Bionic artificial muscle fixing structure and bionic robot

Abstract

The utility model discloses a bionic artificial muscle fixing structure and a bionic robot, and relates to the technical field of robots. The bionic artificial muscle fixing structure comprises a bionic body, and the bionic body comprises a hose and a woven mesh layer arranged on the outer side of the hose in a sleeving mode; a first crimping part and a second crimping part, wherein the first crimping part and the second crimping part are respectively abutted against the outer side and the inner side of the bionic main body; and the third crimping part is arranged on the second crimping part in a sleeving manner, and extrudes and fixes the hose and the woven mesh layer together with the first crimping part or the second crimping part. Based on the technical scheme disclosed by the utility model, on the premise that the hose is not damaged, the hose and the woven mesh layer are fully fixed, the probability that the crimping part falls off from the woven mesh layer is reduced, the failure of the expansion bearing function of the bionic artificial muscle is avoided, and the service life of the bionic artificial muscle and the service life of the corresponding bionic robot are prolonged.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a biomimetic artificial muscle fixation structure and a biomimetic robot. Background Technology

[0002] Bionic robots typically have a human-like appearance and, compared to other robots, usually possess extremely strong human-computer interaction capabilities, representing the current development trend in the field of robotics.

[0003] Currently, bionic robots can use bionic artificial muscles to mimic the expansion of human muscles and generate a certain amount of power. In related technologies, bionic artificial muscles are typically made by wrapping a layer of woven mesh around a flexible rubber tube and then pressing its ends together using a crimping device.

[0004] However, after the bionic artificial muscle bears the load at both ends, as the internal pressure of the bionic artificial muscle gradually increases, the bionic artificial muscle will expand, contract and deform. When the internal filling pressure increases to a certain value, the flexible rubber tube wall is gradually stretched and thinned, and the clamping force between the crimping parts at both ends of the rubber tube and the braided mesh will weaken, causing the crimping parts to fall off due to insufficient friction between them and the braided mesh, resulting in the failure of the expansion and load-bearing function of the bionic artificial muscle. Utility Model Content

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a biomimetic artificial muscle fixation structure and a biomimetic robot, which solves the technical problem that the crimping parts and the woven mesh are prone to detachment in the prior art, leading to the failure of the expansion and load-bearing function of the biomimetic artificial muscle.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] Firstly, this utility model provides a biomimetic artificial muscle fixation structure, comprising:

[0008] A biomimetic body, comprising a flexible tube and a braided mesh layer sleeved on the outside of the flexible tube;

[0009] A first crimping member and a second crimping member, the first crimping member and the second crimping member respectively abutting against the outer and inner sides of the biomimetic body, for pressing and fixing the hose and the braided mesh layer; and

[0010] The third crimping member is fitted onto the second crimping member and together with the first crimping member or the second crimping member, it presses and fixes the hose and the braided mesh layer.

[0011] In some embodiments, an annular clamping area for accommodating the bionic body is formed between the first pressing member and the second pressing member, and a friction-enhancing structure for abutting against the bionic body is provided on the inner wall of the annular clamping area.

[0012] In some embodiments, the friction-enhancing structure includes:

[0013] A first reinforcing portion is disposed on the inner sidewall of the first crimping member, including a plurality of protrusions and a plurality of recesses distributed along the axial direction of the first crimping member; and / or

[0014] The second reinforcing part is disposed on the outer side wall of the second pressing member and includes a plurality of protrusions and a plurality of recesses distributed along the axial direction of the second pressing member.

[0015] In some embodiments, the annular clamping area has a contraction or expansion structure in the axial direction of the first or second crimping member.

[0016] In some embodiments, the end of the hose is provided with a third reinforcing portion, the third reinforcing portion including a plurality of protrusions and a plurality of recesses disposed along the extension direction of the hose.

[0017] In some embodiments, the first pressing member is provided with a first limiting part, and the second pressing member is provided with a second limiting part for cooperating with the first limiting part to achieve axial positioning.

[0018] In some embodiments, the first crimping member and / or the second crimping member are provided with an annular groove, and the third crimping member is embedded in the annular groove.

[0019] In some embodiments, the end of the bionic body is provided with a flip portion, which surrounds and covers the third press-fit member.

[0020] In some embodiments, the surface of the third presser is provided with a friction structure for enhancing friction.

[0021] Secondly, this utility model also provides a bionic robot, including the aforementioned bionic artificial muscle fixation structure.

[0022] Compared with the prior art, the bionic artificial muscle fixation structure and bionic robot provided by this utility model use a first and a second crimping member to abut against the outer and inner sides of the bionic body, respectively, and a third crimping member to further fix the hose and braided mesh layer in conjunction with the first or second crimping member. This fully fixes the hose and braided mesh layer without damaging the hose, reduces the probability of the crimping member falling off the braided mesh layer, avoids the failure of the expansion and load-bearing function of the bionic artificial muscle, and extends the service life of the bionic artificial muscle and the corresponding bionic robot. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the biomimetic artificial muscle fixation structure in one embodiment of the present invention;

[0024] Figure 2 This is an exploded view of a biomimetic artificial muscle fixation structure in one embodiment of this utility model;

[0025] Figure 3 This is a cross-sectional schematic diagram of a biomimetic artificial muscle fixation structure in one embodiment of this utility model.

[0026] Explanation of reference numerals in the attached drawings: 1. Bionic main body; 11. Flexible tube; 111. Third reinforcing part; 112. Flipping part; 12. Braided mesh layer; 2. Pressure ring; 21. First reinforcing part; 22. First limiting part; 3. Press-fit inner core; 31. Second reinforcing part; 32. Second limiting part; 33. Annular groove; 34. Connecting structure; 4. Elastic pressure ring; 5. Annular clamping area. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0028] To solve the above-mentioned technical problems, this utility model provides a bionic artificial muscle fixation structure and a bionic robot, which can fully fix the hose 11 and the braided mesh layer 12 without damaging the hose 11, reduce the probability of the crimping part falling off the braided mesh layer 12, avoid the failure of the expansion bearing function of the bionic artificial muscle, and extend the service life of the bionic artificial muscle and the corresponding bionic robot.

[0029] Please see Figure 1 , Figure 1 This is a schematic diagram of the overall structure of a bionic artificial muscle fixation structure in one embodiment of the present invention. The bionic artificial muscle fixation structure includes a bionic body 1 and a pressing component disposed at the end of the bionic body 1.

[0030] The bionic body 1 includes a flexible tube 11 and a braided mesh layer 12 sleeved on the outside of the flexible tube 11. Together, they constitute the main force-bearing part of the bionic artificial muscle. The crimping component is located at the end of the bionic body 1. It can fix the flexible tube 11 and the braided mesh layer 12, and can force the flexible tube 11 to contract inward and generate tension after being inflated with air / liquid, so as to simulate the expansion and bearing function of real muscle.

[0031] Specifically, provided that strength is guaranteed, the aforementioned hose 11 can be made of any soft tubing material with expansion and contraction functions. For example, in one embodiment, the hose 11 can be a rubber tubing, without any specific limitation. The braided mesh layer 12 is sleeved on the outside of the hose 11. When the hose 11 is filled with air / liquid and expands, the braided mesh layer 12 can restrict the radial expansion of the hose 11, causing it to contract axially and generate tension.

[0032] Please see Figure 2 and Figure 3 The aforementioned crimping assembly is disposed at the end of the bionic body 1. It includes a first crimping member and a second crimping member. The first crimping member and the second crimping member can respectively abut against the outer side wall and the inner side wall of the bionic body 1, thereby playing the role of squeezing and fixing the hose 11 and the braided mesh layer 12.

[0033] Specifically, the first crimping component can be a crimping ring 2, which can be configured as an annular sleeve structure and can be sleeved on the end of the bionic body 1, so that the inner sidewall of the crimping ring 2 can abut against the braided mesh layer 12. The second crimping component can be a crimping inner core 3, which can be inserted into the end of the bionic body 1, so that the outer sidewall of the crimping inner core 3 can abut against the inner sidewall of the hose 11. In this way, the crimping ring 2 and the crimping inner core 3 can abut against the outer sidewall and inner sidewall of the bionic body 1, respectively, thereby achieving a "compression" effect on the hose 11 and the braided mesh layer 12 and fixing the hose 11 and the braided mesh layer 12.

[0034] Since the pressure ring 2 is sleeved on the end of the bionic body 1, and the crimping inner core 3 is inserted into the bionic body 1, a space for inserting the bionic body 1 can be formed between the pressure ring 2 and the crimping inner core 3. This space constitutes an annular clamping area 5 for clamping and fixing the bionic body 1.

[0035] In practical applications, when the hose 11 expands due to air / liquid inflation, to ensure the expansion and load-bearing function of the bionic artificial muscle, it is necessary to ensure that the end of the bionic body 1 does not detach from the aforementioned annular clamping area 5. To achieve this, a friction-enhancing structure can be provided on the inner wall of the annular clamping area 5. That is, the annular clamping area 5 can abut against the bionic body 1 through the friction-enhancing structure, increasing the frictional force between it and the bionic body 1, thereby preventing the end of the bionic body 1 from detaching from or shifting from the annular clamping area 5.

[0036] Specifically, the aforementioned friction-enhancing structure includes a first reinforcing part 21 and a second reinforcing part 31. The first reinforcing part 21 can be disposed on the inner sidewall of the pressure ring 2, while the second reinforcing part 31 can be disposed on the outer sidewall of the crimping inner core 3. In this way, the pressure ring 2 can abut against the braided mesh layer 12 through the first reinforcing part 21, while the crimping inner core 3 can abut against the hose 11 through the second reinforcing part 31.

[0037] The first reinforcing part 21 mentioned above may include a plurality of protrusions and a plurality of recesses arranged along the axial direction of the pressure ring 2. The plurality of protrusions and the plurality of recesses may be arranged alternately on the inner sidewall of the pressure ring 2 to form a wave-shaped structure. The pressure ring 2 abuts against the woven mesh layer 12 through this wave-shaped structure, which can increase the friction between the two.

[0038] Similarly, the second reinforcing part 31 described above may also include a plurality of protrusions and a plurality of recesses arranged along the axial direction of the crimping inner core 3. The plurality of protrusions and the plurality of recesses may be arranged alternately on the outer surface of the crimping inner core 3 to form a wavy structure. The crimping inner core 3 abuts against the inner wall of the hose 11 through this wavy structure, which can also increase the friction between the two.

[0039] Understandably, with the braided mesh layer 12 and the hose 11 tightly bonded together, the first reinforcing part 21 and the second reinforcing part 31 can effectively increase the friction between the annular clamping area 5 and the bionic body 1, reducing the probability that the bionic body 1 will detach or shift from the annular clamping area 5.

[0040] Meanwhile, the distribution of multiple protrusions and multiple recesses on the pressure ring 2 or the inner core 3 can be flexibly set as needed, as long as the friction between the annular clamping area 5 and the bionic body 1 is sufficient.

[0041] Furthermore, the aforementioned friction-enhancing structure includes both a first reinforcing part 21 and a second reinforcing part 31. However, in another embodiment, the first reinforcing part 21 and the second reinforcing part 31 can be selectively provided as needed. For example, the first reinforcing part 21 can be provided only on the inner wall of the pressure ring 2, without the second reinforcing part 31; or the second reinforcing part 31 can be provided only on the outer wall of the pressing inner core 3, without the first reinforcing part 21. Specifically, whether or not the first reinforcing part 21 and the second reinforcing part 31 are provided can be determined based on the magnitude of the frictional force between the annular clamping area 5 and the bionic body 1, and there is no specific limitation on this.

[0042] Please see Figure 2 and Figure 3 In this embodiment, to further improve the bonding strength between the bionic body 1 and the annular clamping area 5, the extension direction of the annular clamping area 5 can be inclined, that is, the annular clamping area 5 can form an inward contraction structure or an outward contraction structure along the axial direction of the pressure ring 2 or the pressure inner core 3. Here, the direction closer to the end of the bionic body 1 can be defined as "inward," and the direction farther from the end of the bionic body 1 can be defined as "outward." Based on this:

[0043] When the annular clamping area 5 has an inwardly contracting structure along the axial direction of the pressure ring 2 or the pressure inner core 3, the annular clamping area 5 is funnel-shaped as a whole, and the end with the larger opening of the annular clamping area 5 is far away from the end of the bionic body 1.

[0044] When the annular clamping area 5 has an outward contraction structure along the axial direction of the pressure ring 2 or the pressure inner core 3, the annular clamping area 5 as a whole also forms a funnel shape; the difference is that the larger opening end of the annular clamping area 5 is closer to the end of the bionic body 1.

[0045] It should be noted that in this embodiment, the axial directions of the pressure ring 2 and the pressing inner core 3 are actually the same. However, in another embodiment, the axial directions of the pressure ring 2 and the pressing inner core 3 may be different. When the axial directions of the pressure ring 2 and the pressing inner core 3 are different, the extension direction of the annular clamping area 5 can refer to the axial direction of either the pressure ring 2 or the pressing inner core 3.

[0046] At the same time, depending on the specific orientation, the above-mentioned "inward contraction structure" can also be understood as "outward expansion structure", and the above-mentioned "outward contraction structure" can also be understood as "inward expansion structure", and their meanings are actually the same.

[0047] In this embodiment, the end of the bionic body 1 can also be adaptively designed to increase the structural strength between the end of the bionic body 1 and the crimping assembly. For example, a third reinforcing part 111 can be provided on the outer wall of the hose 11. The third reinforcing part 111 can include a plurality of protrusions and a plurality of recesses distributed along the extension direction of the hose 11. The arrangement of the plurality of protrusions and recesses can refer to the arrangement of the first reinforcing part 21 and the second reinforcing part 31 described above, and will not be repeated here.

[0048] Considering the inward or outward contraction structure of the annular clamping region 5, the protrusion height of the multiple protrusions on the hose 11 relative to the hose wall can be adapted according to the contraction direction of the annular clamping region 5. For example, when the annular clamping region 5 has an overall inward contraction structure, the protrusion height of the protrusions on the hose 11 near its end can be less than the protrusion height of the protrusions farther from its end. Conversely, when the annular clamping region 5 has an overall outward contraction structure, the trend of the change in the protrusion height of the multiple protrusions on the hose 11 is exactly the opposite.

[0049] Please see Figure 2 and Figure 3 To prevent the pressure ring 2 and the inner core 3 from shifting and affecting the fixation effect of the bionic body 1, a limiting structure can be set between the pressure ring 2 and the inner core 3 to limit the shift between them.

[0050] In this embodiment, the limiting structure includes a first limiting part 22 disposed on the pressure ring 2 and a second limiting part 32 disposed on the pressing inner core 3. The first limiting part 22 may be configured as a protrusion extending inward to the pressure ring 2, while the second limiting part 32 may be configured as a groove with its opening facing the pressure ring 2.

[0051] When the crimping core 3 is inserted into the bionic body 1 and the crimping ring 2 is sleeved on the outside of the bionic body 1, the first limiting part 22 can be inserted into the second limiting part 32, and the two form a plug-in fit, thereby restricting the relative displacement between the crimping ring 2 and the crimping core 3 in the axial direction and preventing the two from shifting.

[0052] It is understandable that the first limiting part 22 and the second limiting part 32 cooperate with each other to limit the relative displacement of the pressure ring 2 and the pressing inner core 3 in the axial direction. Based on this, the above-mentioned limiting structure can also adopt other structural forms. For example, the first limiting part 22 can be set as a groove, and the second limiting part 32 can be correspondingly set as a protrusion to cooperate with it, or the first limiting part 22 and the second limiting part 32 can be fitted together and fixed by a pin, etc.

[0053] Meanwhile, when the first limiting part 22 is a protrusion and the second limiting part 32 is a groove, considering the installation problem, the pressure ring 2 can be made of an elastic material, so that the first limiting part 22 can be embedded into the second limiting part 32.

[0054] Please see Figure 2 and Figure 3 The aforementioned crimping assembly may further include a third crimping member disposed between the crimping ring 2 and the crimping inner core 3. The third crimping member may work together with the crimping ring 2 or the crimping inner core 3 to press and fix the hose 11 and the braided mesh layer 12.

[0055] In one embodiment, the third pressing member can be an elastic pressing ring 4. The elastic pressing ring 4 is an elastic element, which can be made of rubber or other elastic materials. It is fitted onto the end of the bionic body 1 and presses the end of the bionic body 1 onto the pressing inner core 3. The pressing ring 2 is located outside the elastic pressing ring 4 and cooperates with the pressing inner core 3 to restrict the position of the elastic pressing ring 4.

[0056] Specifically, to effectively limit the position of the elastic pressure ring 4 and prevent it from shifting on the crimping inner core 3, an annular groove 33 can be provided on the outer wall of the crimping inner core 3, so that the elastic pressure ring 4 can be embedded entirely in the annular groove 33. In this way, the annular groove 33 can restrict the sliding of the elastic pressure ring 4 along the axial direction of the crimping inner core 3, and prevent the elastic pressure ring 4 from falling off the end of the bionic body 1.

[0057] In another embodiment, to further reduce the probability of the elastic pressure ring 4 detaching from the end of the bionic body 1, a flip-up portion 112 may be provided at the end of the bionic body 1 (which can also be understood as the end of the flexible tube 11). When the elastic pressure ring 4 is fitted onto the bionic body 1, the flip-up portion 112 can flip outwards from the bionic body 1 and surround and cover the elastic pressure ring 4, thereby increasing the contact area between the elastic pressure ring 4 and the bionic body 1. Thus, when the pressure ring 2 presses against the inner core 3, the elastic pressure ring 4 is also pressed into the annular groove 33, and the elastic pressure ring 4 and the flip-up portion 112 are tightly fitted together, jointly bearing the pressing force of the pressure ring 2 and the inner core 3.

[0058] In another embodiment, the surface of the elastic pressure ring 4 may also be provided with a friction structure to enhance the friction between it and the biomimetic body 1. This friction structure may consist of multiple stripes arranged along the circumference of the elastic pressure ring 4, or multiple protrusions evenly distributed on the surface of the elastic pressure ring 4; no specific limitation is made thereto.

[0059] In another embodiment, for ease of installation, the end of the aforementioned crimping core 3 may also be provided with a connecting structure 34 for connecting other parts of the bionic robot. The connecting structure 34 can be any structure that can achieve the connection effect, such as a threaded structure formed on the end of the crimping core 3, without any specific limitation.

[0060] It is understandable that the purpose of providing the annular groove 33, the flipping part 112, and the friction structure is at least to reduce the probability of the elastic pressure ring 4 detaching from the end of the bionic body 1. Based on this, the aforementioned annular groove 33 can also be provided on the inner wall of the pressure ring 2, or it can be provided simultaneously on the inner wall of the pressure ring 2 and the outer wall of the pressing inner core 3. The functions are the same or similar, and therefore do not exceed the scope of this embodiment.

[0061] To better understand this embodiment, the following is combined with... Figure 1-3 The technical solution of this embodiment will be described in detail below:

[0062] In practical applications, when it is necessary to fix the end of the bionic body 1 with a crimping assembly, a braided mesh layer 12 can be first sleeved on the outside of the flexible tube 11. Then, the crimping core 3 is inserted into the end of the flexible tube 11, and the elastic pressure ring 4 is sleeved on the crimping core 3, so that the elastic pressure ring 4 is precisely embedded in the annular groove 33 on the crimping core 3. Subsequently, the flipping part 112 is flipped to the outside of the bionic body 1 and surrounds and covers the elastic pressure ring 4. Finally, the pressure ring 2 is sleeved on the outside of the crimping core 3, and the pressure ring 2 is pressed with the aid of a hydraulic press or other pressure equipment, so that the pressure ring 2 can press the elastic pressure ring 4 onto the crimping core 3, achieving the function of crimping and securing.

[0063] In this way, the hose 11 and the braided mesh layer 12 can be fully fixed, reducing the probability of the crimping component falling off the braided mesh layer 12, avoiding the failure of the expansion and load-bearing function of the bionic artificial muscle, and extending the service life of the bionic artificial muscle and the corresponding bionic robot.

[0064] Meanwhile, this invention also provides a biomimetic robot, which includes a torso, limbs, and a head structure. The limbs of the biomimetic robot simulate the muscle structure of a human, specifically including biomimetic artificial muscles, and these biomimetic artificial muscles utilize the aforementioned biomimetic artificial muscle fixation structure. By applying this biomimetic artificial muscle fixation structure to the biomimetic robot, the biomimetic artificial muscles can operate continuously and normally, reducing the frequency of maintenance and extending the robot's lifespan.

[0065] In the description of this application, it should be noted that the terms "upper" and "lower," etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0066] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0067] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A biomimetic artificial muscle fixation structure, characterized by, include: A biomimetic body, comprising a flexible tube and a braided mesh layer sleeved on the outside of the flexible tube; The first crimping member and the second crimping member abut against the outer and inner sides of the bionic body, respectively, for pressing and fixing the hose and the braided mesh layer; as well as The third crimping member is fitted onto the second crimping member and together with the first crimping member or the second crimping member, it presses and fixes the hose and the braided mesh layer.

2. The biomimetic artificial muscle fixation structure according to claim 1, wherein, An annular clamping area for accommodating the bionic body is formed between the first pressing member and the second pressing member, and a friction-enhancing structure for abutting the bionic body is provided on the inner wall of the annular clamping area.

3. The biomimetic artificial muscle fixation structure according to claim 2, wherein, The friction-enhancing structure includes: A first reinforcing portion is disposed on the inner sidewall of the first crimping member, including a plurality of protrusions and a plurality of recesses distributed along the axial direction of the first crimping member; and / or The second reinforcing part is disposed on the outer side wall of the second pressing member and includes a plurality of protrusions and a plurality of recesses distributed along the axial direction of the second pressing member.

4. The biomimetic artificial muscle fixation structure according to claim 2, wherein The annular clamping area has a contraction or expansion structure in the axial direction of the first or second pressing member.

5. The biomimetic artificial muscle fixation structure according to any one of claims 1-4, wherein, The end of the hose is provided with a third reinforcing part, which includes a plurality of protrusions and a plurality of recesses arranged along the extension direction of the hose.

6. The biomimetic artificial muscle fixation structure according to any one of claims 1-4, wherein, The first pressing member is provided with a first limiting part, and the second pressing member is provided with a second limiting part for cooperating with the first limiting part to achieve axial positioning.

7. The biomimetic artificial muscle fixation structure according to any one of claims 1-4, characterized in that, The first crimping member and / or the second crimping member are provided with an annular groove, and the third crimping member is embedded in the annular groove.

8. The biomimetic artificial muscle fixture of any one of claims 1-4, wherein, The bionic body has a flip-up part at its end, which surrounds and covers the third press-fit member.

9. The biomimetic artificial muscle fixture of any one of claims 1-4, wherein, The surface of the third pressing member is provided with a friction structure to enhance friction.

10. A biomimetic robot, characterized in that, Includes the biomimetic artificial muscle fixation structure as described in any one of claims 1-9.

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