulation elements 3212a, 3212b.

[0529] Multiple heat dissipation or heat vaporization (or cooling) layers 3260a, 3260b, 3260c, 3214 and thermally conductive double-sided tape 3216 may be provided to dissipate the heat generated in the actuator module 3202.

[0530] The heat dissipation layer 3260b may have anti-wear layers (e.g., non-stick layers, such as Teflon) 3290a, 3290b, which are adhered to both sides of the heat dissipation layer 3260b facing the SMA devices 3208a, 3208b via attachments 3292 on the opposite end regions of the anti-wear layers 3290a, 3290b.

[0531] Resin 3234 can be used as an adhesive and coupling element for SMA devices 3208a, 3208b, to which cable or cord attachment 3235 can be coupled. Interconnecting elements (e.g., cables or cords) 3272 can be coupled to attachment 3235. Resin 3234 and attachment 3286 can be used to couple actuator module 3202 to wearable items, clothing, or fabrics, such as gloves 3280. One or more cords 3272 can be coupled to the finger portion of glove 3280, enabling finger actuation during operation of actuator module 3202.

[0532] Figures 39 to 40 A schematic view of a fiber actuation module 3302 is shown. The fiber actuation module 3302 may include a fiber-form SMA device 3308 and a stimulation element 3312 that at least substantially surrounds the SMA device 3308.

[0533] The stimulation element 3312 may include one or more optical fibers 3313 (e.g., a bundle of optical fibers) that substantially surround the SMA device 3308. It should be understood that any number of optical fibers 3313 may be provided.

[0534] The stimulation element 3312 can be arranged in a (circular or concentric) layer surrounding the SMA device 3308. The stimulation element 3312 can completely surround the SMA device 3308. The SMA device 3308 can be located at the center of the actuation module 3302.

[0535] The stimulation element 3312 or its optical fiber 3313 may be stretchable or non-stretchable.

[0536] A coupling element 3334 may be provided to couple to one end of the actuation module 3302. An interconnecting element (e.g., a cable or cord) 3372 may be coupled to the opposite end of the SMA device 3308.

[0537] Although Figure 39 It is not shown, but a housing (e.g., a tubular shell) may exist that at least partially encapsulates the SMA device 3308 and the stimulation element 3312.

[0538] Although Figure 39 Not shown, but one or more termination elements may be present at the end of the termination actuator module 3302.

[0539] An additional layer may be provided for the SMA device and / or the stimulation element. As a non-limiting example, the additional layer of the SMA device may be provided, for example, in the form of a tube or multiple fibers, surrounding the stimulation element 3312 or its optical fiber 3313. Light propagating through the optical fiber 3313 may be provided to the SMA device 3308 and the additional layer of the SMA device.

[0540] Referring to a non-limiting example of actuator assembly 3490 Figure 40 Attachment or coupling element 3434 may be coupled to one end of SMA device 3308, while another attachment or coupling element 3436 may be coupled to the opposite end of SMA device 3308. Connection element 3372 may be coupled to coupling element 3436. Connection element 3372 may also be coupled to an object.

[0541] The optical fiber 3313 of the stimulation element 3312 may extend through the coupling element 3334 and be (optically) coupled to the fiber bundle connector 3450. The connector 3450 may be optically coupled to the optical fiber 3452, which may in turn be optically coupled to the light source 3454 (e.g., a laser). The optical fiber 3452 may have a larger radius than the optical fiber 3313.

[0542] During operation, light from laser 3454 can be supplied or transmitted via thicker optical fiber 3452 to optical fiber 3313 to provide non-mechanical optical stimulation to SMA device 3308. In response, SMA device 3308 can retract, thereby pulling connecting element 3372.

[0543] Figure 41 A schematic view of a fiber actuation module 3502 is shown. The fiber actuation module 3502 may include a fiber-form SMA device 3508 and a stimulation element 3512 at least substantially surrounding the SMA device 3508. The stimulation element 3512 may be or may include a tubular LED array having a plurality of LEDs 3513 mounted on a flexible PCD 3515. In this manner, a curved LED panel 3512 may be provided. It should be understood that any number of LEDs 3513 may be provided.

[0544] The stimulation element 3512 can be arranged in a (circular or concentric) layer surrounding the SMA device 3508. The stimulation element 3512 can completely or partially surround the SMA device 3508. The SMA device 3508 can be located at the center of the actuation module 3502.

[0545] The flexible stimulation element 3512 can be stretchable or non-stretchable.

[0546] A coupling element 3534 may be provided to couple to one end of the actuation module 3502. An interconnecting element (e.g., a cable or cord) 3572 may be coupled to the opposite end of the SMA device 3508.

[0547] Although not shown, a housing (e.g., a tubular shell) may exist to encapsulate the SMA device 3508 and the stimulation element 3512.

[0548] Although not shown, one or more termination elements may be present at the end of the termination actuator module 3502 (and its SMA device 3508) or (only) the end of the SMA device 3508. This allows the SMA device 3508 to contract and expand, thereby keeping the stimulation element 3512 static in place.

[0549] An additional layer may be provided for the SMA device and / or the stimulation element. As a non-limiting example, the additional layer of the SMA device may be provided, for example, in the form of a tube, surrounding the stimulation element 3512. Light from the LED 3513 may be provided to the SMA device 3508 and the additional layer of the SMA device. The stimulation element 3512 may have LEDs 3513 on both surfaces of the PCB 3515, such that the stimulation element 3512 can illuminate both sides (i.e., the inner and outer sides).

[0550] During operation, light from the LED acts as a non-mechanical stimulus to the SMA device 3508. In response, the SMA device 3508 can retract, thereby pulling the interconnect element 3572.

[0551] Figure 42 and Figure 43A schematic view of an actuation module 3602 is shown, which has a stimulation element 3612 in the form of an optical fiber 3613, which is at least substantially surrounded by a tubular SMA device 3608. Although only one optical fiber 3613 is shown, it should be understood that multiple optical fibers 3613 may be present.

[0552] The tubular SMA device 3608 can be arranged in a (circular or concentric) layer surrounding the stimulation element 3612. The SMA device 3608 can completely or partially surround the stimulation element 3612. The stimulation element 3612 can be located at the center of the actuation module 3602.

[0553] The stimulation element 3612 or its optical fiber 3613 may be stretchable or non-stretchable.

[0554] A coupling element 3634 may be provided to couple to one end of the actuation module 3602. An interconnecting element (e.g., a cable or cord) 3672 may be coupled to the opposite end of the SMA device 3608.

[0555] Although not shown, one or more termination elements may be present at the end of the termination actuator module 3602.

[0556] Additional layers of the SMA device and / or stimulation element may be provided. As a non-limiting example, the additional layer of stimulation element may be provided, for example, in the form of a tube or multiple fibers, surrounding the SMA device 3608. Light propagating through optical fiber 3613 and the additional layer of stimulation element may be provided to the SMA device 3608.

[0557] Figure 43 A non-limiting example of actuator assembly 3490 is shown in both assembled and exploded transparent views. An attachment or coupling element 3734 may be coupled to one end of actuator module 3602 having a defined aperture through which optical fiber 3613 passes, while another attachment or coupling element 3736 may be coupled to the opposite end of actuator module 3602. An interconnecting element 3772 may be coupled to coupling element 3736.

[0558] The optical fiber 3613 of the stimulation element 3612 can be optically coupled to the light source 3754 (e.g., a laser).

[0559] During operation, light from laser 3754 can be supplied or transmitted to optical fiber 3613 to provide non-mechanical optical stimulation to SMA device 3608. In response, SMA device 3608 can retract, thereby pulling cable 3772.

[0560] Although not shown, a housing (e.g., a tubular housing) may be present to encapsulate the SMA device 3608 and the stimulation element 3612. The housing may also include coupling elements 3734, 3736.

[0561] It should be understood that multi-layered SMA devices and stimulating elements may be provided in various examples of actuation modules, including actuation modules 402, 502, 602, 702, 802, 902, 1002, 1102, 1202, 1302, 1402, 1502, 3302, 3502, and 3602 arranged in layers. These multi-layered modules may be stacked one on top of the other. Two, three, four, five, or any greater number of SMA devices and stimulating elements may be present. One or more intermediate or interventional layers, such as heat dissipation layers, sensing layers, etc., may exist between the SMA devices and stimulating elements. In some examples, the multi-layered modules may include alternating (or staggered) layers of SMA devices and stimulating elements.

[0562] As a non-limiting example, the following arrangements may exist: SMA device-stimulating element-SMA device, or stimulating element-stimulating element-SMA device, or SMA device-stimulating element-stimulating element-SMA device, or SMA device-stimulating element-SMA device-stimulating element or stimulating element-SMA device-stimulating element-SMA device-stimulating element.

[0563] As a non-limiting example, a three-layer SMA device and a stretchable stimulation element may be provided. For example, SMA devices 408, 608, 808, 1208, 1408, 3308, 3508, and 3608 may be sandwiched between stretchable stimulation elements 412, 612, 812, 1212, 1412, 3312, 3512, and 3612 and another stretchable stimulation element (e.g., having an LED and / or a waveguide). Alternatively, stretchable stimulation elements 412, 612, 812, 1212, 1412, 3312, 3512, and 3612 may be sandwiched between SMA devices 408, 608, 808, 1208, 1408, 3308, 3508, and 3608 and another SMA device. As another non-limiting example, another SMA device may be arranged above SMA devices 408, 608, 808, 1208, 1408, 3308, 3508, 3608, which in turn may be arranged above stretchable stimulation elements 412, 612, 812, 1212, 1412, 3312, 3512, 3612.

[0564] As a non-limiting example, a three-layer SMA device and a non-stretchable stimulation element may be provided. For example, SMA devices 508, 708, 908, 1308, 1508, 3308, 3508, and 3608 may be sandwiched between non-stretchable stimulation elements 512, 712, 912, 1312, 1512, 3312, 3512, and 3612 and another non-stretchable stimulation element (e.g., having an LED and / or a waveguide). Alternatively, non-stretchable stimulation elements 512, 712, 912, 1312, 1512, 3312, 3512, and 3612 may be sandwiched between SMA devices 508, 708, 908, 1308, 1508, 3308, 3508, and 3608 and another SMA device. As another non-limiting example, another SMA device may be arranged above SMA devices 508, 708, 908, 1308, 1508, 3308, 3508, 3608, which in turn may be arranged above non-stretchable stimulation elements 512, 712, 912, 1312, 1512, 3312, 3512, 3612.

[0565] It should be understood that other components (e.g., sensing component 116, heat dissipation layer 118, 120) may be disposed in any of the actuation modules 402, 502, 602, 702, 802, 902, 1002, 1102, 1202, 1302, 1402, 1502, 3302, 3502, 3602.

[0566] It should be understood that the different examples of actuation modules described in this article can be combined with each other.

[0567] Non-limiting examples of applications of various actuation modules will now be described below. Actuation modules described in the context of any of actuation modules 402, 502, 602, 702, 802, 902, 1002, 1102, 1202, 1302, 1402, 1502, 3302, 3502, and 3602 may be used as actuation modules in any of these applications. Furthermore, it should be understood that one or more termination elements and / or one or more coupling elements as described in the context of any of actuation modules 402, 502, 602, 702, 802, 902, 1002, 1102, 1202, 1302, 1402, 1502, 3302, 3502, and 3602 may be provided.

[0568] Figure 22A and Figure 22BA schematic view of an application of asymmetric bending is shown, in which an object or material bends. An actuation module 1602, having a coupling element 1636, can be coupled directly to the flexible object or material 1670, or via, for example, a connecting element (e.g., a cable) 1672. When the SMA device of the actuation module 1602 contracts in response to a non-mechanical stimulus (as shown in the bottom view of Figure 122B), the object 1670 bends upward or is pushed upward.

[0569] The connecting elements and / or interconnecting elements disclosed herein may, in some examples, form part of the coupling elements.

[0570] Figure 23A and Figure 23B A schematic view of an application of asymmetric bending is shown, in which the SMA device in actuator module 1702 bends. Actuator module 1702, having coupling element 1736, can be coupled directly or via, for example, a connecting element (e.g., a cable) 1772 to object 1770. Object 1770 may have a first arm 1773 and a second arm 1775, which are pivotally coupled to each other. Actuator module 1702 can be coupled to the first arm 1773 and the second arm 1775. When the SMA device of actuator module 1702 contracts in response to a non-mechanical stimulus (e.g., ...), Figure 23B When (as shown in the bottom diagram), the second arm 1775 is pulled outward. The first arm 1773 can be fixed in place.

[0571] Figure 24 A schematic view of a shoelace actuation application is shown. An actuation module 1802 with coupling element 1836 can be coupled to (fixed) surface 1877. The actuation module 1802 can be arranged against an object 1870 received in or within component 1876. Object 1870 may have an arm 1873 and a head, knob, or hook 1875 at one end of the arm 1873. When the SMA device of actuation module 1802 retracts in response to a non-mechanical stimulus, the head (or knob or hook) 1875 and the entire object 1870 are pulled outward from component 1876.

[0572] Figure 25A and Figure 25B A schematic view is shown of an actuation module 1902 in the form of a strip or ring surrounding an object 1970. The actuation module 1902 can completely surround the perimeter of the object 1970. When the SMA device of the actuation module 1902 contracts in response to a non-mechanical stimulus (such as...), Figure 25B When (as shown in the bottom diagram), the actuation module 1902 applies a constricting force to the object 1970, thereby squeezing or compressing the object 1970.

[0573] Figure 26A schematic view of an actuation module 2002 in the form of a (compression) sleeve surrounding an object 2070 is shown. The actuation module 2002 can completely surround the object 2070 (its perimeter). When the SMA device of the actuation module 2002 contracts in response to a non-mechanical stimulus, the actuation module 2002 applies a contractile force to the object 2070, thereby squeezing or compressing the object 2070.

[0574] Figure 27A and Figure 27B A schematic view is shown of the application of an actuation module 2102 for guided flexible actuation. The actuation module 2102 may be arranged or received within a guide element (e.g., a rail or tube) 2174. The guide element 2174 may be flexible. Coupling elements 2134, 2136 may be coupled to the actuation module 2102, wherein the coupling element 2134 is further coupled to the component 2170 via a connecting element (e.g., a cable or cord) 2172. When the SMA device of the actuation module 2102 contracts in response to a non-mechanical stimulus (e.g., ... Figure 27B When (as shown in the right-hand figure), the actuation module 2102 retracts within the guide element 2174, wherein the connecting element 2172 is elongated and pulled into the guide element 2174.

[0575] Figure 28 A schematic view of an actuation module 2202 is shown, which is arranged or wound around an object 2270 (e.g., a curved or cylindrical object) in a helical form or as a spiral. The actuation module 2202 can, for example, be a strip. The loops of the actuation module 2202 wound on the object 2270 may contact each other, or may be as follows: Figure 28 They are spaced apart as shown. When the SMA device of the actuation module 2202 contracts in response to a non-mechanical stimulus, the actuation module 2202 applies a contractile force to the object 2270, thereby squeezing or compressing the object 2270.

[0576] Figure 29 A schematic view is shown of an actuation module 2302 (e.g., in the form of a lever with pivotable components) coupled to an object 2370, which has a first arm 2373 and a second arm 2375 pivotally coupled to each other. The first arm 2373 may be fixed to a (fixed) surface 2377. A coupling element 2336 may be provided to couple the actuation module 2302 to the first arm 2373 and the second arm 2375 directly or via, for example, a connecting element (e.g., a cable) 2372. When the SMA device of the actuation module 2302 contracts in response to a non-mechanical stimulus, the second arm 2375 is pulled (inward) toward the first arm 2373 or the surface 2377.

[0577] Figure 30A schematic view is shown of an actuation module 2402 (e.g., in the form of a lever with pivotable components) coupled to an object 2470, which has a first arm 2473 and a second arm 2475 pivotally coupled to each other. The first arm 2473 may be fixed to a (fixed) surface 2477. A coupling element 2436 may be provided to couple the actuation module 2402 to the second arm 2475 and the surface 2477, either directly or via, for example, a connecting element (e.g., a cable) 2472. When the SMA device of the actuation module 2402 contracts in response to a non-mechanical stimulus, the second arm 2475 is pulled upward away from the surface 2477.

[0578] Figure 31 A schematic view of an actuation module 2502 disposed in a claw gripper 2570 (e.g., in the handle of the gripper 2570) is shown. A coupling element 2536 may be provided to couple the actuation module 2502 to one end of the gripper 2570. Another coupling element 2534 may be provided to couple the actuation module 2502 directly or via, for example, a connecting element (e.g., a cable) 2572 to a pair of claws (or gripping members) 2573 of the gripper 2570. When the SMA device of the actuation module 2502 contracts in response to a non-mechanical stimulus, the claws 2573 move toward each other to grip or clamp an object (not shown) therebetween.

[0579] Figure 32 A schematic view of an actuation module 2602 coupled to an aircraft fuselage component 2670, which has a fuselage 2673 and flaps 2675 pivotally coupled to each other, is shown. Coupling elements 2634 and 2636 may be provided to couple the actuation module 2602 to the fuselage 2673 and flaps 2675, respectively, directly or via, for example, connecting elements (e.g., cables) 2672. When the SMA device of the actuation module 2602 retracts in response to a non-mechanical stimulus, the flaps 2675 are pulled inward toward the fuselage 2673.

[0580] Figure 33 A schematic view of an actuation module 2702 coupled to an object 2770 is shown, the object having a rotatable component (e.g., a wheel or cam) 2773 supported by a support structure (or support rod) 2775. The support structure 2775 may be coupled to or attached to a (fixed) surface 2777. A coupling element 2736 may be provided to couple the actuation module 2702 to the rotatable component 2773 and the surface 2777. When the SMA device of the actuation module 2702 contracts in response to a non-mechanical stimulus, the rotatable component 2773 is pulled to rotate or swirl in a clockwise direction.

[0581] Figure 34A schematic view of a pair of actuation modules 2802, 2803 coupled to object 2870 is shown. Object 2870 may include a rotatable or movable component 2873 supported by a support structure 2875, such as a sphere (e.g., a robotic eyeball). The support structure 2875 may be coupled to or attached to a (fixed) surface 2877. Coupling elements 2834 may be provided to couple actuation module 2802 to surface 2877 and directly or via, for example, connecting elements (e.g., cables) 2872 to one side or a portion of the movable component 2873. Coupling elements 2836 may be provided to couple actuation module 2803 to surface 2877 and directly or via, for example, connecting elements (e.g., cables) 2882 to one side or a portion of the movable component 2873. Actuation modules 2802, 2803 may be coupled to opposite sides of the rotatable component 2873. When the SMA device of actuation module 2802 contracts in response to a non-mechanical stimulus, the rotatable member 2873 is pulled to rotate counterclockwise, and simultaneously the SMA device of actuation module 2803 expands. When the SMA device of actuation module 2803 contracts in response to a non-mechanical stimulus, the rotatable member 2873 is pulled to rotate clockwise, and simultaneously the SMA device of actuation module 2802 expands. In this way, actuation modules 2802 and 2803 form or define an active-antagonistic SMA pair.

[0582] Figure 35 A schematic view of the apparatus and its operation is shown, which is related to... Figure 34 The device and operation are similar to those illustrated, except that the pair of actuation modules 2802, 2803 are arranged or laid inside the support structure 2875.

[0583] Figure 44 and Figure 45 A schematic view of the actuation modules 3802 and 3902 for finger actuation is shown.

[0584] refer to Figure 44 The actuation module 3802 can be coupled to the object (or part) 3870, such as a human hand or a wearable item such as a glove, using a coupling element 3834 at a portion of the object 3870 and a coupling element 3836 at the finger portion (including the thumb) (e.g., at the fingertip area of ​​the finger portion). Multiple interconnecting elements (e.g., cables or cords) 3872 can be provided, each interconnecting element being coupled to the actuation module 3802 and its corresponding coupling element 3836 via or guided by a guide element 3873. During operation, when the SMA device of the actuation module 3802 retracts, all fingers of the human body can be actuated simultaneously, either directly or via the wearable item.

[0585] refer to Figure 45Multiple actuation modules 3902 can be coupled to an object (or component) 3970 using coupling elements 3934 at a portion of component 3970 and coupling elements 3936 at the finger portion (including the thumb) (e.g., at the fingertip region of the finger portion), the object being, for example, a human hand or a wearable item such as a glove. A corresponding actuation module 3902 can be associated with a finger to actuate that finger. Multiple interconnecting elements (e.g., cables or cords) 3972 can be provided, wherein the corresponding interconnecting elements 3972 are coupled to the corresponding actuation module 3902 and the corresponding coupling element 3936 through or guided by a guide element 3973. During operation, when the SMA device of the corresponding actuation module 3902 contracts, the associated finger coupled to the actuation module 3902 can be actuated, either directly or via the wearable item. Thus, each finger can be actuated independently.

[0586] Figure 46 and Figure 47 A schematic view of the actuation modules 4002 and 4102 for wrist actuation is shown.

[0587] refer to Figure 46 The actuation module 4002 can be coupled to an object (or component) 4070, such as a human hand or a wearable item such as a glove, using a coupling element 4034 located at a portion of component 4070 and another coupling element 4036 spanning the palm portion (e.g., in the form of a strip). Interconnecting elements (e.g., cables or cords) 4072 can be coupled to the actuation module 4002 and coupling elements 4036 through or guided by guide element 4073. During operation, wrist flexion or actuation can occur, either directly or via the wearable item, when the SMA device of the actuation module 4002 contracts.

[0588] refer to Figure 47 The actuation module 4102 can be coupled to an object (or component) 4170, such as a human hand or a wearable item such as a glove, using a coupling element 4134 at a portion of the component 4170 and a coupling element 4136 at the finger portion (e.g., at the base region of the finger portion). Multiple interconnecting elements (e.g., cables or cords) 4172 may be provided, each interconnecting element being coupled to the actuation module 4102 and its corresponding coupling element 4136 via or guided by a guide element 4173. During operation, wrist flexion or actuation can occur, either directly or via the wearable item, when the SMA device of the actuation module 4102 retracts.

[0589] Various examples of actuator components or their actuation modules (including actuation modules 3802, 3902, 4002, 4102) can be used to actuate human arms and / or the fingers of robotic arms.

[0590] Figure 48 A schematic view of an actuation module 4202 for hip actuation is shown. The actuation module 4202 can be coupled or attached to the waist region 4270 of the body using a coupling element (e.g., a belt) 4234, and to the leg 4271 of the body using another coupling element 4236 (e.g., in the form of a strip). During operation, hip / leg actuation can occur when the SMA device of the actuation module 4202 contracts.

[0591] Figure 49 and Figure 50 A schematic view of actuation modules 4302 and 4402 for lower limb actuation is shown.

[0592] refer to Figure 49 A pair of actuation modules 4302a, 4302b can be coupled or attached to the leg 4370 of the body using coupling elements (e.g., strips) 4334, 4336 at the upper and lower portions of the leg 4370. Actuation modules 4302a, 4302b can be connected to coupling element 4336 using interconnecting elements (e.g., cables or cords) 4372. Actuation modules 4302a, 4302b can form or define an active-antagonistic SMA pair. During operation, when the SMA device of one actuation module 4302a, 4302b retracts, the SMA device of the other actuation module 4302a, 4302b expands. Actuation modules 4302a, 4302b can actuate the lower portion of the leg 4270 in different directions.

[0593] refer to Figure 50 A pair of actuation modules 4402a, 4402b can be coupled or attached to the legs 4470 of the body using coupling elements (e.g., strips) 4334, 4336 located at the lower portion and feet of the legs 4470. Actuation modules 4402a, 4402b can be connected to coupling element 4436 using interconnecting elements (e.g., cables or cords) 4472. Actuation modules 4402a, 4402b can form or define an active-antagonistic SMA pair. During operation, when the SMA device of one actuation module 4402a, 4402b retracts, the SMA device of the other actuation module 4402a, 4402b expands. Actuation modules 4402a, 4402b can actuate the feet of the body in different directions.

[0594] Figures 51 to 54 Schematic block diagrams of control modules 4550, 4650, 4750, and 4850 according to various examples are shown.

[0595] refer to Figure 51The control module 4550 (e.g., in the form of an optical / power supply) may include a power supply or power supply 4554. The power supply 4554 may include a battery 4555a, or may include components that receive power (or electricity) from the battery 4555a, mains power 4555b, or solar power 4555c.

[0596] The control module 4550 may further include a controller 4556 for controlling the operation of the control module 4550 and / or the actuation module 4502. The controller 4556 may be powered by a power supply 4554.

[0597] In an example where the actuation module 4502 may include an LED source 4513a as a stimulation element to provide non-mechanical stimulation to the SMA device (not shown) of the actuation module 4502, the control module 4550 may also include an LED driver 4559a to drive the LED source 4513a. The LED driver 4559a may be controlled by a low-level control unit 4557 of the controller 4556. Cooling or heat dissipation components 4520a and 4560a may be provided for the LED source 4513a and the LED driver 4559a, respectively.

[0598] Alternatively, in an example where the actuation module 4502 may include a laser source 4513b to provide non-mechanical stimulation to an SMA device (not shown) of the actuation module 4502, the control module 4550 may also include a laser driver 4559b to drive the laser source 4513b. The laser driver 4559b may be controlled by a low-level control unit 4557 of the controller 4556. Cooling or heat dissipation components 4520b and 4560b may be provided for the laser source 4513b and the laser driver 4559b, respectively.

[0599] exist Figure 51 In the closed-loop configuration of the control system shown, one or more sensors (or sensing components) 4558 may be provided to sense parameters or characteristics associated with the SMA device of the actuation module 4502 and to provide input or feedback to the lower control unit 4557.

[0600] Alternatively, for an open-loop configuration of the control system, sensor 4558 can be omitted.

[0601] refer to Figure 52 The control module 4650 (e.g., in the form of an optical / power supply) may include a power supply or power supply 4654. The power supply 4654 may include a battery 4655a, or may include components that receive power (or electricity) from the battery 4655a, mains power 4655b, or solar power 4655c.

[0602] The control module 4650 may further include a controller 4656 for controlling the operation of the control module 4650 and / or the actuation module 4602. The controller 4656 may be powered by a power supply 4654.

[0603] In an example where the actuation module 4602 may include an LED source 4613a as a stimulation element to provide non-mechanical stimulation to the SMA device (not shown) of the actuation module 4602, the control module 4650 may also include an LED driver 4659a to drive the LED source 4613a. Cooling or heat dissipation components 4620a and 4660a may be provided for the LED source 4613a and the LED driver 4659a, respectively.

[0604] Alternatively, in an example where the actuation module 4602 may include a laser source 4613b to provide non-mechanical stimulation to the SMA device (not shown) of the actuation module 4602, the control module 4650 may also include a laser driver 4659b to drive the laser source 4613b. Cooling or heat dissipation components 4620b and 4660b may be provided for the laser source 4613b and the laser driver 4659b, respectively.

[0605] The LED driver 4659a and laser driver 4659b can be controlled by the advanced control unit 4657a and / or the low-level control unit 4657b of the controller 4656. The advanced control unit 4657a can control the low-level control unit 4657b.

[0606] The low-level control unit 4657b can be used to precisely control the stimulation element when an immediate (or current) action occurs, while the high-level control unit 4657a can be used to control what the overall system needs to do now and in the future. Taking a robotic arm as a non-limiting example, the low-level control unit 4657b can be used to control the motors in the robotic arm, while the high-level control unit 4657a can be used to determine or control what the entire robotic arm needs to do.

[0607] In various examples, controller 4656 can be split into a high-level control unit 4657a and a low-level control unit 4657b to avoid race conditions (or timing conflicts).

[0608] exist Figure 52 In the illustrated closed-loop configuration of the control system, one or more sensors (or sensing elements) 4658a may be provided to sense parameters or characteristics associated with the SMA device of the actuation module 4602 and to provide input or feedback to the higher-level control unit 4657a. Additionally, one or more sensors (or sensing elements) 4658b may be provided to sense parameters or characteristics associated with the SMA device of the actuation module 4602 and to provide input or feedback to the lower-level control unit 4657b.

[0609] Alternatively, for an open-loop configuration of the control system, sensing elements 4658a and 4658b can be omitted.

[0610] The controller 4656 can also receive user input via the human-machine interface (HMI) 4662.

[0611] refer to Figure 53 The control module 4750 (e.g., in the form of an optical / power supply group) may include a power supply or power supply group 4754, a control system or controller 4756, and an LED driver 4759. The LED driver 4759 may be powered by the power supply 4754. The controller 4756 may be powered by the power supply 4754.

[0612] LED driver 4759 can drive LED source 4713 in actuation module 4702. LED source 4713 can act as a stimulating element to provide non-mechanical stimulation to SMA device 4708 of actuation module 4702.

[0613] refer to Figure 54 The control module 4850 (e.g., in the form of an optical / power supply group) may include a power supply or power supply group 4854, a control system or controller 4856, and a laser driver 4859. The laser driver 4859 may be powered by the power supply 4854. The controller 4856 may be powered by the power supply 4854.

[0614] Laser driver 4859 drives laser source 4830 to provide light. The light from laser source 4830 is collimated by collimator 4831 to form a parallel beam, which is then optically coupled to fiber optic 4833 via fiber optic coupler 4832 and propagated to optical splitter 4834. A portion of this light is then optically coupled to waveguide or optical guide 4813 in actuator module 4802 via another fiber optic coupler 4835. Waveguide 4813 acts as a stimulating element to provide light as non-mechanical stimulation to SMA device 4808.

[0615] Laser driver 4859, laser source 4830, collimator 4831, fiber coupler 4832, fiber optic cable 4833, and optical splitter 4834 may define or form part of an optoelectronic module.

[0616] While the above descriptions of various applications of SMA devices in response to non-mechanical stimuli have addressed their respective applications, it should be understood that in some examples, SMA devices may be configured to expand in response to non-mechanical stimuli.

[0617] Furthermore, it should be understood that for any of the applications described above, multiple actuation modules may be provided, which may be arranged in series ("longer" system) and / or arranged laterally to each other ("wider" system).

[0618] In the context of the various examples described in this article, such as Figure 36 and Figure 37 As shown, the SMA device 3008 may include a plurality of SMA units 3009a, 3009b, 3009c, 3009d, and 3009e, or may be defined by the plurality of SMA units. Figure 36 Multiple SMA units 3009a, 3009b, 3009c, 3009d, and 3009e in an idle state are shown, while Figure 37 The diagram shows an activated state in which SMA units 3009a, 3009b, 3009c, 3009d, and 3009e contract in response to receiving non-mechanical stimuli. SMA units 3009a, 3009b, 3009c, 3009d, and 3009e may be spaced apart from each other and connected via connectors (or connector members) 3090a, 3090b, 3090c, 3090d, 3090e, and 3090f. Connectors 3090b, 3090c, 3090d, and 3090e may be present to connect adjacent SMA units 3009a, 3009b, 3009c, 3009d, and 3009e. Connectors 3090a and 3090f may also be present to connect SMA units 3009a and 3009e to corresponding coupling elements 3034 and 3036. Connectors 3090a, 3090b, 3090c, 3090d, 3090e, and 3090f can act as force transmission components to transmit the force generated by the contraction of SMA units 3009a, 3009b, 3009c, 3009d, and 3009e.

[0619] Although Figure 36 and Figure 37 SMA units 3009a, 3009b, 3009c, 3009d, and 3009e are shown to be spaced apart from each other and attached via connectors 3090a, 3090b, 3090c, 3090d, 3090e, and 3090f. However, it should be understood that SMA units 3009a, 3009b, 3009c, 3009d, and 3009e can be directly connected to each other and directly connected to coupling element 3036 without the need for connectors 3090a, 3090b, 3090c, 3090d, 3090e, and 3090f.

[0620] In addition, although Figure 36 and Figure 37 Five SMA units 3009a, 3009b, 3009c, 3009d, and 3009e are shown, but it should be understood that any number of SMA units (including one, two, three, four, five, six, or any greater number) may be provided.

[0621] In the context of various examples, the SMA device and the stimulation element or their parts may be separated from or independent of each other to, for example, assist or promote the (more) smooth or (more) free movement of the SMA device when it contracts.

[0622] Terms and Definitions

[0623] In the context of various examples, a flexible part or element may mean that the part or element can be, for example, bendable and / or twistable.

[0624] In the context of various examples, a stretchable part or element may mean that at least one dimension of the part or element (e.g., length, width, depth, thickness) can be variable. At least one dimension can be increased or decreased. As a non-limiting example, the length of the part or element can vary or change, for example, decrease.

[0625] As used in this specification and claims, the term "comprising" means "consisting at least in part of" or "including, but not limited to," and therefore should be interpreted in an inclusive rather than exclusive or exhaustive sense. In interpreting each statement in this specification and claims that contains the term "comprising," features other than one or more features beginning with that term may also exist. Related terms such as "comprise" and "comprises" should be interpreted in the same manner.

[0626] The term “and / or” means “and” or “or”, or both.

[0627] As used herein, a phrase in the form of “at least one of A or B” may include either A or B, or both A and B. Accordingly, a phrase in the form of “at least one of A, B, or C” or including further listed items may include any and all combinations of one or more of the associated listed items.

[0628] Using "(multiple)" before a noun indicates the plural and / or singular form of that noun.

[0629] Unless otherwise specifically stated, or understood in the context as used, conditional terms such as “may,” “possibly,” “perhaps,” or “can” are generally intended to express that some examples include certain features, elements, and / or steps, while other examples do not. Therefore, such conditional terms are not generally intended to imply that one or more examples require features, elements, and / or steps in any way, or that one or more examples necessarily include logic for determining whether or not such features, elements, and / or steps are included or will be performed in any particular example, with or without user input or prompts.

[0630] The degree terms used herein, such as the terms “approximately,” “about,” “substantially,” and “basically”, refer to values, quantities, or characteristics that are close to the stated value, quantity, or characteristic and still perform the desired function or achieve the desired result. For example, the terms “approximately,” “about,” “substantially,” and “basically” may refer to quantities that differ from the stated quantity by less than 10%, less than 5%, less than 1%, less than 0.1%, and less than 0.01%.

[0631] In this specification where references have been made to patent specifications, other external documents, or other sources of information, this is generally for the purpose of providing background for discussing the features of the invention. Unless otherwise specifically stated, references to such external documents should not be construed as an admission that such documents or sources of information are prior art in any jurisdiction or constitute part of common general knowledge in the art.

[0632] Specific details have been provided in the above description to provide a thorough understanding of these examples. However, those skilled in the art will understand that these examples can be practiced even without these specific details. For example, software modules, functions, circuits, etc., may be shown in block diagrams to avoid obscuring the examples with unnecessary detail. In other cases, well-known modules, structures, and techniques may not be shown in detail to avoid obscuring the examples.

[0633] The aspects of the systems and methods described above can operate on any type of general-purpose computer system or computing device, including but not limited to desktop computers, laptops, tablets, smart TVs, game consoles, or mobile devices. The term "mobile device" includes, but is not limited to, wireless devices, mobile phones, smartphones, mobile communication devices, user communication devices, personal digital assistants, mobile handheld computers, laptops, wearable electronic devices (such as smartwatches and head-mounted devices), e-book readers and reading devices capable of reading electronic content, and / or other types of mobile devices that are typically carried by an individual and / or have some form of communication capability (e.g., wireless, infrared, short-range radio, cellular networks, etc.).

[0634] The aspects of the systems and methods described above may be operable on or implemented on any of the following: any type of dedicated or special computer, or any machine or computer or server or electronic device having a microprocessor, processor, microcontroller or programmable controller, or cloud-based platform or other network of processors and / or servers (whether local or remote), or any combination of such devices.

[0635] One or more of the components and functions illustrated in the figures may be rearranged and / or combined into a single component or embodied in multiple components without departing from the scope of this disclosure. Additional elements or components may also be added without departing from the scope of this disclosure. Additionally, the features described herein may be implemented in software, hardware, business methods, and / or combinations thereof.

[0636] While this disclosure has been described in certain examples and in the context of those examples, it will be understood by those skilled in the art that this disclosure is not limited to the specific examples disclosed herein, but also includes other alternative examples and / or uses, as well as obvious modifications and equivalents thereof. Furthermore, while several variations of the examples of this disclosure have been shown and described in detail, other modifications within the scope of this disclosure will be readily apparent to those skilled in the art. It is also contemplated that various combinations or sub-combinations of specific features and aspects of the examples are possible, and such combinations or sub-combinations remain within the scope of this disclosure. For example, a feature described above in conjunction with one example may be used with different examples described herein, and such combination remains within the scope of this disclosure. It should be understood that various features and aspects of the disclosed examples may be combined with or substituted for each other to form different patterns of examples of this disclosure. Therefore, the scope of this disclosure is not intended to be limited to the specific examples described above. Thus, unless otherwise stated, or unless clearly incompatible, each example of this disclosure may include, in addition to its essential features described herein, one or more features from each other example of the invention disclosed herein.

[0637] In a broader sense, this disclosure may also be referred to as including any part, element, or feature individually or jointly mentioned or indicated herein, as well as any or all combinations of any two or more of the said parts, elements, and features; and where a particular integer mentioned herein has a known equivalent in the art to which this disclosure pertains, such known equivalent shall be deemed to be incorporated herein as if it had been set forth separately.

[0638] Features, materials, properties, or groups of elements described in conjunction with a particular aspect, example, or illustration are to be construed as applicable to any other aspect, example, or illustration, unless incompatible with any aspect, example, or illustration described in this section or elsewhere in this specification. All features of the features disclosed in this specification (including any appended claims, abstract, and drawings), and / or all steps of any method or process so disclosed, may be combined in any combination except for mutually exclusive combinations of at least some of such features and / or steps. The scope of protection is not limited to the details of any of the foregoing examples. Protection extends to any novel feature or any novel combination of features disclosed in this specification (including any appended claims, abstract, and drawings), or to any novel step or any novel combination of steps of any method or process so disclosed.

[0639] Furthermore, certain features described in the context of a single embodiment in this disclosure may also be implemented in combination within a single embodiment. Conversely, various characteristics described in the context of a single embodiment may also be implemented individually in multiple embodiments or in any suitable sub-combination. Moreover, although features may be described above as functioning in certain combinations, in some cases, one or more features may be removed from the described combination, and the combination may be described as a sub-combination or a variation of a sub-combination.

[0640] Furthermore, although operations may be depicted in a specific order in the accompanying drawings or described in a specific order in the specification, it is not necessary to strictly follow the specific order shown or perform such operations in sequential order, nor is it necessary to perform all operations to achieve the desired result. Other operations not depicted or described may be incorporated into the exemplary methods and processes. For example, one or more additional operations may be performed before, after, simultaneously with, or between any of the operations described. Furthermore, in other embodiments, these operations may be rearranged or reordered. Those skilled in the art will understand that in some examples, the actual steps taken in the illustrated and / or disclosed processes may differ from the steps shown in the figures. Depending on the example, some steps in the steps described above may be removed, and other steps may be added. Furthermore, the features and characteristics of the specific examples disclosed above may be combined in different ways to form additional examples, all of which are within the scope of this disclosure. In addition, the separation of various system components in the specific embodiments described above should not be construed as requiring such separation in all embodiments, and it should be understood that the described components and systems may generally be integrated together in a single product or packaged into multiple products.

[0641] For the purposes of this disclosure, certain aspects, advantages, and novel features are described herein. Not all such advantages are necessarily realized according to any particular example. Thus, for example, those skilled in the art will recognize that this disclosure may be embodied or implemented in a way that achieves one or a set of advantages as taught herein, but not necessarily other advantages as taught or suggested herein.

[0642] The scope of this disclosure is not intended to be limited by the specific disclosures of the examples in this part or other parts of this specification, but is defined by the claims set forth in this part or other parts of this specification, or to be filed thereafter. The wording of the claims should be interpreted broadly according to their use, and not limited to the examples described in this specification or during the examination of this application, which should be interpreted as non-exclusive.

[0643] The various examples of this disclosure will now be explained with reference to the following provisions.

[0644] Clause 1. An actuator assembly comprising: Actuation module; and Multiple coupling elements are coupled to the actuation module. The actuation module includes at least three layers of smart material actuator (SMA) devices and stimulation elements arranged stacked on top of each other. The stimulating element is configured to provide stimulation to the SMA device to induce geometric changes, thereby generating force.

[0645] Clause 2. The actuator assembly according to Clause 1, wherein the at least three layers of the SMA device and the stimulation element are arranged alternately.

[0646] Clause 3. The actuator assembly according to Clause 1 or 2, wherein each SMA device in the SMA device is configured to mechanically contract in response to receiving the stimulus.

[0647] Clause 4. The actuator assembly according to Clause 1 or 2, wherein each SMA device in the SMA device is configured to mechanically expand in response to receiving the stimulus.

[0648] Clause 5. The actuator assembly according to any one of Clauses 1 to 4, wherein each SMA device in the SMA device is configured to undergo geometrical change along an axis in response to receiving the stimulus.

[0649] Clause 6. The actuator assembly according to any one of Clauses 1 to 5, wherein each SMA device in the SMA device is configured to undergo geometrical changes along multiple axes in response to receiving the stimulus.

[0650] Clause 7. An actuator assembly according to any one of Clauses 1 to 6, wherein the at least three layers are configured as a thin film array.

[0651] Clause 8. The actuator assembly according to any one of Clauses 1 to 7, wherein for each of the SMA devices, the SMA device includes a phase change material configured to change from a first phase to a second phase in response to receiving the stimulus, thereby causing a geometric change in the SMA device.

[0652] Clause 9. The actuator assembly according to any one of Clauses 1 to 8, wherein for each of the SMA devices, the SMA device comprises a plurality of SMA units arranged in series with each other.

[0653] Clause 10. The actuator assembly according to Clause 9, wherein the plurality of SMA units are directly connected to each other.

[0654] Clause 11. The actuator assembly as described in Clause 9, The plurality of SMA units are spaced apart from each other. The SMA device also includes multiple connectors, and The respective connectors of the plurality of connectors are arranged between the respective adjacent SMA units in the plurality of SMA units to connect the respective adjacent SMAs to each other.

[0655] Clause 12. The actuator assembly according to any one of Clauses 1 to 11, wherein each of the stimulation elements is flexible.

[0656] Clause 13. The actuator assembly according to any one of Clauses 1 to 12, wherein for each of the stimulation elements, the stimulation element is stretchable and configured to geometrically change along with the SMA device in response to the SMA device receiving the stimulation.

[0657] Clause 14. The actuator assembly according to any one of Clauses 1 to 12, wherein each of the stimulation elements is non-stretchable.

[0658] Clause 15. The actuator assembly according to any one of Clauses 1 to 14, the actuator assembly further comprising at least one termination element configured to terminate at least one end of each of the SMA devices.

[0659] Clause 16. The actuator assembly according to Clause 15, wherein the at least one termination element is configured to terminate at least one end of the actuation module.

[0660] Clause 17. The actuator assembly according to Clause 16, wherein the at least one termination element is configured to seal the at least one end of the actuator module.

[0661] Clause 18. The actuator assembly according to any one of Clauses 1 to 17, the actuator assembly further comprising a force transmission component coupled to one end of each SMA device in the SMA device.

[0662] Clause 19. The actuator assembly according to any one of Clauses 1 to 18, the actuator assembly further comprising a housing configured to house the SMA device and the stimulation element.

[0663] Clause 20. The actuator assembly according to Clause 19, wherein the housing comprises: A first shell segment having a first cross-sectional dimension; and A second shell segment having a second cross-sectional dimension smaller than the first cross-sectional dimension. The second shell segment is slidably movable relative to the first shell segment and can be received by the first shell segment.

[0664] Clause 21. The actuator assembly as described in Clause 20, The shell further includes a third shell segment having a third cross-sectional dimension smaller than the first cross-sectional dimension, and The third shell segment is slidably movable relative to the first shell segment and can be received by the first shell segment.

[0665] Clause 22. The actuator assembly according to any one of Clauses 19 to 21, wherein the housing is flexible.

[0666] Clause 23. The actuator assembly according to any one of Clauses 19 to 22, wherein the housing is stretchable.

[0667] Clause 24. The actuator assembly according to any one of Clauses 19 to 22, wherein the housing is non-stretchable.

[0668] Clause 25. An actuator assembly according to any one of Clauses 1 to 23, wherein the plurality of coupling elements are configured to be coupled to each other to form the actuation module as a ring.

[0669] Clause 26. The actuator assembly according to any one of Clause 25, wherein the actuator module is configured as a strip or sleeve.

[0670] Clause 27. An actuator assembly according to any one of Clauses 1 to 26, wherein the plurality of coupling elements are configured to couple the actuation module to at least one external object.

[0671] Clause 28. The actuator assembly according to any one of Clauses 1 to 27, wherein the actuation module further comprises at least one heat dissipation component.

[0672] Clause 29. The actuator assembly according to any one of Clauses 1 to 28, wherein the actuation module further comprises at least one sensing element.

[0673] Clause 30. The actuator assembly according to any one of Clauses 1 to 29, wherein the actuation module further comprises an anti-wear agent.

[0674] Clause 31. The actuator assembly according to Clause 30, wherein the anti-wear agent comprises at least one of a lubricant or a non-stick material.

[0675] Clause 32. The actuator assembly according to any one of Clauses 1 to 31, wherein the at least three layers include a planar layer.

[0676] Clause 33. The actuator assembly pursuant to any one of Clauses 1 to 32, The actuation module further includes at least one pulley, and The SMA device is wound around the at least one pulley.

[0677] Clause 34. The actuator assembly according to any one of Clauses 1 to 31, wherein the at least three layers include concentric layers.

[0678] Clause 35. The actuator assembly as described in Clause 34, The actuation module further includes a resilient inner tube surrounded by the at least three layers, and In response to receiving the stimulus, each SMA device in the SMA device is configured to generate a force acting on the elastic inner tube.

[0679] Clause 36. The actuator assembly according to any one of Clauses 1 to 35, the actuator assembly further comprising at least one interconnecting element configured to couple at least one of the plurality of coupling elements to the actuation module.

[0680] Clause 37. The actuator assembly according to any one of Clauses 1 to 36, the actuator assembly further comprising at least one connecting element coupled to at least one of the plurality of coupling elements, the at least one connecting element being configured to be coupled to an external object.

[0681] Clause 38. An actuator assembly according to any one of Clauses 1 to 37, wherein each of the SMA devices comprises a photoresponsive actuator device, a magnetically responsive actuator device, a thermally responsive actuator device, a dielectric actuator device, a conductive polymer actuator device, or an electroactive hydrogel actuator device.

[0682] Clause 39. The actuator assembly according to Clause 38, wherein each SMA device in the SMA device includes the photoresponsive actuator device configured to receive light as the stimulus.

[0683] Clause 40. The actuator assembly as described in Clause 39, Each SMA device in the aforementioned SMA device contains at least one fiber, and Each of the stimulation elements mentioned herein includes at least one optical fiber.

[0684] Clause 41. The actuator assembly according to Clause 40, the actuator assembly further comprising a laser source or LED optically coupled to the at least one optical fiber.

[0685] Clause 42. The actuator assembly according to Clause 39, wherein each of the stimulating elements includes a light guide configured to transmit the light to the SMA device.

[0686] Clause 43. The actuator assembly according to Clause 42, the actuator assembly further comprising a light source configured to generate the light.

[0687] Clause 44. The actuator assembly according to Clause 39, wherein each of the stimulation elements comprises a plurality of LEDs configured to generate the light.

[0688] Clause 45. The actuator assembly as described in Clause 44, wherein the plurality of LEDs are mounted on a printed circuit board.

[0689] Clause 46. The actuator assembly pursuant to Clause 45, wherein the printed circuit board is flexible or stretchable.

[0690] Clause 47. The actuator assembly according to any one of Clauses 39 to 46, wherein the actuator assembly further comprises an optoelectronic module.

[0691] Clause 48. The actuator assembly according to any one of Clauses 1 to 47, the actuator assembly further comprising a controller configured to control the operation of the actuator module.

[0692] Clause 49. The actuator assembly according to any one of Clauses 1 to 48, wherein the actuator assembly further comprises a power source.

[0693] Clause 50. An actuator assembly according to any one of Clauses 1 to 49, wherein each of the stimulation elements comprises one or more thermal conductors.

[0694] Clause 51. An actuator assembly according to any one of Clauses 1 to 50, wherein each of the stimulation components comprises at least one of: an electroluminescent material, a chemiluminescent material, or a bioluminescent material.

[0695] Clause 52. The actuator assembly according to any one of Clauses 1 to 51, wherein said plurality of coupling elements comprises strips.

[0696] Clause 53. An actuator assembly according to any one of Clauses 1 to 52, the actuator assembly comprising a plurality of actuation modules.

[0697] Clause 54. The actuator assembly according to Clause 53, wherein the plurality of actuator modules are arranged in series.

[0698] Clause 55. The actuator assembly according to Clause 53 or 54, wherein the plurality of actuator modules are arranged at least substantially in parallel with each other.

[0699] Clause 56. The actuator assembly according to Clause 53 or 54, wherein the plurality of actuator modules are arranged along different axes.

[0700] Clause 57. An actuator device comprising: objects; and An actuator assembly according to any one of clauses 1 to 56, wherein the actuation module of the actuator assembly is configured to generate a force acting on the object.

[0701] Clause 58. The actuator device according to Clause 57, the actuator device further comprising a flexible guide element, wherein the actuation module is disposed within the flexible guide element.

[0702] Clause 59. The actuator device according to Clause 57 or 58, wherein the actuation module is coupled to the object.

[0703] Clause 60. An actuator assembly according to any one of Clauses 57 to 59, wherein the actuation module is arranged around a portion of the object.

[0704] Clause 61. The actuator device according to Clause 60, wherein the actuation module is configured as a strip or sleeve.

[0705] Clause 62. An actuator device according to any one of Clauses 57 to 61, wherein the actuation module is wound around the object in a helical configuration.

[0706] Clause 63. An actuator device according to any one of Clauses 57 to 62, wherein at least one of the plurality of coupling elements of the actuator assembly is configured as a strip or band.

[0707] Clause 64. An actuator device according to any one of Clauses 57 to 63, wherein said object is flexible.

[0708] Clause 65. An actuator device according to any one of Clauses 57 to 64, wherein said object includes wearable articles.

[0709] Clause 66. The actuator device according to Clause 65, wherein the wearable item includes at least one of clothing, fabric, gloves, or sleeves.

[0710] Clause 67. The actuator device as described in Clause 66, The wearable items mentioned above include the gloves, and The actuation module is configured to generate the force acting on the finger portion of the glove.

[0711] Clause 68. The actuator device as described in Clause 66, The wearable items mentioned above include the gloves. The actuator assembly includes a plurality of actuation modules configured to generate the force acting on the finger portion of the glove, and For a given actuation module among the plurality of actuation modules, the respective actuation module is configured to generate the force acting on the corresponding finger portion of the finger portion.

[0712] Clause 69. The actuator device as described in Clause 66, The wearable items mentioned above include the gloves, and The actuation module is configured to generate the force acting on the palm portion of the glove.

[0713] Clause 70. An actuator device according to any one of Clauses 57 to 63, wherein said object is rigid.

[0714] Clause 71. The actuator device according to Clause 70, wherein said object includes a lever, a rotatable component, a pivotable component, or a pair of clamping components.

[0715] Clause 72. An actuator device according to any one of Clauses 57 to 71, wherein the actuator assembly includes a plurality of actuation modules configured to generate the force acting on the object.

[0716] Clause 73. The actuator device according to Clause 72, wherein the plurality of actuation modules includes a pair of active-antagonistic actuation modules arranged on opposite sides of the object.

[0717] Clause X1. An actuator assembly comprising: At least one smart material actuator (SMA) device, the at least one smart material actuator (SMA) device comprising smart material; At least one stimulating element, wherein the at least one stimulating element is arranged to provide non-mechanical stimulation to the at least one SMA device to cause a geometric change in the SMA device, thereby resulting in the generation of force.

[0718] Clause X2. The actuator assembly according to Clause X1, the actuator assembly further comprising...

[0719] A coupling element, which is directly or indirectly attached to the at least one SMA device, wherein the coupling element is arranged to be directly or indirectly attached to an object to transmit the force generated thereon to the object upon attachment.

[0720] Clause X3. The actuator assembly according to Clause X1 or X2, the actuator assembly comprising at least one actuation module, the at least one actuation module comprising at least one SMA device of the SMA device and at least one stimulation element of the stimulation element.

[0721] Clause X4. An actuator module comprising: At least one smart material actuator (SMA) device, the at least one smart material actuator (SMA) device comprising smart material; At least one stimulating element, wherein the at least one stimulating element is arranged to provide non-mechanical stimulation to the at least one SMA device to cause a geometric change in the SMA device, thereby resulting in the generation of force; The actuation module is arranged to be directly or indirectly attached to a coupling element that can be directly or indirectly attached to an object to transmit the force generated thereon to the object upon attachment.

[0722] Clause X5. An actuator assembly according to any one of Clauses X1 to X3 or an actuation module according to Clause X4, wherein the non-mechanical stimulus is related to an energy-based external stimulus.

[0723] Clause X6. An actuator assembly pursuant to Clause X1 or any of its dependent clauses, or an actuator module pursuant to Clause X4 or any of its dependent clauses, wherein at least one SMA device of the SMA device is arranged in a first layer, and at least one stimulating element of the stimulating element is arranged in a second layer, wherein the second layer at least partially overlaps with the first layer.

[0724] Clause X7. The actuator assembly described under Clause X1 or any of its dependent clauses, or the actuation module described under Clause X4 or any of its dependent clauses, wherein the actuator assembly or the actuation module comprises

[0725] At least one first SMA device is arranged in the first layer of the at least one SMA device; At least one second SMA device is arranged in the second layer of the at least one SMA device; and At least one first stimulating element is disposed in a third layer, wherein the third layer is disposed between the first layer and the second layer.

[0726] Clause X8. The actuator assembly described under Clause X1 or any of its dependent clauses, or the actuation module described under Clause X4 or any of its dependent clauses, wherein the actuator assembly or the actuation module comprises: At least one first stimulating element is arranged in the first layer of the at least one stimulating element device; At least one first SMA device is arranged in the second layer of the at least one SMA device; and At least a second SMA device is arranged in a third layer of the at least one SMA device, wherein the third layer is disposed between the first layer and the second layer.

[0727] Clause X9. An actuator assembly or actuation module as described in Clause X7 or X8, wherein the at least three layers are arranged alternately.

[0728] Clause X10. The actuator assembly described in Clause X1 or any of its dependent clauses, or the actuation module described in Clause X4 or any of its dependent clauses, wherein each SMA device in the SMA device is configured to mechanically contract in response to receiving the stimulus.

[0729] Clause X11. The actuator assembly described in Clause X1 or any of its dependent clauses, or the actuation module described in Clause X4 or any of its dependent clauses, wherein each SMA device in the SMA device is configured to mechanically expand in response to receiving the stimulus.

[0730] Clause X12. The actuator assembly described in Clause X1 or any of its dependent clauses, or the actuation module described in Clause X4 or any of its dependent clauses, wherein each SMA device in the SMA device is configured to undergo a geometric change along an axis in response to receiving the stimulus.

[0731] Clause X13. The actuator assembly described in Clause X1 or any of its dependent clauses, or the actuation module described in Clause X4 or any of its dependent clauses, wherein each SMA device in the SMA device is configured to undergo geometric changes along multiple axes in response to receiving the stimulus.

[0732] Clause X14. The actuator assembly or actuation module as described in Clause X7 or X8, wherein the at least three layers are configured as a thin film array.

[0733] Clause X15. The actuator assembly described in Clause X1 or any of its dependent clauses, or the actuator module described in Clause X4 or any of its dependent clauses, wherein for each of the SMA devices, the SMA device includes a phase change material configured to change from a first phase to a second phase in response to receiving the stimulus, thereby causing a geometric change in the SMA device.

[0734] Clause X16. The actuator assembly described in Clause X1 or any of its dependent clauses, or the actuator module described in Clause X4 or any of its dependent clauses, wherein for each of the SMA devices, the SMA device comprises a plurality of SMA units arranged in series with each other.

[0735] Clause X17. The actuator assembly or actuation module as described in Clause X16, wherein the plurality of SMA units are directly connected to each other.

[0736] Clause X18. The actuator assembly or actuator module as described in Clause X16, The plurality of SMA units are spaced apart from each other. The SMA device further includes one or more connectors, and The respective connectors of one or more of the connectors are arranged between the respective adjacent SMA units in the SMA unit to connect the respective adjacent SMAs to each other.

[0737] Clause X19. The actuator assembly described under Clause X1 or any of its dependent clauses, or the actuation module described under Clause X4 or any of its dependent clauses, wherein each of the stimulation elements is flexible.

[0738] Clause X20. The actuator assembly described in Clause X1 or any of its dependent clauses, or the actuation module described in Clause X4 or any of its dependent clauses, wherein for each of the stimulation elements, the stimulation element is stretchable and configured to undergo geometrical changes along with the SMA device in response to the SMA device receiving the non-mechanical stimulation.

[0739] Clause X21. The actuator assembly described under Clause X1 or any of its dependent clauses, or the actuation module described under Clause X4 or any of its dependent clauses, wherein at least one of the stimulation elements is non-stretchable.

[0740] Clause X22. The actuator assembly or the actuation module described under Clause X1 or any of its dependent clauses, or under Clause X4 or any of its dependent clauses, further includes at least one termination element configured to terminate at least one end of each of the SMA devices.

[0741] Clause X23. The actuator assembly or actuation module according to Clause X22, wherein the at least one termination element is configured to terminate at least one end of the actuation module.

[0742] Clause X24. The actuator assembly or actuation module according to Clause X23, wherein the at least one termination element is configured to seal the at least one end of the actuation module.

[0743] Clause X25. The actuator assembly or the actuation module described under Clause X1 or any of its dependent clauses, or under Clause X4 or any of its dependent clauses, further includes a force transmission component coupled to one end of each SMA device in the SMA device.

[0744] Clause X26. The actuator assembly or the actuation module described under Clause X1 or any of its dependent clauses, or under Clause X4 or any of its dependent clauses, further includes a housing configured to house the SMA device and the stimulation element.

[0745] Clause X27. The actuator assembly or actuation module as described in Clause X26, wherein the housing comprises: A first shell segment having a first cross-sectional dimension; and A second shell segment having a second cross-sectional dimension smaller than the first cross-sectional dimension. The second housing segment is slidably movable relative to the first housing segment and can be received by the first housing segment.

[0746] Clause X28. The actuator assembly or actuator module as described in Clause X27, The shell further includes a third shell segment having a third cross-sectional dimension smaller than the first cross-sectional dimension, and The third housing segment is slidably movable relative to the first housing segment and can be received by the first housing segment.

[0747] Clause X29. An actuator assembly or actuation module according to any one of Clauses X26 to X28, wherein the housing is flexible.

[0748] Clause X30. An actuator assembly or actuation module according to any one of Clauses X26 to X29, wherein the housing is stretchable.

[0749] Clause X31. An actuator assembly or actuation module according to any one of Clauses X26 to X29, wherein the housing is non-stretchable.

[0750] Clause X32. An actuator assembly as described in Clause X2 or any of its dependent clauses, or an actuation module as described in Clause X4 or any of its dependent clauses, wherein two or more coupling elements are configured to be coupled to each other to form the actuation module as a ring.

[0751] Clause X33. An actuator assembly or actuation module according to any one of Clauses X32 to X29, wherein the actuation module is configured as a strip or sleeve.

[0752] Clause X34. The actuator assembly described under Clause X2 or any of its subsidiary clauses, or the actuator module described under Clause X4 or any of its subsidiary clauses, wherein

[0753] Multiple coupling elements are configured to couple the actuation module to at least one external object.

[0754] Clause X35. An actuator assembly as described in Clause X3 or any of its dependent clauses, or an actuator module as described in Clause X4 or any of its dependent clauses, wherein the actuator module further comprises at least one heat dissipation component.

[0755] Clause X36. The actuator assembly described in Clause X3 or any of its subsidiary clauses, Or an actuation module as described in Clause X4 or any of its dependent clauses, wherein the actuation module further includes at least one sensing element.

[0756] Clause X37. The actuator assembly described in Clause X3 or any of its subsidiary clauses, Or an actuation module as described in Clause X4 or any of its subsidiary clauses, wherein the actuation module further includes an anti-wear agent.

[0757] Clause X38. The actuator assembly or actuation module as described in Clause X37, wherein the anti-wear agent comprises at least one of a lubricant or a non-stick material.

[0758] Clause X39. An actuator assembly or actuation module as described in Clause X7 or Clause X8 or any of its dependent clauses, wherein said at least three layers include a planar layer.

[0759] Clause X40. The actuator assembly described under Clause X3 or any of its subsidiary clauses, or the actuator module described under Clause X4 or any of its subsidiary clauses. The actuation module further includes at least one pulley, and The SMA device is wound around the at least one pulley.

[0760] Clause X41. An actuator assembly or actuation module as described in Clause X7 or Clause X8 or any of its dependent clauses, wherein the at least three layers include concentric layers.

[0761] Clause X42. The actuator assembly described in conjunction with Clause X7 or X8 or any of its dependent clauses, or the actuation module described in conjunction with Clause X4 or X7 or X8 or any of its dependent clauses, wherein the actuation module further comprises a resilient inner tube surrounded by the at least three layers, and

[0762] In response to receiving the stimulus, each SMA device in the SMA device is configured to generate a force acting on the elastic inner tube.

[0763] Clause X43. The actuator assembly or the actuation module described under Clause X3 or any of its dependent clauses, or under Clause X4 or any of its dependent clauses, further includes at least one interconnecting element configured to couple at least one of the plurality of coupling elements to the actuation module.

[0764] Clause X44. The actuator assembly or the actuation module described under Clause X3 or any of its dependent clauses, or under Clause X4 or any of its dependent clauses, further includes at least one connecting element coupled to at least one of the plurality of coupling elements, the at least one connecting element being configured to be coupled to an external object.

[0765] Clause X45. The actuator assembly described in Clause X1 or any of its dependent clauses, or the actuator module described in Clause X4 or any of its dependent clauses, wherein at least one of the SMA devices comprises a photoresponsive actuator device, a magnetically responsive actuator device, a thermally responsive actuator device, a dielectric actuator device, a conductive polymer actuator device, or an electroactive hydrogel actuator device.

[0766] Clause X46. The actuator assembly or actuation module according to Clause X47, wherein at least one or each of the SMA devices includes the photoresponsive actuator device configured to receive light as the stimulus.

[0767] Clause X47. The actuator assembly or actuator module as described in Clause X46, Each SMA device in the aforementioned SMA device contains at least one fiber, and Each of the stimulation elements mentioned herein includes at least one optical fiber.

[0768] Clause X48. The actuator assembly or actuation module according to Clause X48 further includes a laser source or LED optically coupled to the at least one optical fiber.

[0769] Clause X49. The actuator assembly or actuation module according to Clause X46, wherein at least one or each of the stimulation elements includes a light guide configured to transmit the light to the SMA device.

[0770] Clause X50. The actuator assembly or actuation module as described in Clause X49 further includes a light source configured to generate the light.

[0771] Clause X51. An actuator assembly or actuation module according to Clause X46, wherein at least one or each of the stimulation elements comprises a plurality of LEDs configured to generate the light.

[0772] Clause X52. The actuator assembly or actuation module as described in Clause X51, wherein the plurality of LEDs are mounted on a printed circuit board.

[0773] Clause X53. The actuator assembly or actuation module as described in this clause, wherein the printed circuit board is flexible or stretchable.

[0774] Clause X54. The actuator assembly or actuation module according to any one of Clauses X46 to X53, wherein the actuator assembly or actuation module further comprises an optoelectronic module.

[0775] Clause X55. The actuator assembly described in Clause X3 or any of its subsidiary clauses, Or, as described in Clause X4 or any of its dependent clauses, the actuator assembly or the actuator module further includes a controller configured to control the operation of the actuator module.

[0776] Clause X56. The actuator assembly or the actuation module described under Clause X1 or any of its dependent clauses, or under Clause X4 or any of its dependent clauses, further includes a power source.

[0777] Clause X57. The actuator assembly described under Clause X1 or any of its dependent clauses, or the actuation module described under Clause X4 or any of its dependent clauses, wherein at least one or each of the stimulation elements comprises one or more thermal conductors.

[0778] Clause X58. The actuator assembly described under Clause X1 or any of its dependent clauses, or the actuation module described under Clause X4 or any of its dependent clauses, wherein at least one or each of the stimulating components comprises at least one of the following: an electroluminescent material, a chemiluminescent material, or a bioluminescent material.

[0779] Clause X59. The actuator assembly described under Clause X2 or any of its dependent clauses, or the actuator module described under Clause X4 or any of its dependent clauses, wherein at least one of the coupling elements comprises a strip.

[0780] Clause X60. The actuator assembly described in Clause X3 or any of its dependent clauses includes a plurality of actuator modules.

[0781] Clause X61. The actuator assembly according to Clause X60, wherein the plurality of actuator modules are arranged in series.

[0782] Clause X62. The actuator assembly according to Clause X60 or X61, wherein the plurality of actuator modules are arranged at least substantially in parallel with each other.

[0783] Clause X63. The actuator assembly according to Clause X60 or X61, wherein the plurality of actuator modules are arranged along different axes.

[0784] Clause X64. An actuator device comprising: Inanimate objects; and An actuator assembly according to any one of Clause X3 or any of its dependent clauses, wherein the actuation module of the actuator assembly is configured to generate a force acting on the object.

[0785] Clause X65. The actuator device according to Clause X64 further includes a flexible guide element, wherein the actuation module is disposed within the flexible guide element.

[0786] Clause X66. The actuator device according to Clause X64 or X65, wherein the actuation module is coupled to the object.

[0787] Clause X67. An actuator assembly according to any one of Clauses X64 to X66, wherein the actuation module is arranged around a portion of the object.

[0788] Clause X68. The actuator device according to Clause X67, wherein the actuation module is configured as a strip or sleeve.

[0789] Clause X69. An actuator device according to any one of Clauses X64 to X68, wherein the actuation module is wound on the object in a helical configuration.

[0790] Clause X70. An actuator device according to any one of Clauses X64 to X69, wherein at least one of the plurality of coupling elements of the actuator assembly is configured as a strip or band.

[0791] Clause X71. An actuator device according to any one of Clauses X64 to X70, wherein said object is flexible.

[0792] Clause X72. An actuator device according to any one of Clauses X64 to X71, wherein said object includes wearable articles.

[0793] Clause X73. The actuator device according to Clause X72, wherein the wearable item includes at least one of clothing, fabric, gloves, or sleeves.

[0794] Clause X74. The actuator device as described in Clause X73, The wearable items mentioned above include the gloves, and The actuation module is configured to generate the force acting on the finger portion of the glove.

[0795] Clause X75. The actuator device as described in Clause X73, The wearable items mentioned above include the gloves. The actuator assembly includes a plurality of actuation modules configured to generate the force acting on the finger portion of the glove, and For a given actuation module among the plurality of actuation modules, the respective actuation module is configured to generate the force acting on the corresponding finger portion of the finger portion.

[0796] Clause X76. The actuator device as described in Clause X73, The wearable items mentioned above include the gloves, and The actuation module is configured to generate the force acting on the palm portion of the glove.

[0797] Clause X77. An actuator device according to any one of Clauses X64 to X, wherein the object is rigid.

[0798] Clause X78. The actuator device according to Clause X77, wherein said object includes a lever, a rotatable component, a pivotable component, or a pair of clamping components.

[0799] Clause X79. An actuator device according to any one of Clauses X64 to X78, wherein the actuator assembly includes a plurality of actuation modules configured to generate a force acting on the object when the actuator assembly or actuation module is connected to the object.

[0800] Clause X80. The actuator device according to Clause X79, wherein the plurality of actuation modules includes an active-antagonistic actuation module arranged on opposite sides of the object.

[0801] Clause X81. A smart material actuator (SMA) device comprising a smart material, wherein the SMA device is arranged to undergo a geometric change upon receiving a non-mechanical stimulus, wherein the geometric change results in the generation of a force.

[0802] Clause X82. The Smart Material Actuator (SMA) device according to Clause X81, the Smart Material Actuator (SMA) device is further arranged to be directly or indirectly attached to a coupling element, wherein the coupling element is arranged to be directly or indirectly attached to an object to transmit the force generated thereon to the object upon attachment.

[0803] Clause X83. The SMA device described in Clause X81 or X82, wherein the SMA device is a thermally responsive SMA device or a photothermal responsive SMA device.

[0804] Clause X84. The SMA device according to any one of Clauses X81 to X83, wherein the SMA device is a photoresponsive SMA device.

[0805] Clause X85. The SMA device according to any one of Clauses X81 to X84, wherein the smart material comprises a photoresponsive shape memory polymer or is made at least in part of the photoresponsive shape memory polymer.

[0806] Clause X86. The SMA device according to Clause X85, wherein the photoresponsive shape memory polymer comprises or is at least partially made of any of the following: Spiropyran-based polymers; Polymers containing diarylethene; Azobenzene polymers; liquid crystal elastomers; and Polydopamine-modified polymer.

Claims

1. An actuator assembly, the actuator assembly comprising: At least one smart material actuator (SMA) device, the at least one smart material actuator (SMA) device comprising smart material; At least one stimulating element, wherein the at least one stimulating element is arranged to provide non-mechanical stimulation to the at least one SMA device to cause a geometric change in the at least one SMA device, thereby resulting in the generation of force; and At least one coupling element is directly or indirectly attached to the at least one SMA device, wherein the at least one coupling element is arranged to be directly or indirectly attached to an object to transmit the force generated thereon to the object upon attachment.

2. The actuator assembly of claim 1, wherein the non-mechanical stimulus is limited to any one or more of the following: light energy (such as light) and heat energy (heat).

3. The actuator assembly according to any one of the preceding claims, wherein at least one of the SMA devices is thermally responsive or photothermally responsive.

4. The actuator assembly according to any one of the preceding claims, wherein at least one of the SMA devices is photoresponsive.

5. The actuator assembly according to any one of the preceding claims, wherein the smart material comprises a photoresponsive shape memory polymer or is at least partially made of the photoresponsive shape memory polymer.

6. The actuator assembly of claim 5, wherein the photoresponsive shape memory polymer comprises or is at least partially made of any of the following: Spiropyran-based polymers; Polymers containing diarylethene; Polymers containing azobenzene; Liquid crystal elastomers; and Polydopamine-modified polymer.

7. The actuator assembly according to any one of the preceding claims, wherein at least one of the SMA devices is disposed in a first layer, and at least one of the stimulating elements is disposed in a second layer, wherein the second layer at least partially overlaps with the first layer.

8. The actuator assembly according to any one of the preceding claims, the actuator assembly comprising At least one first SMA device is arranged in the first layer of the at least one SMA device; At least one second SMA device is arranged in the second layer of the at least one SMA device; and At least one first stimulating element is disposed in a third layer, wherein the third layer is disposed between the first layer and the second layer.

9. The actuator assembly according to any one of claims 1 to 7, wherein the actuator assembly comprises: At least one first stimulating element is arranged in the first layer of the at least one stimulating element device; At least one first SMA device is arranged in the second layer of the at least one SMA device; and At least a second SMA device is arranged in a third layer of the at least one SMA device, wherein the third layer is disposed between the first layer and the second layer.

10. The actuator assembly according to any one of the preceding claims, the actuator assembly comprising at least one actuation module, the at least one actuation module comprising at least one SMA device of the SMA device and at least one stimulation element of the stimulation element.

11. The actuator assembly of claim 10 when dependent on claim 2, wherein the coupling element is attached indirectly or directly to the at least one actuation module.

12. The actuator assembly of claim 10, wherein at least one of the actuation modules comprises a stretchable housing.

13. The actuator assembly according to any one of the preceding claims, wherein the at least one stimulation element is stretchable.

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