Flexible driver of bionic muscle and bionic arm with same

Abstract

The utility model belongs to the field of bionic robots, and relates to a flexible driver of bionic muscles and a bionic arm with the flexible driver. The flexible driver comprises a motor and a twisting disc connected to an output shaft of the motor. One end of the fiber bundle is connected to the twisting disc, and the other end is connected to the fiber bundle anchoring slider; the fiber bundle anchoring sliding block is used for being connected with a driven object and is constructed to slide along the connecting line between the fiber bundle anchoring sliding block and the center of the twisting disc under pulling of the fiber bundle. An overload protection mechanism is arranged on an output shaft of the motor so as to limit the torque to the twisting disc in the rotary twisting process of the fiber bundles; the overload protection mechanism comprises a sleeve and a power shaft rotationally arranged in the sleeve, and the adjusting bolt penetrates through the outer wall of the sleeve, enters the sleeve and abuts against the power shaft. Stretching of muscle fibers is simulated by rotating and twisting fiber bundles, the elasticity and flexibility of natural muscles can be simulated, the function of speed reduction and force increasing is achieved, and the limitation of an existing rigid driving device in bionic robot application is overcome.

Description

Technical Field

[0001] This utility model belongs to the field of bionic robots, and relates to a flexible actuator for a bionic muscle and a bionic arm having the same, and particularly to a flexible actuator for a bionic muscle based on secondary twisting. Background Technology

[0002] In recent years, with the rapid development of science and technology, electrically driven bionic robots, such as bionic kangaroos and bionic flapping-wing aircraft, have made significant progress and shown broad application prospects. In the field of bionic mechanics, the efficient conversion of electrical energy into bionic muscles that mimic muscle contraction has become a key core component determining the performance of bionic robots.

[0003] However, there are fundamental differences between natural muscles and common motor-driven components. Specifically, natural muscles possess unique driving characteristics; their elasticity, compliance, and contraction methods are drastically different from those of motor-driven components. Motors and their associated transmission components typically use rigid connections, resulting in precise movements but lacking elastic redundancy, leading to stiff movements. Muscle fibers, on the other hand, possess natural compliance, enabling them to output power through contraction and extension, with slower speeds but greater force. Therefore, in developing ideal motor-based biomimetic muscle-driven components, it is crucial to address the following three major issues: how to achieve elasticity and compliance in the drive; how to convert the rotational drive of the motor into contraction and extension movements; and how to convert the high-speed, low-torque output of the motor into low-speed but powerful contraction and extension forces.

[0004] Existing rigid-drive-based bionic robots cannot simultaneously solve the three main problems mentioned above. Specifically, most existing bionic robots use traditional rigid transmission devices such as gearboxes, worm gears, and lead screws to solve the problems of deceleration and change of motion direction. However, these solutions lack flexibility and are difficult to meet the actual needs of bionic robots. Especially in fields such as healthcare and home services, where robots have close contact with humans, the safety hazards of rigid drive methods cannot be ignored. In addition, rigid-drive bionic robots may also experience "jamming" due to assembly errors, and the position control algorithm may apply excessive stall torque in this case, damaging the robot's joints. Furthermore, when subjected to unexpected and strong external impacts, rigid transmission devices are prone to irreversible damage, such as lead screw tooth breakage or skipped teeth. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a flexible actuator for biomimetic muscles and a biomimetic arm having the same, which simulates the stretching of muscle fibers by rotating and twisting fiber bundles, aiming to simulate the elasticity and flexibility of natural muscles, realize the conversion of the rotation drive of the motor to the stretching and contracting motion of the fiber bundles, and have the function of deceleration and force amplification, so as to overcome the limitations of existing rigid drive devices in biomimetic robot applications.

[0006] In a first aspect, the present invention provides a flexible actuator for a biomimetic muscle, including a motor and a twisting disc connected to the output shaft of the motor; one end of a fiber bundle is connected to the twisting disc, and the other end is connected to a fiber bundle anchoring slider; the fiber bundle anchoring slider is used to connect the driven object, and is configured to slide along the line connecting the fiber bundle and the center of the twisting disc under the pull of the fiber bundle.

[0007] Optionally, the output shaft of the motor is also provided with an overload protection mechanism, which is used to limit the torque on the twisting disc during the twisting of the fiber bundle. The overload protection mechanism includes a sleeve and a power shaft rotatably disposed in the sleeve. The power shaft extends from the first end face of the sleeve near the motor and is connected to the output shaft of the motor. The twisting disc is installed on the second end face of the sleeve away from the motor. The adjusting bolt passes through the outer wall of the sleeve and enters the sleeve and abuts against the power shaft. The friction between the adjusting bolt and the power shaft is adjusted by adjusting the insertion depth of the adjusting bolt.

[0008] Optionally, a limit plate is provided in the middle of the power shaft, and the diameter of the limit plate is clearance-fitted with the inner wall of the sleeve to prevent the power shaft from coming out of the sleeve.

[0009] Optionally, a mounting plate is provided on the second end face of the sleeve, and the twisting disc is mounted on the mounting plate.

[0010] Optionally, the drive shaft is provided with a radial bearing and a thrust bearing on its shaft body located inside the sleeve. The radial bearing is installed at the end of the drive shaft, and the thrust bearing is installed between the limit plate and the side wall of the sleeve.

[0011] Optionally, a planetary gear is provided on the output shaft of the motor, and the twisting disc is mounted on the planetary gear. The motor drives the twisting disc to rotate through the planetary gear.

[0012] Optionally, a groove is also included along the line connecting the fiber bundle anchoring slider and the center of the twisting disc, with the fiber bundle anchoring slider slidably disposed in the groove.

[0013] Optionally, the twisting disc is provided with multiple mounting holes, in which the fiber bundle is fixed.

[0014] Optionally, it also includes a tension output component connected to the fiber bundle anchoring slider, the tension output component being connected to the driven object; the tension output component is a connecting rod or a traction rope.

[0015] Secondly, this utility model provides a bionic arm, including the above-mentioned flexible actuator of bionic muscle; the flexible actuator is disposed on the power bionic arm, and the traction bionic arm is rotatably connected to the power bionic arm through the bionic arm joint power shaft; one end of the tension output component is connected to the fiber bundle anchoring slider, and the other end is connected to the traction bionic arm, and the traction bionic arm is rotated by sliding the fiber bundle anchoring slider.

[0016] The beneficial effects of this utility model are as follows:

[0017] First, the flexible actuator provided by this invention utilizes twisting and secondary twisting to convert the rotational driving force of the motor into the tensile force of the fiber bundle, simulating the stretching effect of natural muscles. This conversion method is more direct, simpler, more efficient, and has a faster response speed compared to biomimetic muscles using pneumatic pumps or similar methods. Furthermore, through twisting and secondary twisting, the elongation of the fibers is amplified, allowing the biomimetic muscle driven by the flexible actuator of this invention to produce an elastic effect similar to biological tendons, resulting in smoother and more natural movement. Compared to traditional rigid transmission devices, such as lead screws and gear mechanisms, which may suffer irreversible damage such as tooth breakage or skipping when subjected to strong external impacts, the flexible actuator of this invention avoids such collapse damage because the twisted fiber bundle still retains a certain degree of elasticity, exhibiting better durability and safety.

[0018] Secondly, to prevent fiber breakage and motor stalling, this invention incorporates an overload protection device between the motor and the twisting disc. When the torque transmitted by the fiber bundle exceeds a preset threshold (e.g., when the tension output component experiences significant resistance or tension), the power shaft connected to the motor automatically slips and idles, allowing the fiber bundle to reverse and unwind, effectively preventing fiber breakage or motor stalling. This overload protection device improves the lifespan and reliability of the drive unit, while reducing maintenance costs and operational risks.

[0019] Furthermore, the flexible actuator of this invention has significant performance advantages. It not only converts the motor's rotational motion into fiber stretching motion, thus achieving deceleration and force amplification, but it is also lightweight, compact, and capable of generating large tensile forces. Compared to existing wire drive technologies, this invention overcomes shortcomings such as insufficient load capacity, unstable preload, and low transmission efficiency, making it more in line with the background and requirements of biomimetic design. Simultaneously, the actuator is highly flexible, easily steerable via pulleys, suitable for multi-joint bending devices, and compatible with overload protection devices, further broadening its application range.

[0020] Finally, from an economic and practical perspective, the flexible actuator of this invention has a simple and reliable structure, low cost, and is easy to maintain, with more convenient spare parts replacement and repair. Compared with some lead screw drive systems that meet biomimetic design requirements, although lead screw drives have precise positioning capabilities and self-locking functions, they have limitations in terms of transmission efficiency, speed, acceleration, and maintenance. The flexible actuator of this invention excels in these aspects, and its compact lateral dimensions better simulate muscle and tendon tissue. Its light weight makes it more widely applicable in complex mechanical systems, especially in biomimetic robots that need to mimic biological movement characteristics, where it has extremely high application value.

[0021] Other advantages, objectives, and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination and study, or may be learned from practice of this invention. The objectives and other advantages of this invention can be realized and obtained through the following description. Attached Figure Description

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings, wherein:

[0023] Figure 1 A schematic diagram illustrating the principles of fiber twisting and secondary twisting;

[0024] Figure 2 Schematic diagram of the structure of the flexible actuator for the biomimetic muscle provided by this utility model Figure 1

[0025] Figure 3 Schematic diagram of the structure of the flexible actuator for the biomimetic muscle provided by this utility model Figure 2 ;

[0026] Figure 4 A schematic diagram of the overload protection mechanism for the flexible actuator of the biomimetic muscle provided by this utility model.

[0027] Figure 5 A schematic diagram of the structure of the bionic arm provided by this utility model.

[0028] Figure label:

[0029] 1-Tension output component; 2-Fiber bundle anchoring slider; 3-Fiber bundle; 4-Twisting disc; 5-Planetary gear; 6-Overload protection mechanism; 6.1-Power shaft; 6.2-Sleeve; 6.3-Mounting disc; 6.4-Limiting disc; 6.5-Thrust bearing; 6.6-Radial bearing; 6.7-Adjusting bolt; 7-Motor; 8-Slide groove; 9-Powered bionic arm; 10-Tethered bionic arm; 11-Bionic arm joint power shaft. Detailed Implementation

[0030] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this utility model. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the present invention. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0032] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0033] In biomimetic mechanics, biomimetic muscles that convert electrical energy into muscle-like contractions are key components, directly impacting the performance of biomimetic robots. However, the driving characteristics of natural muscles differ significantly from those of rigid transmission components driven by motors, such as lack of elastic redundancy, stiff movements, different output power forms (rotation and contraction), and differences in speed and force characteristics. Therefore, an ideal motor-driven biomimetic muscle actuator needs to address issues such as elasticity and compliance, the conversion from rotation to contraction, and deceleration and force amplification. Existing technologies mostly use rigid transmission devices, such as gear reducers, worm gears, and lead screws, which can solve deceleration and changes in motion direction, but lack elasticity and flexibility. Flexible actuation methods can improve safety, especially in fields requiring close human contact, such as healthcare and home services.

[0034] To overcome the shortcomings of existing technologies, this invention proposes a flexible actuator for biomimetic muscles. It utilizes the twisting and secondary twisting phenomena of fiber bundles to simulate the stretching of muscle fibers, thereby mimicking the elasticity and flexibility of natural muscles. This enables the conversion from the rotational drive of the motor to the stretching motion of the fiber bundle, and also has the function of deceleration and force amplification, thus overcoming the limitations of existing rigid drive devices in biomimetic robot applications.

[0035] like Figure 1 As shown, in the initial state, all fibers in a bundle of parallel fibers are in a parallel state (e.g., Figure 1 a). When one end of this bundle is twisted, it forms a tightly twisted fiber bundle. As the number of twists increases, the length of the fiber bundle shortens (e.g., ...). Figure 1 (b) This is the twisting phenomenon. In the primary twisting stage, although the fiber bundle twists into a spiral shape, the fiber bundle as a whole maintains an approximately straight shape. However, as the number of twists continues to increase, the fiber bundle begins to coil and wrap like a spring, and its length further shortens. This phenomenon is called secondary twisting (e.g., ...). Figure 1 c). After primary and secondary twisting, the fiber bundle can be shortened to about one-third of the length of the untwisted fiber bundle, while generating huge tension at both ends, thus converting the rotational motion at one or both ends into tensile motion.

[0036] Based on this, such as Figure 2 As shown, this utility model provides a flexible actuator for a biomimetic muscle, including a motor 7 and a twisting disc 4 connected to the output shaft of the motor 7. The twisting disc 4 has multiple mounting holes. One end of a fiber bundle 3 is fixed in one of the mounting holes of the twisting disc 4, and the other end is connected to a fiber bundle anchoring slider 2. The fiber bundle anchoring slider 2 is used to connect the driven object and is configured to slide along the line connecting the fiber bundle 3 and the center of the twisting disc 4 under the pull of the fiber bundle 3. One end of a tension output component 1 is connected to the fiber bundle anchoring slider 2, and the other end is connected to the driven object. Preferably, the tension output component 1 is a connecting rod or a traction rope. The motor 7 drives the twisting disc 4 to rotate synchronously, thereby twisting the end of the fiber bundle 3 connected to the twisting disc 4. After secondary twisting of the fiber bundle 3, the length of the fiber bundle 3 shortens, thereby dragging the fiber bundle anchoring slider 2 to slide linearly. Then, the tension output component 1 pulls the driven object to slide linearly, realizing the conversion of the rotational motion of the motor 7 into the linear motion of the driven object.

[0037] In some alternative implementations, such as Figure 3As shown, the flexible actuator provided by this utility model also includes a groove 8 arranged along the line connecting the center of the fiber bundle anchoring slider 2 and the twisting disc 4. The fiber bundle anchoring slider 2 is slidably disposed in the groove 8. When the motor 7 rotates, the fiber bundle 3 will apply a certain torsional force to the fiber bundle anchoring slider 2. Since the fiber bundle anchoring slider 2 is restricted in the groove 8, the groove 8 restricts the torsional freedom of the fiber bundle anchoring slider 2. Therefore, it can only move along the groove 8 and cannot twist, further making the driven object easier to drive and control in the horizontal direction. A planetary gear 5 is provided on the output shaft of the motor 7, and the twisting disc 4 is mounted on the planetary gear 5. The motor 7 drives the twisting disc 4 to rotate through the planetary gear 5.

[0038] Furthermore, such as Figure 3 , Figure 4 As shown, an overload protection mechanism 6 is also provided on the output shaft of the motor 7 to limit the torque on the twisting disc 4 during the twisting process of the fiber bundle 3. The overload protection mechanism 6 includes a sleeve 6.2, and a power shaft 6.1 is rotatably disposed in the sleeve 6.2. The power shaft 6.1 extends from the first end face of the sleeve 6.2 near the motor 7 and is connected to the output shaft of the motor 7. The twisting disc 4 is installed on the second end face of the sleeve 6.2 away from the motor 7. An adjusting bolt 6.7 passes through the outer wall of the sleeve 6.2 and enters the sleeve 6.2, abutting against the power shaft 6.1. The friction between the adjusting bolt 6.7 and the power shaft 6.1 enables the power shaft 6.1 to drive the sleeve 6.2 to rotate synchronously. The friction between the adjusting bolt 6.7 and the power shaft 6.1 is adjusted by adjusting the insertion depth of the adjusting bolt 6.7, thereby adjusting the preset friction threshold. When the torque transmitted by the fiber bundle 3 exceeds the preset friction, the power shaft 6.1 will be unable to drive the sleeve 6.2 to rotate, and at this time the power shaft 6.1 will slip and spin freely.

[0039] Specifically, when the tension output component 1 is subjected to an unexpectedly large tensile force (such as an external impact), this tensile force will be converted into a detwisting rotational force on the fiber bundle 3. When this detwisting rotational force exceeds the preset frictional force of the overload protection mechanism 6, the power shaft 6.1 slips and spins freely. At this time, the fiber bundle 3 will rotate in the opposite direction and elongate under the action of the detwisting rotational force, thereby preventing the fibers from being broken or the motor 7 from stalling or even being forced to reverse. Correspondingly, when the tension output component 1 is subjected to huge resistance and is difficult to pull, the driving force of the motor 7 exceeds the preset frictional force of the overload protection mechanism 6, and the power shaft 6.1 spins freely, thereby preventing the motor 7 from stalling and fiber damage caused by excessive twisting of the fiber bundle 3.

[0040] In some optional embodiments, a limiting disc 6.4 is provided at the middle of the power shaft 6.1. The diameter of the limiting disc 6.4 is clearance-fitted with the inner wall of the sleeve 6.2 to prevent the power shaft 6.1 from dislodging from the sleeve 6.2. A mounting disc 6.3 is provided on the second end face of the sleeve 6.2, and the twisting disc 4 is mounted on the mounting disc 6.3. A radial bearing 6.6 and a thrust bearing 6.5 are provided on the shaft body of the power shaft 6.1 located inside the sleeve 6.2. The radial bearing 6.6 is mounted at the end of the power shaft 6.1 to bear the radial load of the power shaft 6.1. The thrust bearing 6.5 is mounted between the limiting disc 6.4 and the side wall of the sleeve 6.2 to bear the axial load of the power shaft 6.1. The simultaneous provision of the radial bearing 6.6 and the thrust bearing 6.5 allows relative rotation between the power shaft 6.1 and the sleeve 6.2.

[0041] Secondly, such as Figure 5 As shown, this utility model provides a bionic arm, including the aforementioned flexible actuator for bionic muscles. The flexible actuator is mounted on a powered bionic arm 9, and a traction bionic arm 10 is rotatably connected to the powered bionic arm 9 via a bionic arm joint power shaft 11. One end of a tension output component 1 is connected to a fiber bundle anchoring slider 2, and the other end is connected to the traction bionic arm 10. The traction bionic arm 10 is rotated by sliding the fiber bundle anchoring slider 2. When it is necessary to lift the traction bionic arm 10, the motor 7 drives the twisting disc 4 to rotate, the fiber bundle 3 twists and contracts, and the tension output component 1 pulls the traction bionic arm 10 to rotate and lift the bionic arm joint power shaft 11. When it is necessary to lower the traction bionic arm 10, the motor 7 rotates in the opposite direction, the fiber bundle 3 is untwisted and elongated, and the traction bionic arm 10 falls naturally under the action of gravity.

[0042] In summary, the biomimetic muscle flexible actuator proposed in this invention exhibits significant beneficial effects in several aspects. Firstly, by utilizing twisting and secondary twisting phenomena, this invention converts the rotational driving force of the motor 7 into the tensile force of the fiber bundle 3, achieving a simulation of the stretching effect of natural muscles. This conversion process is not only direct, efficient, and fast-responding, but also makes the movement smoother and more natural. The twisted fiber bundle 3 possesses a certain degree of elasticity, effectively absorbing external impacts. Furthermore, the overload protection mechanism 6 effectively prevents fiber breakage and motor 7 stalling, further improving the reliability and service life of the actuator. In terms of performance, the flexible actuator of this invention is lightweight and compact, yet can generate large tensile forces. Simultaneously, its high flexibility and ease of steering make it suitable for multi-joint bending devices, broadening its application range. From an economic and practical perspective, the flexible actuator of this invention has a simple and reliable structure, low cost, is easy to maintain, and facilitates spare parts replacement and repair, exhibiting significant cost advantages.

[0043] In summary, the bionic muscle flexible actuator provided by this utility model demonstrates excellent benefits in terms of conversion efficiency, motion characteristics, safety, reliability, performance, economy, and practicality. It has broad market prospects and application value in bionic robots and other application fields that require flexible actuation.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of this technical solution, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A flexible actuator for biomimetic muscles, characterized in that: Includes a motor (7) and a twisting disc (4) connected to the output shaft of the motor (7); one end of the fiber bundle (3) is connected to the twisting disc (4), and the other end is connected to the fiber bundle anchoring slider (2); The fiber bundle anchoring slider (2) is used to connect the driven object and is configured to slide along the line connecting the fiber bundle (3) and the center of the twisting disc (4) under the pull of the fiber bundle (3).

2. The flexible actuator for biomimetic muscles according to claim 1, characterized in that: The output shaft of the motor (7) is also provided with an overload protection mechanism (6), which is used to limit the torque on the twisting disc (4) during the rotation and twisting of the fiber bundle (3); The overload protection mechanism (6) includes a sleeve (6.2) and a power shaft (6.1) rotatably disposed in the sleeve (6.2); the power shaft (6.1) extends from the first end face of the sleeve (6.2) near the motor (7) and is connected to the output shaft of the motor (7); the twisting disc (4) is mounted on the second end face of the sleeve (6.2) away from the motor (7); The adjusting bolt (6.7) passes through the outer wall of the sleeve (6.2) and enters the sleeve (6.2) and abuts against the power shaft (6.1). The friction between the adjusting bolt (6.7) and the power shaft (6.1) is adjusted by adjusting the insertion depth of the adjusting bolt (6.7).

3. The flexible actuator for biomimetic muscles according to claim 2, characterized in that: A limiting disc (6.4) is provided in the middle of the power shaft (6.1). The diameter of the limiting disc (6.4) is clearance-fitted with the inner wall of the sleeve (6.2) to prevent the power shaft (6.1) from coming out of the sleeve (6.2).

4. The flexible actuator for biomimetic muscles according to claim 2, characterized in that: A mounting plate (6.3) is provided on the second end face of the sleeve (6.2), and the twisting plate (4) is mounted on the mounting plate (6.3).

5. The flexible actuator for biomimetic muscles according to claim 3, characterized in that: The power shaft (6.1) is provided with a radial bearing (6.6) and a thrust bearing (6.5) on its shaft body located inside the sleeve (6.2). The radial bearing (6.6) is installed at the end of the power shaft (6.1), and the thrust bearing (6.5) is installed between the limiting plate (6.4) and the side wall of the sleeve (6.2).

6. The flexible actuator for bionic muscles according to claim 1, characterized in that: The output shaft of the motor (7) is provided with a planetary gear (5), and the twisting disc (4) is mounted on the planetary gear (5). The motor (7) drives the twisting disc (4) to rotate through the planetary gear (5).

7. The flexible actuator for biomimetic muscles according to claim 1, characterized in that: It also includes a groove (8) arranged along the line connecting the center of the fiber bundle anchoring slider (2) and the twisting disc (4), wherein the fiber bundle anchoring slider (2) is slidably disposed in the groove (8).

8. The flexible actuator for biomimetic muscles according to claim 1, characterized in that: The twisting disc (4) is provided with multiple mounting holes, and the fiber bundle (3) is fixed in the mounting holes.

9. The flexible actuator of the bionic muscle according to claim 1, characterized in that: It also includes a tension output component (1) connected to the fiber bundle anchoring slider (2), the tension output component (1) being connected to the driven object; the tension output component (1) is a connecting rod or a traction rope.

10. A bionic arm, characterized in that: The invention includes a flexible actuator for a bionic muscle as described in any one of claims 1 to 9; the flexible actuator is disposed on a powered bionic arm (9), and a traction bionic arm (10) is rotatably connected to the powered bionic arm (9) via a bionic arm joint power shaft (11); one end of the tension output component (1) is connected to the fiber bundle anchoring slider (2), and the other end is connected to the traction bionic arm (10), and the traction bionic arm (10) is rotated by sliding the fiber bundle anchoring slider (2).

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