Soft robotic garment

Abstract

The present disclosure provides a garment, relating to the technical field of garment design, comprising a soft robotic fabric system, the soft robotic fabric system comprising: a first layer and a second layer; a soft robotic unit located between the first layer and the second layer; wherein the soft robotic unit comprises a deformable material for generating deformation in response to changes in temperature and / or humidity to change the thickness between the first layer and the second layer of the garment and form a porous spacing structure between the first layer and the second layer. The garment can dynamically adjust the structure and thickness of the garment, and can achieve precise and responsive thermal management, thereby distinguishing it from the prior art and providing better adaptability and comfort.

Description

Technical Field

[0001] This disclosure relates to the field of clothing design technology, and more particularly to a soft robotic garment. Background Technology

[0002] Personal thermal management is crucial for human comfort and performance, especially for those living in a variety of thermal conditions. Maintaining body temperature is one of the most basic human needs, but maintaining a constant ambient temperature requires a significant amount of energy. Therefore, the proposed thermoregulatory clothing is highly desirable as it can adapt to a wider range of ambient temperatures while maintaining thermal comfort.

[0003] Generally, traditional coats or jackets have a constant thermal resistance, which may not meet the wearer's warmth requirements under changing climates. For example, significant temperature differences exist between sunny and cloudy days, mornings and afternoons, or indoor and outdoor environments, making human thermoregulation very challenging. Furthermore, overheating from increased personal activity always leads to discomfort. For instance, the metabolic rate increases dramatically from rest to walking, corresponding to 75 and 174 W / m² respectively, which can cause heat stress in the wearer, even leading to sweating in cold winters. The after-cooling effect caused by wet clothing can be harmful to health, even fatal. Therefore, consumers need functional clothing with thermal adaptability and high breathability for different warmth requirements and personal activities. Many professionals, such as medical personnel, firefighters, winter athletes, and outdoor workers, often wear thick, bulky uniforms for protection. They frequently experience overheating and excessive sweating when working under high pressure or actively in warmer environments. For example, after physical exercise using a 150W gyrometer, a significant increase of 3.4°C was observed in the chest temperature of wearers in medical protective suits. However, for the safety and performance of the wearer, protective suits and work clothes remain mandatory. To reduce thermal stress, there is an urgent need for thermally adaptable clothing with the required heat and moisture resistance.

[0004] There is a need in this field to develop innovative adaptive clothing for both wearing comfort and thermal comfort.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this disclosure is to provide a garment that overcomes, at least to some extent, the problems of poor adaptability and comfort caused by related technologies.

[0007] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0008] According to one aspect of this disclosure, a garment is provided, including a soft robotic fabric system comprising: a first layer and a second layer; a soft robotic unit located between the first layer and the second layer; wherein the soft robotic unit includes a deformable material for deforming in response to changes in temperature and / or humidity to change the thickness between the first layer and the second layer of the garment, and for forming a porous spacer structure between the first layer and the second layer.

[0009] In one embodiment, the soft robot fabric system further includes a substrate located between the first layer and the second layer for wrapping and securing the soft robot unit.

[0010] In one embodiment, the substrate includes a channel portion and a connecting portion, the channel portion being used to accommodate the soft robot unit, and the connecting portion being used to connect the channel portion.

[0011] In one embodiment, the channel portion includes two independent layers; and / or the connection portion is a single-layer structure.

[0012] In one embodiment, the substrate is a gasket.

[0013] In one embodiment, the soft robotic unit includes a cavity for deforming in response to changes in fluid within the cavity to alter the thickness of the garment between the first and second layers.

[0014] In one embodiment, the cavity includes a phase change fluid; the phase change fluid undergoes morphological changes in response to temperature, humidity, pH, or light.

[0015] In one embodiment, the soft robotic unit is made of airtight fabric, hollow fiber, silicone, or hollow tube.

[0016] In one embodiment, the soft robot unit comprises airtight fabrics or hollow fibers made of TPE (thermoplastic elastomer), TPO (thermoplastic polyolefin), TPV (thermoplastic vulcanizate), silicone, PVC (flexible polyvinyl chloride), EVA (ethylene vinyl acetate copolymer), nylon elastomer, SEBS (styrene block copolymer), PU (polyurethane, non-thermoplastic version), PBT elastomer (polybutylene terephthalate), EPDM (ethylene propylene diene monomer rubber), SBS (styrene-butadiene-styrene copolymer), PEBA (polyether block amide), PVDF elastomer (polyvinylidene fluoride), fluororubber (FKM), thermoplastic vulcanizates, polyether ester elastomers (COPE), polyester elastomers (TPEE), polyurethane foam, PET (polyethylene terephthalate), or natural rubber.

[0017] In one embodiment, the soft robot unit may be in the form of a skeletal structure, tree structure, mesh structure, layered structure, spiral structure, foam structure, fibrous structure, honeycomb structure, fractal structure, chain structure, wave structure, lattice structure, ring structure, or beaded structure.

[0018] In one embodiment, the soft robotic unit includes small or elongated parts.

[0019] In one embodiment, the soft robot unit includes multiple branches; the first layer and the second layer form the porous spacer structure at positions between the branches of the soft robot unit.

[0020] In one embodiment, the cavity stores fluid, and the geometry of the soft robotic unit depends on the amount of fluid stored within the cavity. The fluid may include liquids and gases.

[0021] In one embodiment, the deformation size of the soft robot unit is between 0 and 10 cm.

[0022] In one embodiment, a temperature sensor and / or a humidity sensor are also included, located in the second layer of the garment.

[0023] In one embodiment, the device further includes a wearable device for measuring the ambient and / or human body temperature and / or humidity. Wearable devices include, for example, smartwatches, smart bracelets, smart rings, etc.

[0024] In one embodiment, a control system is also included for controlling the deformation of the soft robotic unit in response to received temperature and / or humidity.

[0025] In one embodiment, in response to a received temperature sensor monitoring temperature changes in real time, the control system controls the soft robot unit to adjust the amount of fluid inside the soft robot according to a built-in program, thereby changing the thickness of the garment.

[0026] In one embodiment, in response to the received humidity exceeding a humidity threshold, the control system controls the soft robotic unit to continuously change the thickness between the first and second layers of the garment to expel moisture.

[0027] In one embodiment, the control system includes a working unit, a data processing unit, and a controller; wherein the data processing unit is used to acquire temperature and / or humidity information and send the acquired temperature and / or humidity information to the controller; the controller is used to control the working unit according to the temperature and / or humidity information; the working unit is used to control the amount of fluid in the cavity to cause the soft robot unit to deform.

[0028] In one embodiment, the control system includes a pump and a processor: the processor is configured to send control commands to the pump based on ambient and / or human body temperature measured by a temperature sensor and / or ambient and / or human body humidity measured by a humidity sensor, to control the pump; the pump is connected to a cavity of the soft robotic unit and is configured to receive control commands from the processor to control the amount of fluid in the cavity to cause deformation of the soft robotic unit.

[0029] In one embodiment, the pump is a peristaltic pump.

[0030] In one embodiment, the control system further includes a wireless communication module; the processor is configured to send control commands to the peristaltic pump based on the ambient and / or human body temperature measured by a temperature sensor, and / or the ambient and / or human body humidity measured by a humidity sensor, and control commands received from the wireless communication module, to control the peristaltic pump; the wireless communication module is connected to the processor and is configured to receive control commands sent by external devices and send them to the processor, so as to control the peristaltic pump through the processor; the peristaltic pump is connected to the cavity of the soft robot unit and is configured to receive control commands from the processor to control the amount of fluid in the cavity to cause the soft robot unit to deform.

[0031] In one embodiment, the pump is an air pump.

[0032] In one embodiment, the control system further includes a power source for providing power to the control system.

[0033] In one embodiment, the clothing also includes wearable devices for measuring the ambient and / or human body temperature and / or humidity.

[0034] The garments provided by embodiments of this disclosure include soft robotic units capable of dynamically adjusting the structure and thickness of the garment, enabling precise and responsive thermal management that distinguishes it from the prior art and provides better adaptability and comfort.

[0035] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0037] Figure 1 A schematic diagram of the structure of a soft robotic fabric system according to one embodiment of the present disclosure is shown.

[0038] Figure 2 A schematic diagram of the structure of a soft robotic fabric system according to another embodiment of this disclosure is shown.

[0039] Figure 3A A front view of a soft robotic suit according to one embodiment of this disclosure is shown.

[0040] Figure 3B Show Figure 3A Rear view of the soft robotic suit.

[0041] Figure 3C Show Figure 3A A side view of a soft robotic suit.

[0042] Figure 4 The deformation process of a soft robotic fabric system for providing adjustable thickness is illustrated in one embodiment of this disclosure.

[0043] Figure 5 Show Figure 4 It is a component of the soft robotic fabric system.

[0044] Figure 6A A schematic diagram of a control unit for a soft robotic suit in one embodiment of this disclosure is shown.

[0045] Figure 6B The working principle of a pump is illustrated in one embodiment of this disclosure.

[0046] Figure 7A cross-sectional view showing a first implementation of thickness variation in a soft robotic fabric system according to a first embodiment of this disclosure.

[0047] Figure 8 The manufacturing process of the soft robotic fabric system according to the first embodiment of this disclosure is shown.

[0048] Figure 9 A cross-sectional view showing a second implementation of thickness variation in a soft robotic fabric system according to a second embodiment of this disclosure.

[0049] Figure 10A The manufacturing process of a soft robotic fabric system according to a second embodiment of this disclosure is shown.

[0050] Figure 10B The working principle of a single soft robot unit in a soft robot fabric system according to a second embodiment of this disclosure is shown.

[0051] Figure 11 A cross-sectional view showing a third implementation of the thickness variation of a soft robotic fabric system according to a third embodiment of this disclosure.

[0052] Figure 12A The manufacturing process of a soft robotic fabric system according to a third embodiment of this disclosure is shown.

[0053] Figure 12B The working principle of a single soft robotic unit of a soft robotic fabric system according to a third embodiment of this disclosure is shown.

[0054] Figure 13 A knitted pad of a soft robotic fabric system according to an embodiment of the present disclosure is shown.

[0055] Figure 14A The first embodiment of this disclosure shows that a knitted interlining, a soft robotic unit, and a shell are integrated together to form a soft robotic garment.

[0056] Figure 14B The illustration shows the integration of the knitted pad, the soft robot unit, and the housing according to a first embodiment of the present disclosure.

[0057] Figures 15A-15B An image of a pump is shown in one embodiment of this disclosure.

[0058] Figure 15C An image of a control unit in one embodiment of this disclosure is shown.

[0059] Figure 16A This illustration shows the deflated state of a soft robotic suit in one embodiment of the present disclosure.

[0060] Figure 16BThe inflated state of a soft robotic suit is shown in one embodiment of this disclosure.

[0061] Figure 16C The sensor locations are shown in the human objective testing device used in the experiment.

[0062] Figure 17A This illustration shows an experimental setup for an adjustable-temperature environment chamber used for subjective and objective testing in one embodiment of the present disclosure.

[0063] Figure 17B An example of a self-heating human body model is shown in one embodiment of this disclosure.

[0064] Figure 18A A schematic diagram showing the integration of the knitted thermal pad, the smart thermal actuator, and the housing in a third embodiment of this disclosure is shown.

[0065] Figure 18B This diagram illustrates a knitted thermal pad in which a smart thermal actuator is inserted into a channel, according to a third embodiment of this disclosure.

[0066] Figure 18C The transformation principle of the intelligent thermal actuator according to the third embodiment of this disclosure is shown.

[0067] Figure 19A The airtight fabric selected in one embodiment of this disclosure is shown; it is a nylon fabric with a TPU coating.

[0068] Figure 19B The heat sealing machine and its components are shown.

[0069] Figure 19C The images and diagrams show actual images of the Smart Thermal Actuator and its components.

[0070] Figure 19D The diagram shows the intelligent thermal actuator in both deflated and inflated states.

[0071] Figure 20A An illustration shows a knitted pad with channels and connecting clips in one embodiment of this disclosure.

[0072] Figure 20B This illustration shows the layers, including an outer shell, a breathable and moisture-proof layer, and a knitted thermal pad, in one embodiment of the present disclosure.

[0073] Figure 21 Images and diagrams show the deformation of a soft robotic textile system when placed on a heating plate.

[0074] Figure 22 A cross-sectional view showing the thickness variation of a soft robot fabric system according to a fourth embodiment of this disclosure is shown.

[0075] Figure 23 A cross-sectional view of a single deformable unit in a soft robotic fabric system according to a fourth embodiment of this disclosure is shown.

[0076] Figure 24 Illustrations showing the pattern, size, and actual product of the actuator of the soft robotic fabric system according to the fourth embodiment of this disclosure.

[0077] Figure 25 A machine (high-frequency welding machine) for manufacturing actuators of a soft robotic fabric system according to the fourth embodiment is shown.

[0078] Figure 26 The knitted substrate of the actuator of the soft robot fabric system of the fourth embodiment is shown.

[0079] Figure 27 The deflation and inflation states of the soft robotic fabric system of the fourth embodiment are shown.

[0080] Figure 28 The location of the temperature sensor is shown during testing of the soft robotic fabric system of the fourth embodiment.

[0081] Figure 29 Size descriptions of soft robotic units in some embodiments are disclosed.

[0082] Figures 30A-30C A schematic diagram showing the state of the air chamber during the deformation process of the soft robot unit in the first embodiment is shown.

[0083] Figure 31 An image of the soft robotic textile mentioned in the third embodiment of this disclosure is shown.

[0084] Figure 32 The theoretical analysis of the STA size variation of this disclosure is shown.

[0085] Figure 33 This illustrates the relationship between the original width of the STA in its fully deflated state and the maximum height of the STA in its fully inflated state.

[0086] Figure 34 The thermal performance evaluation and simulation results of a soft robotic textile are shown in one embodiment of this disclosure.

[0087] Figure 35 The following diagram illustrates a knitted substrate with an actuator according to an embodiment of the present disclosure: (a) front view, (b) rear view, (c) side view in a fully deflated state, and (d) side view in a fully inflated state.

[0088] Figure 36The average skin temperature is shown in the embodiments of this disclosure as the ambient temperature changes.

[0089] Figure 37 A schematic diagram of the structure of a control system according to an embodiment of the present disclosure is shown.

[0090] Figure 38 A schematic diagram of the structure of a control system according to another embodiment of the present disclosure is shown. Detailed Implementation

[0091] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that this disclosure will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0092] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0093] The inventors of this application have discovered that clothing in the related art is unsuitable for wearers if heat and moisture management is not comprehensively considered in light of actual environmental and personal conditions, and maintaining the wearer's body temperature in extremely hot and humid environments presents challenges. Furthermore, these garments do not automatically respond to changes in temperature and humidity.

[0094] This application provides a soft robotic garment with a soft robotic unit that can deform to adaptively change thermal properties.

[0095] To facilitate understanding, the following is an explanation of several terms used in this application.

[0096] Soft robotic clothing is an innovative type of clothing that integrates the functions and characteristics of soft robotic units into the garment structure. It is usually made of deformable materials and can sense changes in the external environment or human movements, and respond accordingly or provide specific functions.

[0097] A soft robot fabric system is a system that integrates soft robot units and fabric. It generally includes soft robot units (or soft robot structures), fabric, etc., and may also include connection and wiring systems.

[0098] In some embodiments of this disclosure, the soft robotic fabric system does not include a control system.

[0099] In some embodiments of this disclosure, the soft robotic garment includes a soft robotic fabric system and a control system. The soft robotic fabric system can vary the thickness of the air gaps between fabric layers, thereby altering thermal resistance and allowing moisture to be transferred from the body to environmental conditions, thus preventing sweat buildup on the skin. The soft robotic fabric system is connected to the control system. Specifically, the control system is configured to monitor changes in temperature and humidity, provide feedback to a control center, and respond to signals by activating working units to increase or decrease the thickness of the soft robotic fabric system. In one embodiment, the soft robotic fabric system can be worn directly like ordinary clothing.

[0100] In some embodiments of this disclosure, the soft robotic suit does not include a control system.

[0101] In one embodiment, the soft robotic fabric system includes soft robotic units (also referred to herein as actuators). The soft robotic units can be made of soft and deformable materials, such as airtight fabrics, silicone, and tubing. The soft robotic units can be attached, sewn, or wrapped with other fabrics to secure them. They may have one or more cavities to allow fluid movement, such as air and liquids.

[0102] In one embodiment, the soft robotic garment is equipped with various sensors and control systems. Soft robotic units can be attached, inserted, or sewn onto other fabric layers. The deformation of the soft robotic units can be achieved by changing the gas volume within the cavity. In this way, the soft robotic units can be driven by compressing gas. Alternatively, a phase change fluid responsive to thermal changes can be used to generate large quantities of gas. The deformation of the soft robotic units, including expansion and bending, drives changes in the geometry of the entire soft robotic fabric system. Air pumping (inflation or deflation) can be automatically performed based on the wearer's thermal state. The fluid can also be automatically driven by absorbing or releasing heat from the surrounding environment, thereby achieving a phase change between fluid and gas in a short time.

[0103] I. Programmable inflation-deflation mechanism within the soft robot unit:

[0104] Description: This feature involves a programmable mechanism that allows for dynamic adjustment of the garment's structure and thickness. By controlling the inflation and deflation of the robot's skeleton, the garment's thermal resistance can be automatically altered to achieve optimal temperature regulation based on temperature changes.

[0105] Importance: This mechanism enables precise and responsive thermal management, setting it apart from existing technologies and providing better adaptability and comfort.

[0106] II. High breathability and active dehumidification system:

[0107] Description: This system combines material and design features to ensure high breathability and active moisture wicking. It promotes airflow and wicks away sweat, preventing the cooling effect caused by trapped moisture.

[0108] Importance: This feature improves warmth retention and wearing comfort, especially during enhanced physical activity or in warm environments. It addresses a major shortcoming of current thermoregulating fabrics.

[0109] III. Energy-saving thermal management technology:

[0110] Description: This technology focuses on adjusting the thermal resistance of clothing through structural changes, rather than relying on energy-intensive methods such as Joule heating or thermoelectric elements, thereby achieving energy-efficient thermal regulation.

[0111] Importance: By reducing energy consumption, this feature makes the present disclosure more sustainable and practical in everyday use, providing an alternative to current inefficient technologies.

[0112] The soft robotic garment in this exemplary embodiment will now be described in more detail with reference to the accompanying drawings and embodiments.

[0113] Figure 1 A schematic diagram of the structure of a soft robotic suit according to one embodiment of this disclosure is shown. Figure 1 As shown, the soft robotic garment includes a first layer 11 and a second layer 12, and a soft robotic unit 13 located between the first layer 11 and the second layer 12. The soft robotic unit 13 includes a deformable material for deforming in response to changes in temperature and / or humidity to change the thickness between the first layer 11 and the second layer 12 of the garment, forming a porous spacer structure 14 between the first layer 11 and the second layer 12.

[0114] In this embodiment, a soft robotic unit is included between the first and second layers of the garment. This unit can deform in response to changes in temperature or humidity, thereby altering the air gap thickness of the garment and adapting to changes in environmental / human body temperature or humidity. Furthermore, the soft robotic unit occupies only a portion of the area between the first and second layers, creating a porous spacer structure that maintains better moisture filtration and facilitates the removal of moisture generated by the body. Additionally, the small area occupied by the soft robotic unit reduces the weight of the garment, preventing it from becoming excessively heavy.

[0115] In one embodiment, the soft robotic garment also includes a control system for controlling the deformation of the soft robotic unit in response to received temperature and / or humidity changes. By controlling the deformation of the soft robotic unit in response to temperature and / or humidity changes, the air gap thickness of the garment is altered, enabling adaptive thermal management.

[0116] In one embodiment, in response to a received temperature sensor monitoring temperature changes in real time, the control system controls the soft robot unit to adjust the amount of fluid inside the soft robot according to a built-in program, thereby changing the thickness of the garment.

[0117] In one embodiment, in response to the received humidity exceeding a humidity threshold, the control system controls a soft robotic unit to continuously change the thickness between the first and second layers of the garment to expel moisture. When the humidity exceeds a preset threshold, the control system can control the robotic unit to continuously and rapidly change the thickness between the first and second layers of the garment, thereby squeezing moisture out from the collar, cuffs, and other areas of the garment, accelerating moisture release.

[0118] In one embodiment, the control system includes a peristaltic pump, a processor, and a wireless communication module. The processor sends control commands to the peristaltic pump based on ambient and / or human body temperature measured by a temperature sensor, and / or ambient and / or human body humidity measured by a humidity sensor, as well as control commands received from the wireless communication module, to control the peristaltic pump. The wireless communication module, connected to the processor, receives control commands from external devices and sends them to the processor to control the peristaltic pump. The peristaltic pump, connected to the cavity of the soft robot unit, receives control commands from the processor and controls the fluid volume within the cavity to cause deformation of the soft robot unit.

[0119] In one embodiment, the soft robot unit is made of airtight fabric, hollow fibers, silicone, or hollow tubes. In another embodiment, the hollow fibers or hollow tubes are woven together with other yarns to form a fabric, which is deformed by inflating and deflating air.

[0120] In one embodiment, the soft robot unit may store fluid (e.g., air) internally to change its geometry through deformation (expansion, twisting, bending, etc.). The amount of fluid inside determines the shape of the soft robot unit, which can be precisely controlled by a control system.

[0121] In one embodiment, the soft robot unit comprises TPE (thermoplastic elastomer) and TPO.

[0122] Airtight fabrics or hollow fibers made of materials such as thermoplastic polyolefins, TPV (thermoplastic vulcanizate), silicone, PVC (flexible polyvinyl chloride), EVA (ethylene vinyl acetate copolymer), nylon elastomers, SEBS (styrene block copolymer), PU (polyurethane, non-thermoplastic version), PBT elastomers (polybutylene terephthalate), EPDM (ethylene propylene diene monomer rubber), SBS (styrene-butadiene-styrene copolymer), PEBA (polyether block amide), PVDF elastomers (polyvinylidene fluoride), fluororubber (FKM), thermoplastic vulcanizates, polyether ester elastomers (COPE), polyester elastomers (TPEE), polyurethane foam materials, PET (polyethylene terephthalate), or natural rubber.

[0123] In one embodiment, the soft robotic unit 13 includes a cavity (not shown) made of a deformable material that deforms in response to changes in fluid within the cavity to alter the thickness between the first layer 11 and the second layer 12 of the garment. In another embodiment, the cavity of the soft robotic unit 13 includes a phase change material that undergoes a morphological change in response to temperature. For example, the cavity may include a phase change fluid that transitions between liquid and gas states with changes in temperature.

[0124] In one embodiment, the first layer 11 is the outer layer of the garment, close to the external environment. The outer fabric is waterproof and breathable, blocking liquids and chemicals from the outside, and allowing heat and moisture to be transferred from the body to the environment. The second layer 12 is the inner layer of the garment, close to the wearer's body.

[0125] Figure 2 A structural schematic diagram of a soft robotic garment according to another embodiment of this disclosure is shown. (See diagram below.) Figure 2 As shown, the garment includes a first layer 21, a second layer 22, a soft robotic unit 23 located between the first layer 21 and the second layer 22, and a substrate 24. The substrate 24, located between the first layer 21 and the second layer 22, is used to wrap and secure the soft robotic unit 23. The substrate 24 can provide support for the soft robotic unit and limit its deformation.

[0126] In one embodiment, the substrate in the soft robotic fabric system is an interlining. The interlining can be woven, knitted, nonwoven, or sewn. The interlining can be manufactured by commercially available machines in mass production.

[0127] In one embodiment, the liner has a channel portion and a connecting portion. The channel portion has two separate layers, designed according to the shape of the soft robotic unit, for enclosing and securing them. The connecting portion is a single-layer structure designed to connect these channels. When the soft robotic unit is activated, the connecting portion can be located in the middle of the liner, thereby reducing air convection within the air gap.

[0128] In some embodiments, the channel size of the substrate is 0-2 cm larger than that of the soft robot unit, so that the soft robot unit can be easily inserted into the channel.

[0129] Figure 3A A front view of a soft robotic suit according to one embodiment of the present disclosure is shown, the suit providing adjustable thermal resistance according to an exemplary embodiment of the present disclosure. Figure 3B Show Figure 3A Rear view of the soft robotic suit. Figure 3C Show Figure 3A A side view of a soft robotic garment. As this example shows, these garments can look the same as or similar to ordinary clothing (such as thermal clothing).

[0130] Figure 4 The deformation process of a soft robotic fabric system for providing adjustable thickness is illustrated in one embodiment of this disclosure. (A) represents a fully deflated state, (B) represents a partially inflated state, and (C) represents a fully inflated state. When the soft robotic garment 1 is fully deflated, it has a small thickness and low thermal resistance. When it is inflated, the thickness increases, and then the thermal resistance increases. When it is fully inflated, it has the maximum thickness and the highest thermal resistance. This deformation process is reversible. This state is determined by the thermal state desired by the wearer.

[0131] Figure 5 Show Figure 4 The soft robotic fabric system comprises an outer layer 51, a substrate 52, and a soft robotic unit 53. A corresponds to the outer layer 51, representing the outer shell jacket of the garment; B and C correspond to the front and back sides of the substrate 52, which is, for example, a knitted interlining; and D corresponds to the soft robotic unit, shown in the figure as the robot skeleton.

[0132] Based on the principle of geometric deformation, the soft robot unit can have a variety of styles. In one embodiment, the soft robot unit styles include skeletal structures, tree structures, mesh structures, layered structures, spiral structures, foam structures, fibrous structures, honeycomb structures, fractal structures, chain structures, wave structures, lattice structures, ring structures, or beaded structures, etc.

[0133] In some embodiments, the design of the soft robotic unit should take into account the curves of the human body to ensure flexibility without restricting the body's movement.

[0134] In some embodiments, the soft robot unit includes small or elongated parts to improve flexibility.

[0135] The deformation size of the soft robot unit can be adjusted according to the actual application. In some embodiments, a deformation of 0-2 cm can be widely used in everyday clothing. In some embodiments, other deformation sizes, such as 2-10 cm, can be used in special conditions, such as extremely cold or extremely hot environments.

[0136] In one embodiment, the control system includes a working unit, a data processing unit, and a controller; wherein the data processing unit is used to acquire temperature and / or humidity information and send the acquired temperature and / or humidity information to the controller; the controller is used to control the working unit according to the temperature and / or humidity information; the working unit is used to control the amount of fluid in the cavity to cause deformation of the soft robot unit. In one embodiment, the data processing unit includes, for example, a temperature sensor and / or a humidity sensor.

[0137] In one embodiment, environmental and / or human body temperature and / or humidity are measured using wearable devices, such as smartwatches, smart bracelets, and smart rings. The wearable device can transmit the measured data to a control system via wireless, Bluetooth, or other communication methods.

[0138] In one embodiment, the control system includes a working unit, a data processing unit, a controller, and a wireless communication module. The data processing unit acquires temperature and / or humidity information and sends it to the controller. The controller controls the working unit based on the temperature and / or humidity information and control commands received from the wireless communication module. The working unit controls the fluid volume within the cavity to cause deformation of the soft robot unit. The wireless communication module establishes a wireless connection with a client, receives control commands from the client, and transmits them to the controller. In one embodiment, the data processing unit includes, for example, a temperature sensor and / or a humidity sensor.

[0139] Figure 6A A schematic diagram of a control unit for a soft robotic suit according to one embodiment of this disclosure is shown. Figure 6AAs shown, the system includes a soft robot suit 61, a controller 62, a pump 63, a power management chip 64, a power supply 65, and a wireless communication module 66. The control system comprises the controller 62, pump 63, power management chip 64, power supply 65, and wireless communication module 66. Power supply 65 powers the controller 62 (e.g., an Arduino board, STM32 microcontroller, or MSP430 microcontroller), the pump 63, and the wireless communication module 66. The wireless communication module 66 can be a Bluetooth module, Wi-Fi module, Zigbee module, etc., used to establish wireless communication with mobile devices such as mobile phones. Commands and data are transmitted between the wireless communication module 66 and the controller 62. The soft robot suit 61 sends temperature information to the controller 62, which then controls the pump 63 based on the temperature information and control commands received through the wireless communication module 66, thus achieving remote control of the soft robot suit.

[0140] Figure 6B A schematic diagram of the pump in one embodiment of this disclosure is shown. The roller 68 can block the flow of gas in the tube 67, and the gas can also flow in reverse within the tube 67 to change the volume of the soft robot unit cavity. When the pump is operating, the roller 68 rotates continuously, delivering fluid into the soft robot. When the pump stops operating, the roller 68 remains stationary, pressing down on the internal tube to prevent leakage of the fluid that has already entered. When the current direction is changed, the pump starts operating, but the roller 68 rotates in the reverse direction, thus changing the flow direction of the fluid.

[0141] In one embodiment, the pump is an air pump that can be used for inflation and deflation.

[0142] In one embodiment, the soft robotic unit includes a cavity for deforming in response to changes in fluid within the cavity to alter the thickness of the garment between the first and second layers. The fluid within the cavity can be a liquid or a gas. Specific embodiments are described below.

[0143] Figure 7 This is a cross-sectional view showing a first implementation of the thickness variation of the soft robotic fabric system according to a first embodiment of the present disclosure. When the ambient temperature is high, the fabric layers of the soft robotic fabric system are in contact with adjacent layers. The outer shell 71 is an outer layer exposed to the surrounding environment to protect the portion beneath it. 72 represents a padding, such as a knitted padding, that surrounds the soft robotic unit 73. The inner layer 3 typically represents the wearer's underwear.

[0144] When the temperature decreases, the soft robotic unit 73 is activated. The amount of air in the air chamber (cavity) 731 of the soft robotic unit 73 increases, causing the soft robotic unit 73 to expand, thereby increasing the thickness between the outer shell 71 and the inner layer 3. The outer shell 71 and the inner layer 3 will separate, creating an air gap 74 to block the release of heat 4 from the human body. The knitted padding 72 includes connection claps 721 and a channel 722. When the soft robotic unit 73 is inflated, the connection claps 721 can be positioned in the middle of the air gap 74, reducing heat convection to enhance thermal resistance. The channel 722 is designed to provide space for the soft robotic unit 73, and its width is designed to allow the soft robotic unit 73 to be easily inserted. When the temperature increases, the amount of air in the air chamber 731 will decrease to reduce the thickness of the soft robotic unit 73, thereby improving heat transfer from the human body 4 and reducing thermal resistance.

[0145] In one embodiment, the soft robot unit includes multiple branches; a first layer and a second layer form a porous spacer structure between the branches of the soft robot unit. The soft robot unit includes gaps. These gaps between the branches allow moisture to be transferred from the human body to the surrounding environment, thereby achieving better moisture resistance.

[0146] Figure 8 The manufacturing process of a soft robot fabric system according to a first embodiment of this disclosure is illustrated. A nylon fabric coated with TPU (Thermoplastic Polyurethane) 82 on one side is selected as the raw material for the soft robot unit. Two layers of TPU fabric with their coated surfaces in contact are placed on a large platform. A heater 81 is combined with a computer numerical control (CNC) machine (not shown) to manufacture the soft robot unit. The heater 81 can provide stress and heat (e.g., 200°C) to the TPU fabric 82 and move it in an orderly manner to seal them together to form the desired pattern. The soft robot unit is finished after cutting, including a sealing area 832 and an air chamber 831. An air inflator 833 is installed at the bottom of the soft robot unit and connected by a silicone tube 834 as an air channel 5 for the soft robot unit to enter and exit. Figure 8 A shows the manufacturing process of the soft robot unit; B shows the air connector 833; C shows the air connector 833 and silicone tube 834, and air channel 5; D shows a bottom view of the air connector 833; and E shows a top view of the air connector 833 and silicone tube 834.

[0147] Figure 9A cross-sectional view is shown illustrating a second implementation of the thickness variation of the soft robotic fabric system according to a second embodiment of this disclosure. When the ambient temperature is high, the fabric layers of the soft robotic fabric system are in contact with adjacent layers. The outer shell 91 is an outer layer exposed to the surrounding environment to protect the portion beneath it. 92 is a knitted padding that encloses the soft robotic unit 93. The inner layer 3 typically represents the wearer's underwear.

[0148] When the temperature decreases, the soft robot unit 93 is activated. The amount of air in the air chamber 931 of the soft robot unit 93 increases, causing the soft robot unit 93 to bend. The outer shell 91 and the inner layer 3 are separated, creating air gaps 94 to block heat dissipation from the human body 4. These discrete air gaps 94 effectively reduce air convection. The channel 922 is designed to provide space for the soft robot unit 93 and is relatively wide to ensure that the soft robot unit 93 can be easily inserted. When the temperature increases, the amount of air in the air chamber 931 decreases to reduce the thickness of the soft robot unit 93, blocking heat transfer from the human body 4 and reducing thermal resistance.

[0149] Figure 10A The manufacturing process of a soft robot fabric system according to a second embodiment of this disclosure is illustrated. A silicone tube 1035 is selected to manufacture the soft robot unit. A non-stretched material 1036 is attached to the surface of the silicone tube 1035 to limit tube deformation. The silicone tube 1035 is connected to a gas distributor 1037 to achieve uniform pressure.

[0150] Figure 10B This illustrates the working principle of a single soft robotic unit in a soft robotic fabric system according to a second embodiment of this disclosure. As the amount of air in the silicone tubes 1035 increases, the tubes stretch and become longer because they are elastic. Due to the constraint of the inelastic material 1036, these areas may not deform, and their length remains constant. The longer side begins to bend towards the shorter side. The soft robotic unit exhibits a wavy shape when the inelastic materials are interlaced.

[0151] Figure 11 This is a cross-sectional view showing a third implementation of the thickness variation of the soft robotic fabric system according to a third embodiment of the present disclosure. When the ambient temperature is normal, the fabric layers of the soft robotic fabric system are in contact with adjacent layers. The outer shell 111 is the outer layer, exposed to the surrounding environment to protect the portion beneath it. 112 is a knitted padding that encloses the soft robotic unit 113. The inner layer 3 generally represents the wearer's underwear.

[0152] When the ambient temperature rises and exceeds a certain value, the soft robot unit 113 is activated. The amount of air in the air chamber 1131 of the soft robot unit 113 increases, causing the soft robot unit 113 to expand. The outer shell 111 and the inner layer 3 are separated, creating an air gap 114 to prevent heat from being transferred from the surrounding environment to the human body 6. The knitted padding 112 includes a connecting clip 1121 and a channel 1122. When the soft robot unit 113 is inflated, the connecting clip 1121 can be positioned in the middle of the air gap 114 to reduce heat convection and increase thermal resistance. The channel 1122 is designed to provide space for the soft robot unit 113 and is relatively wide to ensure that the soft robot unit 113 can be easily inserted. When the external ambient temperature rises, the amount of air in the air chamber 1131 will increase to increase the thickness of the soft robot unit 113, preventing heat from being transferred from the surrounding environment to the human body 6 and reducing thermal resistance.

[0153] In one embodiment, the fluid in the cavity is a phase change fluid that undergoes morphological changes in response to temperature, humidity, pH, or light, transitioning between liquid and gas states. In one embodiment, the soft robot unit includes multiple independent branches; a first layer and a second layer form a porous spacer structure between the branches of the soft robot unit.

[0154] Figure 12A The manufacturing process of a soft robotic fabric system according to a third embodiment of this disclosure is illustrated. The manufacturing process is similar to... Figure 8 The description. Figure 12A The diagram shows heater 121, TPU 122, sealing area 1232, and air chamber 1231. Among them, Figure 12A The individual branches of the soft robot unit are separate working units, rather than connected together, which means they can work independently of each other.

[0155] Figure 12B The diagram illustrates the operation of a single soft robotic unit in a soft robotic fabric system according to a third embodiment of this disclosure. A phase change fluid 1238 is injected into a single branch of the soft robotic unit before complete sealing. As the temperature rises, the phase change fluid 1238 absorbs heat from the surrounding environment and evaporates when the temperature exceeds its boiling point. The evaporation level is determined by the temperature value. As the temperature decreases, the phase change fluid 1238 releases heat and condenses, which is reversible.

[0156] In one embodiment, the substrate includes a channel portion for accommodating a soft robot unit and a connecting portion for connecting the channel portion. In another embodiment, the substrate is a pad.

[0157] Figure 13A padding system for a soft robotic fabric system according to one embodiment of this disclosure is shown. This padding is, for example, a knitted padding, which can be made by a flat knitting machine and then sewn together after cutting. The white area represents connecting clip 1321, while the gray area represents channel 1322.

[0158] Figure 14A This first embodiment of the present disclosure illustrates the integration of a knitted interlining, a soft robotic unit, and a shell to form a soft robotic garment. The soft robotic unit is sized to match the body girth for a reasonable and close fit. The soft robotic garment includes a knitted interlining 1422, a soft robotic unit 1423, and a shell 1421. The soft robotic unit 1423 is very flexible and can be crumpled and inserted into a channel portion of the knitted interlining 1422, and the knitted interlining 1422 and the shell 1421 are sewn together. Figure 14B The illustration shows the integration of a knitted pad, a soft robotic unit, and a housing according to a first embodiment of the present disclosure, showing the front and back sides of the knitted pad and the housing respectively.

[0159] Figures 15A-15B A pump with a 3D-printed frame designed in one embodiment of this disclosure is shown. Figure 15C A control unit with a pressure sensor is shown in one embodiment of this disclosure.

[0160] Figure 16A This illustration shows a soft robotic suit in a deflated state in one embodiment of the present disclosure. Figure 16B The soft robotic suit is shown to be in an inflated state in one embodiment of this disclosure. Figure 16C The location of the sensor on the body is shown in one embodiment of this disclosure.

[0161] Figure 17AThis illustration shows an experimental setup for an adjustable-temperature environment chamber 1600 used for subjective and objective testing in one embodiment of this disclosure. A self-heating manikin 1601 is used to simulate heat dissipation from human skin and will be used to measure thermal resistance under different thermal environments. The climate chamber is capable of changing the ambient air temperature inside the chamber. The manikin 1601 is covered by a liquid circulation system connected to an outdoor cool water source 1602, which is connected to a water pump 1603. The manikin 1601 changes its skin temperature through a controllable thermal power input. In one example, the heating power is 74 watts, and the heat flux is 85 watts per square meter. The walls of the environment chamber include an insulation layer 1604 comprising insulation foam 1641 and reflective aluminum foil 1642.

[0162] Figure 17B An example of a self-heating human body model according to one embodiment of this disclosure is shown. The skin surface of the human body model is connected to a water pipe, which is connected to a water tank 175. A temperature sensor 171 is installed on the surface of the human body model to measure the temperature of the skin; a temperature sensor 172 is located in the water tank to measure the temperature of the water inside the tank; and a temperature sensor 173 is also present to measure the ambient temperature. A heating rod 174 is located inside the water tank to heat the water. An atmospheric pressure power supply 175 provides power to the heating rod.

[0163] Figure 18A A schematic diagram illustrating the integration of the knitted thermal pad, the smart thermal actuator, and the housing according to a third embodiment of this disclosure is shown. Figure 18A As shown, the soft robotic fabric system includes a housing 181, a moisture barrier 182, a knitted lining 183, and a smart thermal actuator (or soft robotic unit) 184.

[0164] Figure 18B This diagram illustrates a knitted thermal pad with a smart thermal actuator inserted in a channel, according to a third embodiment of this disclosure. It includes a connecting clip 1831 and a channel 1832. A smart thermal actuator 184 is included in the channel 1832.

[0165] Figure 18CA schematic diagram of a smart thermal actuator 184 is shown. The smart thermal actuator 184 includes a phase change material, wherein the phase change material is in a liquid state when the temperature is below 61°C, and transforms into a gaseous state when the temperature is above or equal to 61°C. The state of the phase change material can change with temperature.

[0166] Figure 19A The airtight fabric selected in one embodiment of this disclosure is shown as nylon fabric 191 with a TPU coating 192. As shown in 19B, the material is nylon fabric 191 with a TPU coating 192 on its surface. Figure 19B The heat sealing machine and its components are shown. Figure 19B A heat sealer 193 is shown, along with a chamber 194 and a rubber pad 195 that house the heat sealer.

[0167] Figure 19C The image shows an actual picture and schematic diagram of the Smart Thermal Actuator and its components. Figure 19C The diagram shows a sealed area 196 and a non-sealed area 197 in the soft robot unit material, forming a chamber through two layers of sealing. Additionally, TPU fabric 192 can be attached to moisture-wicking fabric 199. Figure 19D The diagram shows the intelligent thermal actuator in both deflated and inflated states.

[0168] Figure 20A An illustration shows a knitted pad with a channel 2001 and a connecting clip 2002 in one embodiment of the present disclosure. Figure 20B The illustration shows the layers including a shell 2003, a breathable and moisture-proof layer 2004, and a knitted thermal pad 2005 in one embodiment of the present disclosure.

[0169] Figure 21 This illustration shows the deformation process of a soft robot unit when placed on a hot plate, according to one embodiment of this disclosure. Figure 21 As shown, with increasing temperature, the chambers of the soft robot unit expand, increasing the thickness of the soft robot unit.

[0170] In one embodiment, the channel portion of the substrate comprises two independent layers. In another embodiment, the connection portion of the substrate has a single-layer structure.

[0171] Figure 22 A cross-sectional view showing the thickness variation of the soft robot fabric system according to the fourth embodiment of this disclosure is shown. Figure 22As shown, the soft robot unit has two interconnected chambers, namely the deformable unit 2201, which is divided into two layers. When fully deflated, the thickness of the two layers is H0, and when fully inflated, the thickness of the two layers is H1.

[0172] Figure 23 A cross-sectional view of a single deformable unit 2301 in a soft robotic fabric system according to a fourth embodiment of this disclosure is shown. A shows an image of the single deformable unit, and B shows a cross-sectional view of the single deformable unit, including an intermediate sealing region 2303, an air chamber 2302, a sealing region 2304, and a flow channel 2305. C shows a longitudinal cross-sectional view of two-layer chambers, including an upper chamber 2306, a lower chamber 2307, an air vent 2308 between the upper and lower chambers 2306, and a flow channel 2305 connecting the chambers. The two-layer chambers allow for a relatively large range of thickness variations.

[0173] Figure 24 The pattern, dimensions, and final product of the soft actuator of the soft robotic fabric system of the fourth embodiment are shown.

[0174] The cross-sectional pattern of the actuator chamber can be circular, rectangular, triangular, or any other shape that allows for variations in thickness. The number of layers can also be adjusted, for example, to 2, 3, or 4 layers, to achieve a wider range of thicknesses.

[0175] Figure 25 A photograph of a machine (high-frequency welding machine) used for manufacturing a soft actuator for a soft machined fabric system according to a fourth embodiment of this disclosure is shown.

[0176] Figure 26 The knitted substrate of the actuator of the soft robot fabric system according to the fourth embodiment is shown. A shows a front view of the knitted substrate, and B shows a rear view of the knitted substrate.

[0177] Figure 27 The deflation and inflation states of the soft robotic fabric system of the fourth embodiment are shown.

[0178] Figure 28 The location of the temperature sensors in the soft robotic fabric system of the fourth embodiment is shown during testing. Temperature sensor ① is located on the back of the human body, temperature sensor ② is located on the back of the human body, temperature sensor ③ is located on the chest of the human body, temperature sensor ④ is located on the abdomen of the human body, and temperature sensor ⑤, used to measure ambient temperature, can be located on the outer layer of the garment.

[0179] In some embodiments of this application, prototypes of some disclosed soft robotic garments were developed, manufactured, and tested. Figure 29 The image shows a detailed dimensional description of the soft robotic units used in some clothing prototypes. (For example...) Figure 29 As shown, the soft robot unit adopts a skeletal structure, comprising a first part parallel to the human spine and a second part perpendicular to the first part. The second part includes multiple branches, each with different lengths at different locations on the body. For example, the branches near the shoulders are 65cm long, with a distance of 6cm between them; the branches from near the chest to near the waist decrease in length from top to bottom, with lengths of 102cm, 94cm, and 86cm respectively; the branches near the hips are 100cm long, adapting to the human body shape. Figure 29 As shown, the width of the air chambers in each branch varies. The air chambers near the chest to the waist are, for example, 4 cm wide, which is larger than the air chambers near the shoulders and hips, for example, 3 cm wide. The sealed edge is, for example, 0.3 cm. The length of the soft robotic unit is designed based on the human body's girth so that it can be worn close to the skin. Therefore, deformation may be more pronounced. Due to the body's natural curves, the air chambers near the waist may be wider to achieve a more noticeable change in thickness.

[0180] Figures 30A-30C A schematic diagram showing the state of the air chamber during the deformation process of the soft robot unit in the first embodiment is illustrated. Figure 30A As shown, when the amount of air in the air chamber increases, the soft robot unit inflates, transitioning from a non-inflated state to an inflated state. The cross-section of the air chamber changes from a basically straight line to an ellipse (e.g., ...). Figure 30B As shown); finally it becomes a circle (as shown). Figure 30C (As shown). If the soft robot unit is fully inflated, the cross-sectional shape of the air chamber will be a circle. The circumference is equal to twice the width of the air chamber in the deflated state. The maximum height it can reach is the diameter of the circle, determined by the width of the soft robot unit in the fully inflated state.

[0181] When the air chamber is in an elliptical state (such as...) Figure 30B As shown), the height H(t) of the air cavity of the soft robot unit is expressed as:

[0182]

[0183] Where a and b represent the lateral and horizontal radii of the ellipse, respectively, H(t) represents the height of the air chamber, V(t) represents the air volume of the air chamber, t represents the inflation time, v represents the flow rate, L represents the length of the air chamber, and C represents the circumference of the air chamber.

[0184] When the air chamber is in a circular state (such as...) Figure 30C As shown), the maximum height of the actuator is the diameter D of the circle. max :

[0185]

[0186] Table 1 below shows the weight of the soft robot suit and its components in the first embodiment.

[0187]

[0188]

[0189] Table 1

[0190] The relationship between the heat resistance and moisture resistance of the garment prototypes tested by the steam-guarded hotplate is shown in Table 2.

[0191]

[0192] Table 2 Relationship between thermal resistance and moisture resistance

[0193] Table 3 shows the experimental results of objective human body tests when the soft robotic clothing is heated to a constant power and the airflow is different.

[0194]

[0195] Table 3 Changes in body surface temperature under different conditions

[0196] Prototypes of the soft robotic garments disclosed in the third embodiment were developed, manufactured, and tested. The soft robotic garment fabrics, such as... Figure 31 As shown. The left side is the outer layer, and the right side is the inner layer.

[0197] Figure 32 The theoretical analysis of STA dimensional changes is shown. STA is in the form of a thin sheet, without pressure, such as... Figure 32 As shown in (a). For ease of analysis of STA deformation, the following parameters are all for the air chamber and do not consider the sealing edge. When passive pressure (P) is present, the geometry inside the STA is an airfoil shape. Due to the extension of the top and bottom surfaces, the contraction of the two edges, and the rotation of the point, the top and bottom have cylindrical surfaces, as shown below. Figure 32 (b) Figure 32 (c) Shows the parameters of the active STA, whose cross-section can be assumed to be an ellipse, and the front view of the ellipse is shown. Figure 32 (d). The minor axis (H) of the ellipse can be considered as the height of STA.

[0198] The above analysis shows that the STA's air chamber size is 30 mm × 300 mm, and it can reach a maximum height of 19.1 mm. Figure 26 The relationship between the original width and the maximum thickness of STA under fully deflated conditions is also shown in Figure 33 middle. Figure 33 The relationship between the original width in a fully deflated state and the maximum height of the STA in a fully inflated state is shown (as shown in (c)). The moisture-wicking fabric used has a width of 28 mm (as shown in (b)) and a length of 300 mm (as shown in (a)). Figure 33 As shown. Overall, the narrow width of the moisture-wicking fabric ensures it can be easily inserted into the air chambers of the STA.

[0199] The thermal properties of the clothing prototype were tested using sweat-resistant heating plates, heating plate contact, and radiant heat exposure. Figure 34 As shown. Figure 34 The results of thermal performance evaluation and simulation of soft robotic textiles are shown.

[0200] Several prototypes of publicly disclosed soft robotic clothing were developed, manufactured, and tested. The knitted substrate with soft actuators used in the clothing prototypes, as well as their deflated and inflated states, were examined. Figure 35 As shown. Among them, Figure 35 The following diagram shows a knitted substrate with a soft actuator: (a) front view, (b) rear view, (c) side view in a fully deflated state, and (d) side view in a fully inflated state.

[0201] The length of the soft robotic unit is designed based on the circumference of the human body, allowing it to be worn close to the skin. Therefore, deformation can be more pronounced. Due to the body's natural curves, air chambers near the waist can be larger to achieve significant variations in thickness.

[0202] The heat and moisture resistance of the garment prototypes tested by the Sweatating Guarded Hotplate are shown in Table 4.

[0203] Table 4 provides information on the thickness, heat resistance, and moisture resistance of the fabrics.

[0204]

[0205]

[0206] Figure 36 This shows the average skin temperature as the ambient temperature changes.

[0207] Figure 37 A schematic diagram of the structure of a control system according to an embodiment of this disclosure is shown. Figure 37As shown, the control system includes a data acquisition unit 371, a controller 372, and a working unit 373. The data acquisition unit 371 acquires temperature and / or humidity information and sends this information to the controller 372. The controller 372 controls the working unit 373 based on the temperature and / or humidity information. The working unit 373 controls the amount of fluid within the cavity to cause deformation of the soft robot unit.

[0208] In one embodiment, the data processing unit includes a temperature sensor and / or a humidity sensor.

[0209] In one embodiment, the working unit 373 is a pump. The controller 372 may be a microprocessor or a processor. In one embodiment, the working unit is a peristaltic pump that compresses an internal hose, forcing air through a conduit. The pump's reversible rotation depends on the direction of the applied current, which determines the direction of air movement into or out of the soft robot unit. In one embodiment, the peristaltic pump has a longer silicone tube for connecting to the soft robot unit. In one embodiment, the peristaltic pump is custom-designed to have high flow rate and lightweight characteristics. This ensures that the soft robot unit can be inflated quickly.

[0210] In one embodiment, temperature and humidity sensors are installed in the inner layer of the soft robotic fabric system as data acquisition units to monitor changes in temperature and humidity and transmit the data to the controller.

[0211] In one embodiment, the controller is a microcontroller, such as an STM32 or MSP430, which can receive control commands sent by the client and temperature and humidity signals collected by the data processing unit through a built-in wireless communication module. After processing, it outputs control signals to programmatically and accurately control the working units, thereby realizing the intelligent adjustment of the soft robotic clothing. The wireless communication module allows users to remotely control the clothing through devices such as mobile phones, providing a more flexible and convenient human-computer interaction method.

[0212] In one embodiment, the controller is an Arduino microcontroller that can receive, process, and output signals to programmatically and accurately control the working unit.

[0213] Figure 38 A schematic diagram of the structure of a control system according to another embodiment of this disclosure is shown. Figure 38As shown, the control system includes a processor 381 and a peristaltic pump 382. The processor 381 is configured to send control commands to the peristaltic pump 382 based on the ambient and / or human body temperature measured by a temperature sensor and / or the ambient and / or human body humidity measured by a humidity sensor, thereby controlling the peristaltic pump 382. The peristaltic pump 382, ​​connected to the cavity of the soft robot unit, is configured to receive control commands from the processor 381 and control the amount of fluid within the cavity to cause deformation of the soft robot unit.

[0214] In one embodiment, the control system further includes a power supply 383 for providing power to the control system.

[0215] In one embodiment, the control system may consist solely of a phase change fluid stored within a soft robotic unit. It is highly sensitive to external stimuli and can directly respond to changes in temperature, humidity, pH, light, etc., without requiring other units.

[0216] Peristaltic pumps can be used for water delivery. In one embodiment of this application, a peristaltic pump is used for inflation and deflation, marking a first use in the field of pneumatic robots. The advantage of a peristaltic pump is that it can simultaneously inflate, deflate, and maintain an inflation state.

[0217] In one embodiment of this application, the peristaltic pump can be used for water conduction, such as for filling with liquid; and for filling and deflating with gas.

[0218] The optimized thermal adaptation of Soft Robotics provided in the various embodiments above:

[0219] Technical features: The soft robotic garment incorporates a programmable inflation-deflation process within soft robotic units. This innovative mechanism allows the garment's structure and thickness to be dynamically adjusted.

[0220] Advantages: This technology ensures that clothing automatically adjusts to temperature changes, providing optimized thermoregulation. Therefore, the wearer always feels thermally comfortable, regardless of changing heat conditions.

[0221] High breathability:

[0222] Technical features: The garment is designed with high breathability in mind, and incorporates materials and structures that promote air circulation and moisture management.

[0223] Benefits: Enhanced breathability is crucial for maintaining warmth and wearing comfort, especially in insulating or protective clothing. By actively managing and allowing sweat to escape, the garment prevents the uncomfortable after-cooling effect caused by trapped sweat, thus significantly improving wearer comfort during intensive activities or in warm environments.

[0224] Energy-saving thermal management:

[0225] Technical features: The soft robotic clothing manages thermal resistance through its adaptive structural technology, rather than relying on energy-intensive methods such as Joule heating or thermoelectric systems.

[0226] Advantages: This approach enables more energy-efficient personal thermal management. By adjusting the thermal resistance of clothing rather than generating or dissipating excessive heat, it saves energy while still providing necessary thermal regulation, making it a more sustainable and practical personal climate control solution.

[0227] Compared with related technologies, the soft robotic garment disclosed herein has one or more advantages as follows:

[0228] I. Temperature adjustment as needed:

[0229] Related technologies: Existing temperature-regulating fabrics mainly rely on passive cooling and heating modes, which are generally inefficient and have limited operational range for temperature and humidity management.

[0230] This disclosure describes the use of an adjustable fabric structure actively driven by a soft robot to provide a rapid and precise response to changes in thermal environmental conditions. This implies more efficient and versatile thermoregulation.

[0231] II. A wider temperature range:

[0232] Related technology: Traditional fabrics are difficult to cope with dynamic changes in human thermophysiology and environmental conditions, and often cannot meet all requirements.

[0233] This disclosure: The technology disclosed herein provides superior performance over a wider temperature range, ensuring wearer comfort in a variety of conditions.

[0234] III. Comfort and safety when wearing:

[0235] Related technology: Many existing fabrics use chemical treatments that may be toxic and are not always environmentally friendly.

[0236] This disclosure states that the materials used in this new garment are commercially available products already widely used in the clothing industry, ensuring wearing comfort. Furthermore, the design prioritizes safety by eliminating the need for harmful chemical treatments.

[0237] IV. Low energy cost and lightweight:

[0238] Related technologies: Modern nanomaterials and advanced fabrics are often expensive, which hinders large-scale production and commercialization.

[0239] This disclosure states that this new garment uses low-cost materials and production processes, making it simple and inexpensive to manufacture, paving the way for large-scale production and commercialization.

[0240] The technical solution disclosed herein also includes one or more of the following advantages:

[0241] Lower manufacturing costs: Utilizes commercially available materials, avoiding the use of expensive nanomaterials.

[0242] More accurate: Provides precise and responsive body temperature regulation driven by active soft robots.

[0243] More reliable: Designed for a wider range of temperatures and conditions, improving overall reliability.

[0244] More durable: The safety-focused design using non-toxic materials extends the lifespan of the garment.

[0245] The soft robotic suit disclosed herein can be applied to the following aspects:

[0246] I. All-season and everyday outerwear:

[0247] Cold-weather clothing: Soft robotic clothing systems can be customized for daily use in cold climates, providing enhanced thermal comfort by automatically adjusting insulation levels according to ambient temperature, thereby reducing the need for multiple layers of heavy clothing.

[0248] Down jackets: Users can benefit from down jackets integrated with the technology disclosed herein, which provide dynamic insulation that adjusts all day to maintain comfort without creating the bulk typically associated with down jackets.

[0249] Outdoor Jackets: This system can be applied to high-performance outdoor jackets, making them ideal for activities such as hiking, skiing, and mountaineering by adapting to rapid weather changes and different activity levels.

[0250] II. Business Uniforms:

[0251] Protective gear for outdoor workers: Construction workers, utility workers, and others working in harsh outdoor conditions can maintain optimal warmth and breathability, thereby improving comfort and reducing the risks associated with extreme temperatures.

[0252] Firefighters and emergency responders: Provide adaptive thermal management to reduce thermal stress and improve physical function during high-intensity work.

[0253] Furthermore, the technical solution disclosed herein can also be used in the following aspects:

[0254] I. Advanced Cold Weather Gear:

[0255] Exploration and Polar Gear: For explorers and scientists conducting research in polar regions, this clothing system provides crucial adaptive thermal regulation in extremely cold and unpredictable conditions.

[0256] Winter sports equipment: Athletes and enthusiasts participating in activities such as skiing, snowboarding, and ice climbing will benefit from equipment that effectively maintains body temperature while ensuring high breathability to manage moisture and prevent overheating during strenuous physical activity.

[0257] II. Military and Tactical Equipment:

[0258] Military adaptive uniforms: Soldiers operating in different environments, such as the Arctic or mountainous terrain, can rely on uniforms that provide the necessary thermal regulation to enhance endurance and combat effectiveness without the burden of additional layers.

[0259] III. Integration with consumer electronics products:

[0260] Smart home systems: Clothing integrated with home automation systems can help regulate indoor temperature more effectively. For example, these garments can signal the home's HVAC system to adjust settings based on real-time user comfort, thereby further saving energy.

[0261] IV. Healthcare Applications:

[0262] Older adults and patients with thermoregulation problems: Providing adaptive thermal clothing for older adults or patients with specific health conditions that affect thermoregulation can prevent hypothermia and related health risks.

[0263] Postoperative recovery: Maintaining an optimal thermal environment helps surgical patients recover, potentially reducing the need for additional heating or cooling solutions in the medical setting.

[0264] V. Space Exploration:

[0265] Spacesuits: Astronauts performing missions to the Moon, Mars, or other celestial bodies can benefit from spacesuits equipped with adaptive thermal management to cope with extreme temperature fluctuations and maintain comfort.

[0266] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0267] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0268] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0269] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0270] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A garment, characterized in that, Including a soft robotic fabric system, the soft robotic fabric system comprising: First and second layers; A soft robotic unit is located between the first layer and the second layer; wherein the soft robotic unit includes a deformable material for deforming in response to changes in temperature and / or humidity to change the thickness between the first layer and the second layer of the garment and to form a porous spacer structure between the first layer and the second layer.

2. The garment according to claim 1, characterized in that, The soft robot fabric system also includes a substrate located between the first layer and the second layer for wrapping and securing the soft robot unit.

3. The garment according to claim 2, characterized in that, The substrate includes a channel portion and a connecting portion, wherein the channel portion is used to accommodate the soft robot unit, and the connecting portion is used to connect the channel portion.

4. The garment according to claim 3, characterized in that, The channel section comprises two independent layers; and / or The connecting part is a single-layer structure.

5. The garment according to any one of claims 2 to 4, characterized in that, The substrate is a gasket.

6. The garment according to any one of claims 1 to 4, characterized in that, The soft robotic unit includes a cavity for deforming in response to changes in fluid within the cavity to alter the thickness of the garment between the first and second layers.

7. The garment according to claim 6, characterized in that, The cavity contains a phase change fluid; the phase change fluid undergoes morphological changes in response to temperature, humidity, pH or light.

8. The garment according to claim 6, characterized in that, The soft robotic unit is made of airtight fabric, hollow fiber, silicone, or hollow tube; and / or The soft robot unit comprises airtight fabrics or hollow fibers made of TPE (thermoplastic elastomer), TPO (thermoplastic polyolefin), TPV (thermoplastic vulcanizate), silicone, PVC (flexible polyvinyl chloride), EVA (ethylene vinyl acetate copolymer), nylon elastomer, SEBS (styrene block copolymer), PU (polyurethane, non-thermoplastic version), PBT elastomer (polybutylene terephthalate), EPDM (ethylene propylene diene monomer rubber), SBS (styrene-butadiene-styrene copolymer), PEBA (polyether block amide), PVDF elastomer (polyvinylidene fluoride), fluororubber (FKM), thermoplastic vulcanizates, polyether ester elastomers (COPE), polyester elastomers (TPEE), polyurethane foam, PET (polyethylene terephthalate), or natural rubber.

9. The garment according to claim 1, characterized in that, The soft robot unit can be in the form of a skeleton structure, tree structure, mesh structure, layered structure, spiral structure, foam structure, fibrous structure, honeycomb structure, fractal structure, chain structure, wave structure, lattice structure, ring structure or beaded structure. and / or The soft robot unit includes small or slender parts.

10. The garment according to any one of claims 1 to 4, characterized in that, The soft robot unit includes multiple branches; The first layer and the second layer form the porous spacer structure at the location between the branches of the soft robot unit.

11. The garment according to claim 6, characterized in that, The cavity contains fluid, and the degree of deformation of the soft robot unit depends on the amount of fluid stored in the cavity.

12. The garment according to claim 11, characterized in that, The deformation size of the soft robot unit is between 0 and 10 cm.

13. The garment according to claim 1, characterized in that, It also includes a temperature sensor and / or a humidity sensor, located in the second layer of the garment.

14. The garment according to any one of claims 1 to 4, 9, and 13, characterized in that, It also includes a control system for controlling the deformation of the soft robotic unit in response to received temperature and / or humidity.

15. The garment according to claim 14, characterized in that, In response to the received temperature sensor monitoring temperature changes in real time, the control system controls the soft robot unit to adjust the amount of fluid inside the soft robot according to the built-in program, thereby changing the thickness of the clothing. and / or In response to the received humidity exceeding a humidity threshold, the control system controls the soft robotic unit to continuously change the thickness between the first and second layers of the garment to expel moisture.

16. The garment according to claim 14, characterized in that, The control system includes a working unit, a data processing unit, and a controller; The data processing unit is used to acquire temperature and / or humidity information and send the acquired temperature and / or humidity information to the controller. The controller is used to control the working unit based on the temperature and / or humidity information; The working unit is used to control the amount of fluid in the cavity to cause the soft robot unit to deform.

17. The garment according to claim 14, characterized in that, The control system includes a pump and a processor; The processor is configured to send control commands to the pump based on the ambient and / or human body temperature measured by the temperature sensor and / or the ambient and / or human body humidity measured by the humidity sensor, so as to control the pump. The pump is connected to the cavity of the soft robot unit and is used to receive control commands from the processor to control the amount of fluid in the cavity so that the soft robot unit deforms.

18. The garment according to claim 17, characterized in that, The pump is a peristaltic pump, and the control system also includes a wireless communication module; The processor is configured to send control commands to the peristaltic pump based on the ambient and / or human body temperature measured by the temperature sensor, and / or the ambient and / or human body humidity measured by the humidity sensor, and the control commands received from the wireless communication module, so as to control the peristaltic pump. The wireless communication module is connected to the processor and is used to receive control commands sent by external devices and send them to the processor so as to control the peristaltic pump through the processor. The peristaltic pump is connected to the cavity of the soft robot unit and is used to receive control commands from the processor to control the amount of fluid in the cavity so that the soft robot unit deforms.

19. The garment according to claim 16, 17 or 18, characterized in that, The control system also includes a power source for providing power to the control system.

20. The garment according to claim 14, characterized in that, The description also includes wearable devices for measuring the ambient and / or human body temperature and / or humidity.

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