Appendage massage device containing artificial muscles

Abstract

To provide an appendage massaging device that includes an appendage wrap having an inner band and an outer layer and one or more artificial muscles disposed between the inner band and the outer layer of the appendage wrap.SOLUTION: Each of the one or more artificial muscles includes a housing having an electrode region and an expandable fluid region, a dielectric fluid housed within the housing, and an electrode pair positioned in the electrode region of the housing. The electrode pair includes a first electrode fixed to a first surface of the housing and a second electrode fixed to a second surface of the housing. The electrode pair is actuatable between a non-actuated and an actuated state such that actuation from the non-actuated state to the actuated state directs the dielectric fluid into the expandable fluid region, expanding the expandable fluid region, thereby applying pressure to the inner band of the appendage wrap.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE The present disclosure relates generally to appendage massage devices, and more particularly to appendage massage devices that include artificial muscles for providing selective pressure for the purpose of delivering a therapeutic massage to a user. [Background technology]

[0002] Therapeutic massage is a massage technique that helps relieve pain and reduce stress. One example of therapeutic massage is deep tissue massage, which can be used to break down scar tissue and improve blood circulation. Other examples of therapeutic massage include neuromuscular massage, myofascial massage, trigger point therapy, and sports massage. Current technology for providing therapeutic massage includes pneumatically or electric motor-driven massage devices. However, these massage devices are complex, bulky, and not easily portable. Summary of the Invention [Problem to be solved by the invention]

[0003] Thus, a need exists for an improved massage device that is capable of applying selective and intense pressure to a user while still being low profile. [Means for solving the problem]

[0004] In one embodiment, the appendage massaging device includes an appendage wrap having an inner band and an outer layer, and one or more artificial muscles disposed between the inner band and the outer layer of the appendage wrap. Each of the one or more artificial muscles includes a housing having an electrode region and an expandable fluid region, a dielectric fluid contained within the housing, and an electrode pair positioned within the electrode region of the housing. The electrode pair includes a first electrode secured to a first surface of the housing and a second electrode secured to a second surface of the housing. The electrode pair is actuable between an unactuated state and an actuated state such that actuation from the unactuated state to the actuated state induces dielectric fluid into the expandable fluid region, causing the expandable fluid region to expand and apply pressure against the inner band of the appendage wrap.

[0005] In another embodiment, an appendage massage device includes an appendage wrap having an inner band and an outer layer, and a plurality of artificial muscle stacks disposed between the inner band and the outer layer of the appendage wrap. Each artificial muscle of the plurality of artificial muscle stacks includes a housing having an electrode region and an expandable fluid region, a dielectric fluid contained within the housing, and an electrode pair positioned within the electrode region of the housing. The electrode pair includes a first electrode secured to a first surface of the housing and a second electrode secured to a second surface of the housing. The electrode pair is actuatable between an unactuated state and an actuated state such that actuation from the unactuated state to the actuated state induces a dielectric fluid into the expandable fluid region. Additionally, each of the plurality of artificial muscle stacks is independently actuatable to apply selective pressure against the inner band of the appendage wrap.

[0006] In yet another embodiment, a method of activating an appendage massage device includes generating a voltage with a power source electrically coupled to an electrode pair of an artificial muscle. The artificial muscle is disposed between an inner band and an outer layer of an appendage wrap. The artificial muscle includes a housing having an electrode region and an expandable fluid region. The electrode pair is positioned within the electrode region of the housing. The electrode pair includes a first electrode secured to a first surface of the housing and a second electrode secured to a second surface of the housing. A dielectric fluid is contained within the housing. The method also includes applying a voltage to the electrode pair of the artificial muscle, thereby activating the electrode pair from an unactivated state to an activated state such that a dielectric fluid is induced within the expandable fluid region of the housing and expands the expandable fluid region to apply pressure against the inner band of the appendage wrap.

[0007] These and additional features provided by the embodiments described herein will be more fully understood by considering the following detailed description in conjunction with the drawings.

[0008] The embodiments set forth in the drawings are illustrative and exemplary in nature and are not intended to limit the subject matter defined by the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, in which like structure is labeled with like reference numerals and in which: [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram that generally illustrates an appendage massaging device positioned on a user's body, according to one or more embodiments shown and described herein. [Figure 2A] A diagram illustrating a cross-section of the appendage massage device of Figure 1 showing multiple artificial muscles of the appendage massage device in an unactuated state according to one or more embodiments shown and described herein. [Figure 2B]A diagram illustrating a cross-section of the appendage massage device of Figure 1 showing multiple artificial muscles of the appendage massage device in an actuated state according to one or more embodiments shown and described herein. [Figure 2C] A diagram illustrating a cross-section of the appendage massage device of Figure 1 showing some of the multiple artificial muscles of the appendage massage device in an activated state and some of the multiple artificial muscles of the appendage massage device in a non-activated state, according to one or more embodiments shown and described herein. [Figure 3A] FIG. 2 is a schematic cross-sectional view of one embodiment of an appendage massage device having a single artificial muscle in an unactuated state, according to one or more embodiments shown and described herein. [Figure 3B] FIG. 3B is a schematic cross-sectional view of the appendage massage device of FIG. 3A with a single artificial muscle in an actuated state, according to one or more embodiments shown and described herein. [Figure 3C] A diagram that generally illustrates an appendage massaging device positioned on a user's body, including multiple appendage wraps, according to one or more embodiments shown and described herein. [Figure 4] FIG. 2 is a schematic illustration of an exploded view of an illustrative artificial muscle of the appendage massage device of FIG. 1 according to one or more embodiments shown and described herein. [Diagram 5] FIG. 4 generally depicts a top view of the artificial muscle of FIG. 3 according to one or more embodiments shown and described herein. [Figure 6] FIG. 6 is a schematic depiction of a cross-sectional view of the artificial muscle of FIG. 4 taken along line 6-6 in FIG. 5 in an unactuated state, according to one or more embodiments shown and described herein. [Figure 7] FIG. 6 generally depicts a cross-sectional view of the artificial muscle of FIG. 4 taken along line 6-6 in FIG. 5 in an actuated state, according to one or more embodiments shown and described herein. [Figure 8]FIG. 13A generally depicts a cross-sectional view of another illustrative artificial muscle in an unactuated state, according to one or more embodiments shown and described herein. [Figure 9] FIG. 9 is a schematic depiction of a cross-sectional view of the artificial muscle of FIG. 8 in an actuated state, according to one or more embodiments shown and described herein. [Figure 10] 2 is a schematic illustration of an actuation system for operating the appendage massaging device of FIG. 1 according to one or more embodiments shown and described herein. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The embodiments described herein are directed to an appendage massaging device including one or more artificial muscles configured to apply selective pressure to a user's appendage. The appendage massaging device described herein includes an appendage wrap having an inner band, an outer layer, and one or more artificial muscles disposed within a cavity between the inner band and the outer layer. The one or more artificial muscles disposed within the cavity of the appendage wrap are operable to selectively raise and lower a region of the artificial muscle to provide an expansive fluid region that is selectively and on-demand expanded. In particular, the one or more artificial muscles each include an electrode pair that is attracted by application of a voltage to force a dielectric fluid within the expansive fluid region, thus applying localized pressure to the inner band of the appendage wrap. Additionally, the inner band is formed from an elastic material such that the inner band can conform to the particular shape of the appendage. Thus, actuation of the one or more artificial muscles of the appendage massaging device can apply selective and customizable pressure to a user's appendage using a low profile yet powerful massage device. Various embodiments of the appendage massaging device and the operation of the appendage massaging device are described in more detail herein. Whenever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.

[0011] Referring now to Figures 1-2C, an appendage massaging device 10 is depicted in schematic form. In Figure 1, the appendage massaging device 10 is positioned on an appendage 6 of a user 5. In Figures 2A-2C, schematic cross-sections of the appendage massaging device 10 are shown in various operating states. The appendage massaging device 10 includes an appendage wrap 12 having an outer layer 20, an inner band 30, and a cavity 15 disposed between the outer layer 20 and the inner band 30. The appendage massaging device 10 also includes one or more artificial muscles 101 disposed between the inner band 30 and the outer layer 20 of the appendage wrap 12, e.g., within the cavity 15. In the embodiment depicted in Figures 2A-2C, each artificial muscle 101 is one of a plurality of artificial muscles 100. In particular, the plurality of artificial muscles 100 in Figures 2A-2C are arranged in the form of a plurality of artificial muscle stacks 102. However, embodiments are contemplated in which a single artificial muscle 101 is disposed within the cavity 15 surrounding the inner band 30, such as the embodiment depicted in Figures 3A and 3B. Additionally, embodiments are contemplated with multiple artificial muscles 100 disposed in a single layer within the cavity 15, as opposed to the artificial muscle stack 102 of Figures 2A-2C. In operation, the one or more artificial muscles 101 are actuable to expand and exert pressure against the inner band 30 of the appendage wrap 12. When the appendage wrap 12 is worn, such pressure against the inner band 30 causes the inner band 30 to exert selective pressure against the user 5. Additionally, actuation of the one or more artificial muscles 101 may be controlled by an actuation system 400 (Figure 10), which may include components housed within an on-board control unit 40 coupled to the appendage wrap 12.

[0012] 1-2C , the inner band 30 includes an inner surface 32 that faces the cavity 15 and an outer surface 34 that faces the appendage opening 25. The inner surface 32 may contact at least one artificial muscle 101 and the outer surface 34 may contact the appendage 6 of the user 5 when worn. The outer layer 20 includes an inner surface 22 that faces the cavity 15 and an outer surface 24 that faces outward from the appendage wrap 12. The inner surface 22 of the outer layer 20 may contact at least one artificial muscle 101. The inner band 30 includes an elastic material such that the inner band 30 may conform to the contours of the appendage 6 of the user 5 when worn. The outer layer 20 comprises a material that is stiffer than the inner band 30, such as a rigid plastic or polymer material, such that when one or more artificial muscles 101 are actuated to compress both the inner band 30 and the outer layer 20, the inner band 30 deforms more than the outer layer 20 (indeed, the outer layer 20 may not deform at all), thereby exerting pressure on the appendage of the user 5. Because the outer layer 20 is stiffer than the inner band 30, the outer layer 20 comprises a higher Young's modulus than the inner band 30.

[0013] 2A-2C, cross-sectional views of the appendage massage device 10 are shown with each artificial muscle 101 in an unactivated state (FIG. 2A), with each artificial muscle 101 in an activated state (FIG. 2B), and with some artificial muscles 101 in an activated state while others are in an unactivated state (FIG. 2C). In FIGS. 2A-2C, the multiple artificial muscles 100 are arranged in the form of multiple artificial muscle stacks 102. These illustrative embodiments include eight artificial muscle stacks 102A-102H, although it should be understood that any number of artificial muscle stacks 102 are contemplated. Indeed, because Figures 2A-2C are cross-sections, it should be understood that these figures depict the artificial muscle stack 102 at one cross-sectional location between the first end 14 and the second end 16 of the appendage wrap 12, and thus, the radial array of artificial muscle stacks 102 can be repeated one or more times along the length of the appendage wrap 12 from the first end 14 to the second end 16 (or repeated in multiple individual appendage wraps 12, such as appendage wraps 12a-12j depicted in Figure 3C). In some embodiments, the multiple artificial muscles 101 can be uniformly disposed between the inner band 30 and the outer layer 20 and surround the inner band 30 in a uniform radial array at one or many longitudinal locations along the length of the appendage wrap 12 from the first end 14 to the second end 16. In some embodiments, the expansion fluid regions 196 of each artificial muscle 101 of each artificial muscle stack of the multiple artificial muscle stacks 102 are coaxially aligned with one another. However, in other embodiments, there may be some offset between the expansion fluid regions 196 of at least some of the artificial muscles 101 of the multiple artificial muscle stacks 102. Moreover, while Figures 2A-2C depict multiple artificial muscle stacks 102, embodiments are contemplated in which multiple artificial muscles 100 are disposed in a single layer within the cavity 15. The single layer may include a radial array of artificial muscles 101 that surrounds the inner band 30 (uniformly or non-uniformly) at one or many longitudinal positions along the length of the appendage wrap 12 from the first end 14 to the second end 16.

[0014] The one or more artificial muscles 101 each include an electrode pair 104 disposed within a housing 110 along with a dielectric fluid 198 (FIGS. 4-9). The electrode pair 104 is disposed within an electrode region 194 of the housing 110 adjacent to an expansion fluid region 196. During operation, a voltage is applied across the electrode pair 104, attracting the electrode pair 104 together, thereby inducing a dielectric fluid within the expansion fluid region 196, causing the expansion fluid region 196 to expand. In FIG. 2A, the one or more artificial muscles 101 each are in an unactuated state. When the plurality of artificial muscles 100 are not actuated, the appendage opening 25 is spaced apart by an unactuated radius R N and the cavity 15 has a non-operating thickness C N When multiple artificial muscles 100 are actuated, the appendage opening 25 has an actuation radius R A and the cavity 15 has an operating thickness C A As the inner band 30 is pushed inward by actuating the multiple artificial muscles 100, an actuation radius R A is the non-operating radius R N The working thickness C of the cavity 15 becomes smaller. A is the non-operating thickness C of the cavity 15 N In operation, when the user 5 is wearing the appendage wrap 12, the radial contraction of the inner band 30 induced by actuation of one or more artificial muscles 101 exerts pressure against the appendage 6 of the user 5.

[0015] Although Figures 2A and 2B show a fully unactuated state of the cross section of the appendage wrap 12 (Figure 2A) and a fully actuated state of the cross section of the appendage wrap 12 (Figure 2C), it should be understood that each individual artificial muscle 101 and each individual artificial muscle stack 102 can be independently actuated to provide selective pressure to the appendage 6 of the user 5. Figure 2C illustrates such independent actuation in a schematic manner. In Figure 2C, the third artificial muscle stack 102C and the seventh artificial muscle stack 102G are in an actuated state, and the remaining artificial muscle stacks (i.e., the first artificial muscle stack 102A, the second artificial muscle stack 102B, the fourth artificial muscle stack 102D, the fifth artificial muscle stack 102E, the sixth artificial muscle stack 102F, and the eighth artificial muscle stack 102H) are in an unactuated state. Thus, the appendage opening 25 in the embodiment depicted in Figure 2C has multiple radii. In particular, the appendage opening 25 in FIG. 2C has an actuation radius R A (i.e., the sections aligned with the third and seventh artificial muscle stacks 102C, 102G) and a non-actuating radius R N (i.e., the section aligned with the rest of the artificial muscle stack).

[0016] 3A and 3B, an embodiment of the appendage massaging device 10 including a single artificial muscle 101 is depicted. In this embodiment, the single artificial muscle may surround at least a majority of the circumference of the inner band 30, and actuation of the single artificial muscle 101 exerts pressure on the inner band 30, which exerts pressure on the user 5 when worn. In some embodiments, the appendage massaging device 10 including a single artificial muscle 101 may be designed for use with smaller appendages, such as a finger or wrist. However, it should be understood that the embodiment of the appendage massaging device 10 including a single artificial muscle 101 may be of any size. Additionally, because FIGS. 3A and 3B are cross-sectional views, they depict the single artificial muscle 101 at one cross-sectional location between the first end 14 and the second end 16 of the appendage wrap 12. Although embodiments are contemplated with as few as one artificial muscle 101, embodiments are contemplated as well having a single artificial muscle 101 and multiple artificial muscles 100 disposed within the cavity 15 around the inner band 30 in a repetitive manner along the length of the appendage wrap 12 from the first end 14 to the second end 16. This forms another single layer arrangement of multiple artificial muscles 100.

[0017] 1 and 3C, in some embodiments, the outer layer 20 of the appendage wrap 12 (e.g., the inner diameter of the outer layer 20 of the appendage wrap 12) is adjustable to fit a variety of different appendage sizes. The adjustability may be achieved by various mechanical features, such as adjustable straps. Additionally, while a single appendage wrap 12 is depicted in FIG. 1, embodiments of the appendage massaging device 10 including multiple appendage wraps 12 are also contemplated. For example, FIG. 3C depicts one embodiment of the appendage massaging device 10 including ten appendage wraps 12a-12j adjacently disposed along the appendage 6 of the user 5. In FIG. 3C, the inner band 30, outer layer 20, on-board control unit 40, and first and second ends 14, 16 are indicated for the first appendage wrap 12a, but it should be understood that each appendage wrap 12a-12j may include these components. Additionally, each appendage wrap 12a-12j may include one or more artificial muscles 101. For example, each appendage wrap 12a-12j can include a single artificial muscle 101 (as depicted in Figures 3A and 3B), a single layer array of artificial muscles 101, a single artificial muscle stack 102, or an array of artificial muscle stacks 102 (as depicted in Figures 2A-2C).

[0018] Still referring to Figures 1 and 3C, one or both of the first end 14 and second end 16 of each appendage wrap 12 may include one or more interconnects 18 configured to be attached to another appendage wrap 12 (e.g., first appendage wrap 12a attached to second appendage wrap 12b in Figure 3C). The interconnects 18 may facilitate physical connectivity and / or electrical connectivity. Thus, multiple appendage wraps 12 (e.g., appendage wraps 12a-12j in Figure 3C) may be modularly coupled together to allow the appendage massaging device 10 to have a variety of lengths. The interconnects 18 may also facilitate communication coupling between the appendage wraps 12a-12j, allowing coordinated operation of one or more artificial muscles 101 of each appendage wrap 12a-12j to perform a variety of massage actions. Other embodiments may include multiple appendage wraps (e.g., 12a-12j) without interconnects 18 configured to be positioned adjacently on the appendage 6 of a user 5. In these embodiments, the on-board control unit 40 of each appendage wrap (e.g., 12a-12j) may communicate to facilitate coordinated operation of one or more artificial muscles 101 of each appendage wrap 12 to perform various massage actions.

[0019] 1-3B, the appendage massaging device 10 is operable to apply selective pressure to an appendage 6 of a user 5 by actuating one or more artificial muscles 101. To actuate the appendage massaging device 10, a voltage can be selectively applied to one or more artificial muscles 101 to expand an expansive fluid region 196 of the actuated artificial muscles 101. In some embodiments, each of the one or more artificial muscles 101 is independently operable to apply selective pressure to an inner band 30 of an appendage wrap 12 that, when worn, applies selective pressure to an appendage 6 of a user 5. In embodiments including multiple artificial muscle stacks 102, each artificial muscle stack 102 is independently operable. Additionally, the artificial muscles 101 of a single artificial muscle stack 102 can be independently actuable as well, allowing the displacement stoke applied by the single artificial muscle stack 102 to be modified based on the number of individual artificial muscles 101 of the single artificial muscle stack 102 being actuated. In this manner, selective depth of pressure applied to a user 5 is facilitated.

[0020] One or more artificial muscles 101 may be combined in series down the length of the appendage 6 and actuated in a cascading rhythm, a patterned rhythm, a stochastic rhythm, or a uniform rhythm by selective application of voltage to one or more artificial muscles 101. In an embodiment including multiple appendage wraps 12, the appendage wraps 12 may be combined in series down the length of the appendage and actuated in a cascading rhythm, a patterned rhythm, a stochastic rhythm, or a uniform rhythm by selectively applying voltage to one or more artificial muscles 101 of each appendage wrap 12 in a similarly coordinated manner. For example, in a cascading rhythm operation, a voltage may be selectively applied to one or more artificial muscles 101 to actuate a subset of one or more artificial muscles 101 (e.g., a radial array of artificial muscles 101) sequentially from a first end of the appendage wrap 12 to a second end of the appendage wrap 12 or sequentially along multiple appendage wraps 12 adjacently positioned on the appendage 6 of the user 5.

[0021] 4 and 5, an exemplary artificial muscle 101 of the appendage massaging device 10 is depicted in more detail. The artificial muscle 101 includes a housing 110, an electrode pair 104 including a first electrode 106 and a second electrode 108 secured to opposing surfaces of the housing 110, a first electrical insulator layer 111 secured to the first electrode 106 and a second electrical insulator layer 112 secured to the second electrode 108. In some embodiments, the housing 110 is a one-piece monolithic layer including a pair of opposing inner surfaces, such as a first inner surface 114 and a second inner surface 116, and a pair of opposing outer surfaces, such as a first outer surface 118 and a second outer surface 120. In some embodiments, the first inner surface 114 and the second inner surface 116 of the housing 110 are heat sealable. In other embodiments, the housing 110 can be a pair of separately manufactured film layers, such as a first film layer 122 and a second film layer 124. Thus, the first film layer 122 includes a first inner surface 114 and a first outer surface 118 , and the second film layer 124 includes a second inner surface 116 and a second outer surface 120 .

[0022] It should be understood that although the embodiments described herein refer to the housing 110 as primarily including a first film layer 122 and a second film layer 124, as opposed to a one-piece housing, either arrangement is contemplated. In some embodiments, the first film layer 122 and the second film layer 124 generally comprise the same structure and composition. For example, in some embodiments, the first film layer 122 and the second film layer 124 each comprise biaxially oriented polypropylene.

[0023] The first electrode 106 and the second electrode 108 are each positioned between the first film layer 122 and the second film layer 124. In some embodiments, the first electrode 106 and the second electrode 108 are each an aluminum coated polyester, such as Mylar®. Furthermore, one of the first electrode 106 and the second electrode 108 is a negatively charged electrode and the other of the first electrode 106 and the second electrode 108 is a positively charged electrode. For purposes discussed herein, either electrode 106, 108 may be positively charged, as long as the other electrode 106, 108 of the artificial muscle 101 is negatively charged.

[0024] The first electrode 106 has a film-facing surface 126 and an opposing inner surface 128. The first electrode 106 is positioned against the first film layer 122, specifically against the first inner surface 114 of the first film layer 122. Additionally, the first electrode 106 includes a first terminal 130 extending from the first electrode 106 through an edge of the first film layer 122 such that the first terminal 130 can be connected to a power source to activate the first electrode 106. Specifically, the terminal is coupled directly or in series to a power source and controller of the activation system 400 as shown in FIG. 10. Similarly, the second electrode 108 has a film-facing surface 148 and an opposing inner surface 150. The second electrode 108 is positioned against the second film layer 124, specifically against the second inner surface 116 of the second film layer 124. The second electrode 108 includes a second terminal 152 extending from the second electrode 108 through the edge of the second film layer 124 such that the second terminal 152 can be connected to a power source and a controller of the actuation system 400 to activate the second electrode 108.

[0025] The first electrode 106 includes two or more tab portions 132 and two or more bridge portions 140. Each bridge portion 140 is positioned between and interconnects adjacent tab portions 132. Each tab portion 132 has a first end 134 that extends radially from a central axis C of the first electrode 106 to an opposite second end 136 of the tab portion 132, where the second end 136 defines a portion of the outer periphery 138 of the first electrode 106. Each bridge portion 140 has a first end 142 that extends radially from the central axis C of the first electrode 106 to an opposite second end 144 of the bridge portion 140 that defines another portion of the outer periphery 138 of the first electrode 106. Extending radially from the central axis C of the first electrode 106, each tab portion 132 has a tab length L1 and each bridge portion 140 has a bridge length L2. Tab length L1 is the distance from first end 134 to second end 136 of tab portion 132, and bridge length L2 is the distance from first end 142 to second end 144 of bridge portion 140. Tab length L1 of each tab portion 132 is longer than bridge length L2 of each bridge portion 140. In some embodiments, bridge length L2 is between 20% and 50% of tab length L1, such as between 30% and 40% of tab length L1.

[0026] In some embodiments, the two or more tab portions 132 are arranged in one or more pairs of tab portions 132. Each tab portion pair 132 includes two tab portions 132 disposed diametrically opposite one another. In some embodiments, the first electrode 106 may include only two tab portions 132 positioned on opposite sides or ends of the first electrode 106. As shown in FIGS. 4 and 5, in some embodiments, the first electrode 106 includes four tab portions 132 and four bridge portions 140 interconnecting adjacent tab portions 132. In the embodiment, the four tab portions 132 are arranged as two tab portion pairs 132 diametrically opposite one another. Additionally, as shown, the first terminal 130 extends from and is integrally formed with the second end 136 of one of the tab portions 132.

[0027] Similar to the first electrode 106, the second electrode 108 includes at least a pair of tab portions 154 and two or more bridge portions 162. Each bridge portion 162 is positioned between and interconnects adjacent tab portions 154. Each tab portion 154 has a first end 156 that extends radially from a central axis C of the second electrode 108 to a second end 158 opposite the tab portion 154, where the second end 158 defines a portion of the outer periphery 160 of the second electrode 108. Because the first electrode 106 and the second electrode 108 are coaxial, the central axis C of the first electrode 106 and the second electrode 108 is the same. Each bridge portion 162 has a first end 164 that extends radially from the central axis C of the second electrode to a second end 166 opposite the bridge portion 162 that defines another portion of the outer periphery 160 of the second electrode 108. Extending radially from the central axis C of the second electrode 108, each tab portion 154 has a tab length L3 and each bridge portion 162 has a bridge length L4. The tab length L3 is the distance from the first end 156 to the second end 158 of the tab portion 154, and the bridge length L4 is the distance from the first end 164 to the second end 166 of the bridge portion 162. The tab length L3 is longer than the bridge length L4 of each bridge portion 162. In some embodiments, the bridge length L4 is between 20% and 50% of the tab length L3, such as between 30% and 40% of the tab length L3.

[0028] In some embodiments, the two or more tab portions 154 are arranged in one or more tab portion 154 pairs. Each tab portion pair 154 includes two tab portions 154 disposed diametrically opposite one another. In some embodiments, the second electrode 108 may include only two tab portions 154 located on opposite sides or ends of the first electrode 106. As shown in FIGS. 4 and 5, in some embodiments, the second electrode 108 includes four tab portions 154 and four bridge portions 162 interconnecting adjacent tab portions 154. In such embodiments, the four tab portions 154 are arranged as two tab portion pairs 154 diametrically opposite one another. Additionally, as shown, the second terminal 152 extends from and is integrally formed with the second end 158 of one of the tab portions 154.

[0029] 4-9, at least one of the first electrode 106 and the second electrode 108 has a central opening formed therein between the first end 134 of the tab portion 132 and the first end 142 of the bridge portion 140. In FIGS. 6 and 7, the first electrode 106 has a central opening 146. However, it should be understood that the first electrode 106 need not include the central opening 146 if the central opening is provided within the second electrode 108, as shown in FIGS. 8 and 9. Alternatively, the second electrode 108 need not include a central opening if the central opening 146 is provided within the first electrode 106. Still referring to FIGS. 4-9, the first electrical insulator layer 111 and the second electrical insulator layer 112 generally have a geometry corresponding to the first electrode 106 and the second electrode 108, respectively. Thus, the first and second electrical insulator layers 111, 112 each have tab portions 170, 172 and bridge portions 174, 176 that correspond to similar portions on the first and second electrodes 106, 108. Additionally, the first and second electrical insulator layers 111, 112 each have perimeters 178, 180 that correspond to the perimeter 138 of the first electrode 106 and the perimeter 160 of the second electrode 108 when positioned thereover.

[0030] It should be appreciated that in some embodiments, the first electrical insulator layer 111 and the second electrical insulator layer 112 generally comprise the same structure and composition. Thus, in some embodiments, the first electrical insulator layer 111 and the second electrical insulator layer 112 each comprise an adhesive surface 182, 184 and an opposing non-sealable surface 186, 188, respectively. Thus, in some embodiments, the first electrical insulator layer 111 and the second electrical insulator layer 112 are each polymeric tapes adhered to the inner surface 128 of the first electrode 106 and the inner surface 150 of the second electrode 108, respectively.

[0031] 5-9, the artificial muscle 101 is shown in its assembled configuration with the first terminal 130 of the first electrode 106 and the second terminal 152 of the second electrode 108 extending beyond the periphery of the housing 110, i.e., the first film layer 122 and the second film layer 124. As shown in FIG. 5, the second electrode 108 is stacked on the first electrode 106, and thus the first electrode 106, the first film layer 122 and the second film layer 124 are not shown. The first electrode 106, the second electrode 108, the first electrical insulator layer 111 and the second electrical insulator layer 112 are sandwiched between the first film layer 122 and the second film layer 124 in its assembled configuration. The first film layer 122 is partially sealed to the second film layer 124 in an area surrounding the perimeter 138 of the first electrode 106 and the perimeter 160 of the second electrode 108. In some embodiments, the first film layer 122 is heat sealed to the second film layer 124. Specifically, in some embodiments, the first film layer 122 is sealed to the second film layer 124 to define a sealed portion 190 that surrounds the first electrode 106 and the second electrode 108. The first film layer 122 and the second film layer 124 may be sealed in any suitable manner, for example, with an adhesive, heat sealing, or the like.

[0032] The first electrode 106, the second electrode 108, the first electrical insulator layer 111, and the second electrical insulator layer 112 provide a barrier that prevents the first film layer 122 from sealing to the second film layer 124, forming an unsealed portion 192. The unsealed portion 192 of the housing 110 includes an electrode region 194 having the electrode pair 104 therein and an expandable fluid region 196 surrounded by the electrode region 194. The central openings 146, 168 of the first electrode 106 and the second electrode 108 form the expandable fluid region 196 and are arranged to be axially stacked on top of each other. Although not shown, the housing 110 may be cut to fit the geometry of the electrode pair 104 and reduce the size of the artificial muscle 101, i.e., the size of the sealed portion 190.

[0033] A dielectric fluid 198 is provided within the unsealed portion 192 and flows freely between the first electrode 106 and the second electrode 108. As used herein, a "dielectric" fluid is a medium or material that transmits electrical force without conduction and thus has low electrical conductivity. Some non-limiting exemplary dielectric fluids include perfluoroalkanes, transformer oil, and deionized water. It should be appreciated that the dielectric fluid 198 can be injected into the unsealed portion 192 of the artificial muscle 101 using a needle or other suitable injection device.

[0034] 6 and 7, the artificial muscle 101 is actuable between an unactuated state and an actuated state. In the unactuated state shown in FIG. 6, the first electrode 106 and the second electrode 108 are partially spaced apart from one another proximate their central openings 146, 168 and the first ends 134, 156 of the tab portions 132, 154. The second ends 136, 158 of the tab portions 132, 154 remain in a predetermined position relative to one another because the housing 110 is sealed at the periphery 138 of the first electrode 106 and the periphery 160 of the second electrode 108. In FIGS. 2A, 2C, and 3A, at least one of the one or more artificial muscles 101 of the appendage massaging device 10 is in an unactuated state. In the actuated state shown in FIG. 7, the first electrode 106 and the second electrode 108 are in contact with one another and oriented parallel to one another to force the dielectric fluid 198 into the expansion fluid region 196. This causes the dielectric fluid 198 to flow through the central openings 146, 168 of the first electrode 106 and the second electrode 108, expanding the expansive fluid region 196. In Figures 2B, 2C, and 3B, at least one of the one or more artificial muscles 101 of the appendage massaging device 10 is in an actuated state.

[0035] 6, the artificial muscle 101 is shown in an unactuated state. The electrode pair 104 is provided within an electrode region 194 of an unsealed portion 192 of the housing 110. The central opening 146 of the first electrode 106 and the central opening 168 of the second electrode 108 are coaxially aligned within an expansion fluid region 196. In the unactuated state, the first electrode 106 and the second electrode 108 are partially spaced apart from each other and are not parallel to each other. The first film layer 122 is sealed to the second film layer 124 around the electrode pair 104 such that the second ends 136, 158 of the tab portions 132, 154 are brought into contact with each other. Thus, a dielectric fluid 198 is provided between the first electrode 106 and the second electrode 108, thus isolating the first ends 134, 156 of the tab portions 132, 154 adjacent the expansion fluid region 196. In other words, the distance between the first end 134 of the tab portion 132 of the first electrode 106 and the first end 156 of the tab portion 154 of the second electrode 108 is greater than the distance between the second end 136 of the tab portion 132 of the first electrode 106 and the second end 158 of the tab portion 154 of the second electrode 108. As a result, the electrode pair 104 zips closed toward the expansion fluid region 196 when actuated. In some embodiments, the first electrode 106 and the second electrode 108 may be flexible. Thus, as shown in FIG. 4, the first electrode 106 and the second electrode 108 are convex such that the second ends 136, 158 of the tab portions 132, 154 thereof can remain spaced apart from each other while still being closed to each other and adjacent the central openings 146, 168. In the unactuated state, the expansive fluid region 196 has a first height H1.

[0036] As shown in FIG. 7, when activated, the first electrode 106 and the second electrode 108 close toward each other from the second ends 144, 158 of their tab portions 132, 154 in a fastener-like manner, thereby forcing the dielectric fluid 198 into the expansion fluid region 196. As shown, in the actuated state, the first electrode 106 and the second electrode 108 are parallel to each other. In the actuated state, the dielectric fluid 198 flows into the expansion fluid region 196, causing it to expand. Thus, the first film layer 122 and the second film layer 124 expand in opposite directions. In the actuated state, the expansion fluid region 196 has a second height H2, which is greater than the first height H1 of the expansion fluid region 196 when in the unactuated state. Although not shown, it should be noted that the electrode pair 104 can be partially actuated to a position between the unactuated state and the actuated state. This allows for local expansion and adjustment of the expansile fluid region 196 when needed.

[0037] A voltage is applied by a power source (e.g., power source 48 in FIG. 10) to move the first electrode 106 and the second electrode 108 toward each other. In some embodiments, a voltage of up to 10 kV can be provided by the power source to induce an electric field through the dielectric fluid 198. The resulting attractive force between the first electrode 106 and the second electrode 108 pushes the dielectric fluid 198 into the expansion fluid region 196. Pressure from the dielectric fluid 198 within the expansion fluid region 196 deforms the first film layer 122 and the first electrical insulator layer 111 in a first axial direction along the central axis C of the first electrode 106 and deforms the second film layer 124 and the second electrical insulator layer 112 in an opposite second axial direction along the central axis C of the second electrode 108. Once the voltage supplied to the first electrode 106 and the second electrode 108 is interrupted, the first electrode 106 and the second electrode 108 return to their initial non-parallel position in the unactuated state.

[0038] It should be appreciated that the embodiments of the artificial muscle 101 disclosed herein, specifically the tab portions 132, 154 with the interconnecting bridge portions 174, 176, offer many improvements over actuators that do not include the tab portions 132, 154, such as the hydraulically amplified self-healing electrostatic (HSDEL) actuators described in the article entitled “Hydraulically amplified self-healing electrostatic actuators with muscle-like performance” by E. Acome, S.K. Mitchell, T.G. Morrissey, M.B.Emmett, C. Benjamin, M. King, M. Radakovitz, and C. Keplinger (Science 05 Jan 2018: Vol. 359, Issue 6371, pp. 61-65). An embodiment of an artificial muscle 101 that includes two tab portion pairs 132, 154 on each of the first electrode 106 and the second electrode 108, respectively, reduces the overall mass and thickness of the artificial muscle 101, reduces the amount of voltage required during actuation, and reduces the total volume of the artificial muscle 101 without reducing the amount of resulting force after actuation compared to known HASEL actuators that include toroidal shaped electrodes with uniform radially extending widths. More specifically, the tab portions 132, 154 of the artificial muscle 101 provide a fastener-like front surface that results in increased actuation output by providing localized, uniform hydraulic actuation of the artificial muscle 101 compared to HASEL actuators that include toroidal shaped electrodes. Specifically, one tab portion pair 132, 154 provides twice the amount of actuator output per unit volume compared to a toroidal HASEL actuator, while two tab portion pairs 132, 154 provide four times the amount of actuator output per unit volume. The bridge portions 174, 176 interconnecting the tab portions 132, 154 similarly limit buckling of the tab portions 132, 154 by maintaining the distance between adjacent tab portions 132, 154 during actuation.Because the bridge portions 174, 176 are integrally formed with the tab portions 132, 154, the bridge portions 174, 176 also prevent leakage between the tab portions 132, 154 by eliminating attachment points that increase the risk of fracture.

[0039] In operation, when the artificial muscle 101 is actuated, the expansion of the expansive fluid region 196 expands to 1 cubic centimeter (cm) of the actuator volume. 3 ) or more than 3 Newton-millimeters (N·mm) per unit force, e.g. 4N·mm / cm 3 More than 5N mm / cm 3 More than 6N mm / cm 3 More than 7N mm / cm 3 More than 8N mm / cm 3 In one embodiment, when the artificial muscle 101 is actuated by a voltage of 9.5 kilovolts (kV), the artificial muscle 101 provides a resultant force of 5 N. In another embodiment, when the artificial muscle 101 is actuated by a voltage of 10 kV, the artificial muscle 101 provides a strain of 440% under a load of 500 grams.

[0040] Additionally, the size of the first electrode 106 and the second electrode 108 is proportional to the amount of displacement of the dielectric fluid 198. Thus, if a greater displacement is desired within the expansion fluid region 196, the size of the electrode pair 104 is increased in relation to the size of the expansion fluid region 196. It should be appreciated that the size of the expansion fluid region 196 is defined by the central openings 146, 168 in the first electrode 106 and the second electrode 108. Thus, the degree of displacement within the expansion fluid region 196 may alternatively or additionally be controlled by increasing or decreasing the size of the central openings 146, 168.

[0041] As shown in Figures 8 and 9, another embodiment of an artificial muscle 201 is illustrated. The artificial muscle 201 is substantially similar to the artificial muscle 101. Thus, like structures are labeled with like reference numbers. However, as shown, the first electrode 106 does not include a central opening. Thus, only the second electrode 108 includes a central opening 168 therein. As shown in Figure 8, the artificial muscle 201 is in an unactuated state, the first electrode 106 is planar, and the second electrode 108 is convex relative to the first electrode 106. In the unactuated state, the expansion fluid region 196 has a first height H3. In the actuated state, shown in Figure 9, the expansion fluid region 196 has a second height H4 that is greater than the first height H3. It should be appreciated that by providing the central opening 168 only in the second electrode 108 as opposed to in both the first electrode 106 and the second electrode 108, a full deformation can be created on one side of the artificial muscle 201. Additionally, because the total deformation is formed on only one side of the artificial muscle 201, the second height H4 of the expansive fluid region 196 of the artificial muscle 201 extends farther from the longitudinal axis perpendicular to the central axis C of the artificial muscle 201 than the second height H2 of the expansive fluid region 196 of the artificial muscle 101, all other dimensions, orientation and volume of dielectric fluid being the same. It should be understood that embodiments of the artificial muscle 201 may be used in conjunction with or in place of one or more artificial muscles 101 of the appendage massage device 10 of FIGS. 1-3B.

[0042] 10 , an actuation system 400 may be provided for operating the appendage massaging device 10, and in particular for operating one or more artificial muscles 101 of the appendage massaging device 10. The actuation system 400 may include a controller 50, a manipulation device 46, a power source 48, a display device 42, network interface hardware 44, and communication paths 41 communicatively coupled to these components, some or all of which may be located within an on-board control unit 40.

[0043] The controller 50 includes a non-transitory electronic memory 54 and a processor 52, with the various components communicatively coupled. In some embodiments, the processor 52 and the non-transitory electronic memory 54 and / or other components are contained within a single device. In other embodiments, the processor 52 and the non-transitory electronic memory 54 and / or other components may be distributed among multiple communicatively coupled devices. The controller 50 includes a non-transitory electronic memory 54 that stores a machine-readable instruction set. The processor 52 executes the machine-readable instructions stored in the non-transitory electronic memory 54. The non-transitory electronic memory 54 may include RAM, ROM, flash memory, hard drive, or any device capable of storing machine-readable instructions such that the processor 52 can access the machine-readable instructions. Thus, the operating system 400 described herein may be implemented as a hardware element pre-programmed in any conventional computer programming language, or as a combination of hardware and software components. The non-transitory electronic memory 54 may be implemented as a memory module or multiple memory modules.

[0044] In some embodiments, the non-transitory electronic memory 54 includes instructions for carrying out the functions of the actuation system 400. The instructions may include instructions for operating the appendage massaging device 10, such as for actuating one or more artificial muscles 101 individually or collectively, and for actuating the artificial muscle stacks individually or collectively.

[0045] The processor 52 may be any device capable of executing machine-readable instructions. For example, the processor 52 may be an integrated circuit, a microchip, a computer, or any other computing device. The non-transitory electronic memory 54 and the processor 52 are coupled to a communication path 41 that provides signal interconnectivity between various components and / or modules of the operating system 400. Thus, the communication path 41 may communicatively couple any number of processors to each other, allowing the modules coupled to the communication path 41 to operate in a distributed computing environment. Specifically, each of the modules may operate as a node that can transmit and / or receive data. As used herein, the term "communicatively coupled" means that the coupled components have the ability to exchange data signals with each other, e.g., electrical signals through a conductive medium, electromagnetic signals through the air, and optical signals through an optical waveguide.

[0046] As depicted generally in Figure 10, a communication path 41 communicatively couples the processor 52 and non-transitory electronic memory 54 of the controller 50 to a number of other components of an actuation system 400. For example, the actuation system 400 depicted in Figure 10 includes the processor 52 and non-transitory electronic memory 54 communicatively coupled to a manipulation device 46 and a power source 48.

[0047] The manipulation device 46 allows a user to control the operation of the artificial muscles 101 of the appendage massaging device 10. In some embodiments, the manipulation device 46 can be a switch, toggle, button, or any combination of control mechanisms for providing manipulation by a user. The manipulation device 46 is coupled to the communication path 41 such that the communication path 41 communicatively couples the manipulation device 46 to other modules of the actuation system 400. The manipulation device 46 can provide a user interface for receiving user instructions regarding a particular operational configuration of the appendage massaging device 10, such as generating a cascaded rhythm, a patterned rhythm, a stochastic rhythm, or a uniform rhythm.

[0048] A power source 48 (e.g., a battery) provides power to the one or more artificial muscles 101 of the appendage massaging device 10. In some embodiments, the power source 48 is a rechargeable DC power source. It should be understood that the power source 48 can be a single power source or a battery for providing power to the one or more artificial muscles 101 of the appendage massaging device 10. To provide power to the one or more artificial muscles 101 of the appendage massaging device 10 via the power source 48, a power adapter (not shown) can be included and electrically coupled via a wiring harness or the like.

[0049] In some embodiments, the actuation system 400 also includes a display device 42. The display device 42 is coupled to the communication path 41 such that the communication path 41 communicatively couples the display device 42 to other modules of the actuation system 400. The display device 42 may be located on the appendage wrap 12, for example, as part of the on-board control unit 40, and may output notifications in response to indications of a state of operation of the artificial muscles 101 of the appendage massaging device 10 or a change in state of operation of one or more artificial muscles 101 of the appendage massaging device 10. Furthermore, in addition to providing optical information, the display device 42 may be a touch screen that detects the presence and location of tactile input on or adjacent to the surface of the display device 42. Thus, the display device 42 may include an operating device 46 and receive mechanical input directly at the time the display device 42 provides an optical output.

[0050] In some embodiments, the actuation system 400 includes network interface hardware 44 that communicatively couples the actuation system 400 to a mobile device 70 via a network 60. The mobile device 70 may include, but is not limited to, a smart phone, a tablet, a personal media player, or any other electronic device that includes wireless communication functionality. It should be appreciated that, if a mobile device 70 is provided, it may serve to provide user commands to the controller 50 instead of the manipulation device 46. In this way, a user may be able to utilize the control mechanisms of the manipulation device 46 to control or program the artificial muscles 101 of the appendage massaging device 10. Thus, the artificial muscles 101 of the appendage massaging device 10 are remotely controllable via the mobile device 70 that wirelessly communicates with the controller 50 over the network 60.

[0051] It should now be understood that the embodiments described herein are directed to an appendage massaging device that includes one or more artificial muscles disposed within the appendage wrap between an inner band and an outer layer of the appendage wrap, the artificial muscles being operable to selectively apply pressure against the inner band that is formed from an elastic material such that the inner band conforms to a particular shape of the appendage and activation of the one or more artificial muscles of the appendage massaging device applies selective and customizable pressure to a user's appendage.

[0052] The terms "substantially" and "about" may be used herein to express the inherent degree of uncertainty that may result from any quantitative comparison, value, measurement or other expression. These terms are also used herein to express the degree to which a quantitative expression may vary from the stated basis without resulting in a change in the basic functionality of the subject matter at issue.

[0053] While particular embodiments have been illustrated and described herein, it should be understood that various other changes and modifications can be made without departing from the scope of the claimed subject matter. Moreover, although various aspects of the claimed subject matter have been described herein, such aspects need not be used in combination. It is therefore intended that the appended claims cover all such changes and modifications that fall within the scope of the claimed subject matter. The invention disclosed in this specification includes the following aspects. [Aspect 1] 1. An appendage massaging device comprising: an appendage wrap including an inner band and an outer layer; and one or more artificial muscles disposed between the inner band and the outer layer of the appendage wrap, each of the one or more artificial muscles comprising: a housing containing an electrode region and an expandable fluid region; a dielectric fluid contained within the housing; an electrode pair positioned within the electrode region of the housing, the electrode pair including a first electrode secured to a first surface of the housing and a second electrode secured to a second surface of the housing, the electrode pair being actuable between an unactuated state and an actuated state such that actuation from an unactuated state to an actuated state induces the dielectric fluid into the expansion fluid region to expand the expansion fluid region and apply pressure against the inner band of the appendage wrap; one or more artificial muscles, 1. An appendage massage device comprising: [Aspect 2] The appendage massage device of embodiment 1, wherein the one or more artificial muscles disposed between the inner band and the outer layer of the appendage wrap comprises a single artificial muscle. [Aspect 3] The appendage massage device of claim 1, wherein the one or more artificial muscles disposed between the inner band and the outer layer of the appendage wrap include a plurality of artificial muscles arranged in a single layer between the inner band and the outer layer. Aspect 4 the first electrode and the second electrode each include two or more tab portions and two or more bridge portions; each of the two or more bridge portions interconnecting adjacent tab portions; at least one of the first electrode and the second electrode includes a central opening positioned between the two or more tab portions and surrounding the expandable fluid region. 2. An appendage massage device as described in claim 1. Aspect 5 An appendage massaging device as described in embodiment 4, wherein the first electrode and the second electrode each include two pairs of tab portions and two pairs of bridge portions, each bridge portion interconnecting adjacent pairs of tab portions, and each tab portion being diametrically opposed to the opposing tab portion. Aspect 6 when the electrode pair is in the unactuated state, the first electrode and the second electrode are not parallel to one another; when the electrode pair is in the actuated state, the first electrode and the second electrode are parallel to one another, such that the first electrode and the second electrode are configured to close in a fastener-like manner toward the central opening and toward one another when actuated from the unactuated state to the actuated state. 5. An appendage massage device as described in embodiment 4. Aspect 7 2. The appendage massage device of claim 1, wherein the housing of the one or more artificial muscles includes a first film layer and a second film layer partially sealed to one another to define a sealed portion of the housing, the housing further including an unsealed portion surrounded by the sealed portion, the electrode region and the expandable fluid region of the housing being disposed within the unsealed portion. Aspect 8 The appendage massage device of embodiment 1, further comprising a first electrical insulator layer secured to an inner surface of the first electrode opposite the first surface of the housing, and a second electrical insulator layer secured to an inner surface of the second electrode opposite the second surface of the housing, the first electrical insulator layer and the second electrical insulator layer each including an adhesive surface and an opposite non-sealable surface. Aspect 9 the inner band comprises an elastic material; the outer layer comprising a higher Young's Modulus than the inner band; 2. An appendage massage device as described in claim 1. Aspect 10 2. The appendage massage device of claim 1, wherein an inner diameter of the outer layer is adjustable. Aspect 11 2. The appendage massage device of claim 1, wherein the one or more artificial muscles include a plurality of artificial muscles. Aspect 12 The appendage massaging device of embodiment 1, wherein the appendage wrap includes a first appendage wrap and the appendage massaging device further includes a second appendage wrap including an inner band, an outer layer, and one or more artificial muscles disposed between the inner band and the outer layer. Aspect 13 an appendage wrap including an inner band and an outer layer; and a plurality of artificial muscle stacks disposed between the inner band and the outer layer of the appendage wrap, each artificial muscle of the plurality of artificial muscle stacks comprising: a housing containing an electrode region and an expandable fluid region; a dielectric fluid contained within the housing; an electrode pair positioned within the electrode region of the housing, the electrode pair including a first electrode secured to a first surface of the housing and a second electrode secured to a second surface of the housing, the electrode pair being actuable between an unactuated state and an actuated state such that actuation from the unactuated state to the actuated state induces the dielectric fluid into the expansion fluid region; Multiple artificial muscle stacks, including An appendage massaging device comprising: each of the plurality of artificial muscle stacks is independently operable to apply selective pressure against the inner band of the appendage wrap; Appendicular massage device. Aspect 14 14. The appendage massage device of claim 13, wherein the expandable fluid regions of each artificial muscle of each artificial muscle stack of the plurality of artificial muscle stacks are coaxially aligned with each other. Aspect 15 the first electrode and the second electrode each include two or more tab portions and two or more bridge portions; each of the two or more bridge portions interconnecting adjacent tab portions; at least one of the first electrode and the second electrode includes a central opening positioned between the two or more tab portions and surrounding the expandable fluid region. 14. An appendage massage device as described in claim 13. Aspect 16 The appendage massaging device of embodiment 15, wherein each of the first electrode and the second electrode includes a central opening positioned between the two or more tab portions and surrounding the expandable fluid region, the central openings being coaxially aligned with one another. Aspect 17 14. The appendage massaging device of claim 13, wherein the inner band comprises an elastic material and the outer layer comprises a higher Young's modulus than the elastic material. Aspect 18 1. A method of operating an appendage massaging device, comprising: generating a voltage using a power source electrically coupled to an electrode pair of an artificial muscle, the artificial muscle being disposed between an inner band and an outer layer of an appendage wrap; the artificial muscle includes a housing having an electrode region and an expandable fluid region; the electrode pair is positioned within the electrode region of the housing; the electrode pair includes a first electrode secured to a first surface of the housing and a second electrode secured to a second surface of the housing; and a dielectric fluid contained within the housing; and actuating the electrode pair from an unactuated state to an actuated state such that the voltage is applied to the electrode pair of the artificial muscle, thereby inducing the dielectric fluid into the expansion fluid region of the housing and expanding the expansion fluid region to exert pressure against the inner band of the appendage wrap; A method comprising: Aspect 19 20. The method of claim 18, wherein the artificial muscle is one of a plurality of artificial muscles disposed between the inner band and the outer layer of the appendage massage device. Aspect 20 20. The method of claim 19, further comprising selectively applying voltage to the plurality of artificial muscles to apply selective pressure to the inner band of the appendage wrap in a cascading rhythm between a first end of the appendage wrap and a second end of the appendage wrap.

Claims

1. 1. An appendage massaging device comprising: an appendage wrap including an inner band and an outer layer; and one or more artificial muscles disposed between the inner band and the outer layer of the appendage wrap, each of the one or more artificial muscles comprising: a housing containing an electrode region and an expandable fluid region; a dielectric fluid contained within the housing; an electrode pair positioned within the electrode region of the housing, the electrode pair including a first electrode secured to a first surface of the housing and a second electrode secured to a second surface of the housing, the electrode pair being actuable between an unactuated state and an actuated state such that actuation from an unactuated state to an actuated state induces the dielectric fluid into the expansion fluid region to expand the expansion fluid region and apply pressure against the inner band of the appendage wrap; one or more artificial muscles, Including, the first electrode and the second electrode each include two or more tab portions and two or more bridge portions; each of the two or more bridge portions interconnecting adjacent tab portions; at least one of the first electrode and the second electrode includes a central opening positioned between the two or more tab portions and surrounding the expandable fluid region. Appendicular massage device.

2. 2. The appendage massaging device of claim 1, wherein the first electrode and the second electrode each include two pairs of tab portions and two pairs of bridge portions, each bridge portion interconnecting adjacent pairs of tab portions, and each tab portion diametrically opposed to an opposing tab portion.

3. when the electrode pair is in the unactuated state, the first electrode and the second electrode are not parallel to one another; when the electrode pair is in the actuated state, the first electrode and the second electrode are parallel to one another, such that the first electrode and the second electrode are configured to close in a fastener-like manner toward the central opening and toward one another when actuated from the unactuated state to the actuated state.

2. The appendage massaging device of claim 1.

4. an appendage wrap including an inner band and an outer layer; and a plurality of artificial muscle stacks disposed between the inner band and the outer layer of the appendage wrap, each artificial muscle of the plurality of artificial muscle stacks comprising: a housing containing an electrode region and an expandable fluid region; a dielectric fluid contained within the housing; an electrode pair positioned within the electrode region of the housing, the electrode pair including a first electrode secured to a first surface of the housing and a second electrode secured to a second surface of the housing, the electrode pair being actuable between an unactuated state and an actuated state such that actuation from the unactuated state to the actuated state induces the dielectric fluid into the expansion fluid region; Multiple artificial muscle stacks, including An appendage massaging device comprising: each of the plurality of artificial muscle stacks is independently actuatable to apply selective pressure against the inner band of the appendage wrap; the first electrode and the second electrode each include two or more tab portions and two or more bridge portions; each of the two or more bridge portions interconnecting adjacent tab portions; at least one of the first electrode and the second electrode includes a central opening positioned between the two or more tab portions and surrounding the expandable fluid region. Appendicular massage device.

5. 5. The appendage massaging device of claim 4, wherein each of the first electrode and the second electrode includes a central opening positioned between the two or more tab portions and surrounding the expandable fluid region, the central openings being coaxially aligned with one another.

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