Asymmetric electrode insulator for artificial muscles

Abstract

To provide an artificial muscle and a method for actuating the artificial muscle.SOLUTION: An artificial muscle includes: a housing having an electrode region and an expandable fluid region; a dielectric fluid accommodated in the housing; an electrode pair arranged in the electrode region of the housing, and including a first electrode and a second electrode; and an electrode insulator having one or a plurality of insulation layers. The electrode insulator is arranged on an inside electrode face of the first electrode of the electrode pair. The second electrode includes the inside electrode face which is exposed and released to the dielectric fluid when the electrode pair is in a non-actuated state. The electrode pair can be actuated between the non-actuated state and an actuated state, and an actuation from the non-actuated state to the actuated state introduces the dielectric fluid into the expandable fluid region, expanding the expandable fluid region.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] This specification generally relates to an artificial muscle having an electrode pair with an asymmetric electrode insulator.

Background Art

[0002] Current artificial muscles have the same amount of electrical insulator on each electrode. However, because the amount of the electrical insulator is equal, the breakdown failure rate of current artificial muscles increases as the load increases. In some cases, even if an artificial muscle generates sufficient electrostatic force to lift a large weight (such as a weight of 1 kg or more), due to the stress caused by the decrease in the polymer breakdown voltage, the artificial muscle may be damaged by an electrical short circuit. In other words, the material characteristics of current artificial muscles do not scale with the generation of electrostatic force scaled up by an increase in electrode size.

[0003] Therefore, in order to facilitate the generation of scaled-up electrostatic force, an alternative artificial muscle with improved breakdown voltage is needed.

Summary of the Invention

[0004] In one embodiment, an artificial muscle includes a housing having an electrode region and an expandable fluid region, a dielectric fluid housed within the housing, an electrode pair disposed within the electrode region of the housing and including a first electrode and a second electrode, and an electrode insulator having one or more insulating layers. The electrode insulator is disposed on the inner electrode surface of the first electrode of the electrode pair. The second electrode has a free inner electrode surface that is exposed to the dielectric fluid when the electrode pair is in the non-operating state. The electrode pair is operable between a non-operating state and an operating state, and the operation from the non-operating state to the operating state expands the expandable fluid region by guiding the dielectric fluid into the expandable fluid region.

[0005] In another embodiment, a method for operating an artificial muscle comprises the step of providing a voltage using a power source electrically coupled to an electrode pair of the artificial muscle, the artificial muscle comprising an electrode region and an inflatable fluid region, the electrode region comprising a housing comprising a first electrode and a second electrode of an electrode pair, a dielectric fluid contained within the housing, and an electrode insulator comprising one or more insulating layers, the electrode insulator being positioned on the inner electrode surface of the first electrode, the second electrode having an open inner electrode surface exposed to the dielectric fluid when the electrode pair is in a non-operating state. The method also comprises the step of applying a voltage to the electrode pair of the artificial muscle, thereby operating the electrode pair from a non-operating state to an operating state, thereby directing the dielectric fluid into the inflatable fluid region of the housing and inflating the inflatable fluid region.

[0006] In yet another embodiment, the artificial muscle comprises a housing having an electrode region and an expandable fluid region; a dielectric fluid contained within the housing; an electrode pair disposed within the electrode region of the housing and having a first electrode and a second electrode; and an electrode insulator having one or more insulating layers. The electrode insulator is positioned on the inner electrode surface of the first electrode, and the second electrode has an open inner electrode surface exposed to the dielectric fluid; the electrode pair is operable between a non-operating state and an operating state, and the operation from the non-operating state to the operating state expands the expandable fluid region by directing the dielectric fluid into the expandable fluid region.

[0007] These and additional features provided by the embodiments described herein will be better understood by considering the following detailed description in conjunction with the drawings. [Brief explanation of the drawing]

[0008] The embodiments described in the drawings are illustrative and preferred in nature and are not intended to limit the subject matter as defined by the claims. The following detailed description by exemplary embodiments should be understood in conjunction with the following drawings, and similar structures are indicated by the same reference numerals, as follows:

[0009] [Figure 1] This figure schematically shows a top view of one preferred artificial muscle according to one or more embodiments shown and described herein. [Figure 2] This figure schematically shows an exploded view of the artificial muscle of Figure 1, according to one or more embodiments shown and described herein. [Figure 3] This figure schematically shows a cross-sectional view along line A-A in Figure 1 of the artificial muscle shown in Figures 1 and 2 in a non-operating state, according to one or more embodiments described herein. [Figure 4] This figure schematically shows a cross-sectional view along line A-A in Figure 1 of the artificial muscle shown in Figures 1 and 2 in an operating state, according to one or more embodiments described herein. [Figure 5] This figure schematically shows a top view of another preferred artificial muscle according to one or more embodiments shown and described herein. [Figure 6] This figure schematically shows an exploded view of the artificial muscle of Figure 5, according to one or more embodiments shown and described herein. [Figure 7] This figure schematically shows a cross-sectional view along the line B-B in Figure 5 of the artificial muscle shown in Figures 5 and 6 in a non-operating state, according to one or more embodiments described herein. [Figure 8] This figure schematically shows a cross-sectional view along the line B-B in Figure 5 of the artificial muscle shown in Figures 5 and 6 in an operating state, according to one or more embodiments described herein. [Figure 9] This diagram schematically illustrates a preferred electrode, in which an electrode insulator comprising two insulating double layers is disposed thereon, according to one or more embodiments shown and described herein. [Figure 10] This diagram schematically illustrates a preferred electrode, according to one or more embodiments shown and described herein, in which an insulator comprising a single insulating double layer is disposed thereon. [Figure 11]This figure schematically illustrates an actuation system for operating the artificial muscles shown in Figures 1 to 8, according to one or more embodiments described herein. [Modes for carrying out the invention]

[0010] The embodiments described herein relate to actuarial artificial muscles that selectively raise and lower regions of the artificial muscle to provide a selective, on-demand expanding, expandable fluid region. Each artificial muscle comprises an electrode pair including a first electrode and a second electrode that can be attracted together by the application of a voltage, thereby pushing a dielectric fluid into an expandable fluid region. Furthermore, some embodiments of the artificial muscles described herein include an asymmetric electrode insulator configured to mitigate the decrease in dielectric breakdown voltage when stress is acting on the electrode insulator. The asymmetric electrode insulator reinforces the artificial muscle against electrical short circuits, enables the artificial muscle to operate under increased voltage, increases the working force of the artificial muscle, and ensures that the artificial muscle can lift more weight. In particular, the embodiments of the artificial muscle described herein achieve this asymmetry using an electrode insulator positioned on the inner electrode surface of the first electrode, with the inner electrode surface of the second electrode being an open surface. That is, the inner electrode surface of the second electrode faces the electrode insulator and is exposed to the dielectric fluid when the artificial muscle is in a non-acting state. Various embodiments of the artificial muscle are described in more detail herein. To reference identical or equivalent parts, the same reference number is used throughout the drawings whenever possible.

[0011] Referring to Figures 1 to 8, the artificial muscles 100 and 100' are schematically depicted in several figures. Each artificial muscle 100 and 100' includes an electrode pair 104 placed within the housing 110 together with a dielectric fluid 198. The electrode pair 104 comprises a first electrode 106 and a second electrode 108, and is positioned in the electrode region 194 of the housing 110 adjacent to the expandable fluid region 196. During operation, a voltage is applied to the electrode pair 104, drawing the electrode pair 104 together by guiding the dielectric fluid into the expandable fluid region 196, thereby expanding the expandable fluid region 196.

[0012] The artificial muscle 100 in Figures 1 to 4 includes a first electrode insulator 111 placed on a first electrode 106 and a second electrode insulator 112 placed on a second electrode 108, while the artificial muscle 100' in Figures 5 to 8 includes an electrode insulator 113 (e.g., a single electrode insulator) placed on the first electrode 106. The inner electrode surface 128b of the second electrode 108 of the artificial muscle 100' is an open surface, which causes asymmetry in the insulator of the artificial muscle 100'. The single electrode insulator 113 has a thickness greater individually than the first electrode insulator 111 and the second electrode insulator 112, but may have a thickness equal to the combined thickness of the first and second electrode insulators 111 and 112.

[0013] Figures 1 and 2 depict the artificial muscle 100 in more detail. The artificial muscle 100 includes a housing 110, an electrode pair 104 including a first electrode 106 and a second electrode 108 fixed to opposing surfaces of the housing 110, a first electrode insulator 111 fixed to the first electrode 106, and a second electrode insulator 112 fixed to the second electrode 108. In some embodiments, the housing 110 is an integrated structural 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 may be a pair of individually manufactured film layers such as a first film layer 122 and a second film layer 124. Therefore, 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.

[0014] In the embodiments described herein, the housing 110 is primarily referred to as comprising a first film layer 122 and a second film layer 124, which is in contrast to the integrated housing, but it should be understood that both arrangements are possible. In some embodiments, the first film layer 122 and the second film layer 124 generally contain the same structure and composition. For example, in some embodiments, the first film layer 122 and the second film layer 124 each contain biaxially oriented polypropylene (BOPP).

[0015] The first electrode 106 and the second electrode 108 are positioned between the first film layer 122 and the second film layer 124, respectively. In some embodiments, the first electrode 106 and the second electrode 108 are each made of aluminum-coated polyester, such as Mylar®. One of the first electrode 106 and the second electrode 108 is negatively charged, and the other of the first electrode 106 and the second electrode 108 is positively charged. For the purposes discussed herein, one of the electrodes 106 and 108 of the artificial muscle 100 is positively charged as long as the other electrode 106 and 108 is negatively charged.

[0016] The first electrode 106 has a film-side electrode surface 126a and an inner electrode surface 128a. The first electrode 106 is positioned against the first film layer 122, specifically, the first inner surface 114 of the first film layer 122. Furthermore, the first electrode 106 includes a first terminal 130a that extends from the first electrode 106 beyond the edge of the first film layer 122 so that the first electrode 106 can be activated by connecting the first terminal 130a to a power source. Specifically, as shown in Figure 11, the terminal is connected directly or in series to the power supply 408 and controller 410 of the operating system 400. Similarly, the second electrode 108 has a film-side electrode surface 126b and an inner electrode surface 128b. The second electrode 108 is positioned against the second film layer 124, specifically, the second inner surface 116 of the second film layer 124. The second electrode 108 includes a second terminal 130b that extends beyond the edge of the second film layer 124, so that the second terminal 130b can be connected to the power supply 408 and controller 410 of the actuation system 400 to actuate the second electrode 108.

[0017] The first electrode 106 and the second electrode 108 each include two or more tab portions 132 and two or more bridge portions 140. Each bridge portion 140 is positioned between adjacent tab portions 132 and interconnects these adjacent tab portions 132. Each tab portion 132 has a first end 134 that extends radially from the central axis C of the first electrode 106 to a second end 136 on the opposite side of the tab portion 132, and the second end 136 defines a portion of the outer boundary 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 a second end 144 on the opposite side of the bridge portion 140 that defines another portion of the outer boundary 138 of the first electrode 106. Each tab portion 132 has a tab length L1, and each bridge portion 140 has a bridge length L2 extending radially from the central axis C of the first electrode 106. The tab length L1 is the distance from the first end 134 to the second end 136 of the tab portion 132, and the bridge length L2 is the distance from the first end 142 to the second end 144 of the bridge portion 140. The tab length L1 of each tab portion 132 is longer than the bridge length L2 of each bridge portion 140. In some embodiments, the bridge length L2 is 20% to 50% of the tab length L1, for example, 30% to 40% of the tab length L1.

[0018] In some embodiments, two or more tab portions 132 are arranged in pairs of one or more tab portions 132. Each pair of tab portions 132 includes two tab portions 132 arranged opposite to each other. In some embodiments, the first electrode 106 and the second electrode 108 include only two tab portions 132 arranged on the opposite side or end of the first electrode 106. As shown in FIGS. 1 and 2, in some embodiments, the first electrode 106 and the second electrode 108 each include four tab portions 132 and four bridge portions 140 that interconnect adjacent tab portions 132. In this embodiment, the four tab portions 132 are arranged as two pairs of tab portions 132 arranged opposite to each other. Further, as shown, the first terminal 130a extends from the second end 136 of one of the tab portions 132 and is integrally formed with the tab portion 132. Since the first electrode 106 and the second electrode 108 are coaxial with each other, the central axis C of the first electrode 106 and the second electrode 108 is the same.

[0019] As shown in FIGS. 1 to 4, at least one of the first electrode 106 and the second electrode 108 has a central opening formed between the first end 134 of the tab portion 132 and the first end 142 of the bridge portion 140. As shown in FIGS. 3 and 4, the first electrode 106 and the second electrode 108 each have a central opening 146. However, when the central opening is provided in the second electrode 108, the first electrode 106 does not need to include the central opening 146. Alternatively, when the central opening 146 is provided in the first electrode 106, the second electrode 108 does not need to include the central opening.

[0020] As shown in FIGS. 1 to 4, the first electrode insulator 111 and the second electrode insulator 112 each have a shape generally corresponding to the first electrode 106 and the second electrode 108. Therefore, the first electrode insulator 111 and the second electrode insulator 112 each have tab portions 170 and bridge portions 174 corresponding to similar portions on the first electrode 106 and the second electrode 108. Further, the first electrode insulator 111 and the second electrode insulator 112 each have an outer peripheral boundary 178 corresponding to the outer peripheral boundaries 138 of the first electrode 106 and the second electrode 108 when the first electrode 106 and the second electrode 108 are disposed thereon.

[0021] It should be understood that in some embodiments, the first electrode insulator 111 and the second electrode insulator 112 generally include the same structure and composition. Therefore, in some embodiments, the first electrode insulator 111 and the second electrode insulator 112 each include an adhesive surface 182 and an opposite non-sealing surface 186. Thus, in some embodiments, the first electrode insulator 111 and the second electrode insulator 112 are each a polymer tape adhered to the inner electrode surfaces 128a and 128b of the first electrode 106 and the second electrode 108, respectively.

[0022] As shown in Figures 1 to 4, the artificial muscle 100 is shown assembled such that the first terminal 130a of the first electrode 106 and the second terminal 130b of the second electrode 108 extend beyond the outer boundary of the housing 110, i.e., the first film layer 122 and the second film layer 124. As shown in Figure 1, the first electrode 106 is stacked on top of the second electrode 108, and therefore the second electrode 108 and the second film layer 124 are not shown. In the assembled form of the artificial muscle 100, the first electrode 106, the second electrode 108, the first electrode insulator 111, and the second electrode insulator 112 are sandwiched between the first film layer 122 and the second film layer 124. The first film layer 122 is partially sealed to the second film layer 124 in the region surrounding the outer peripheral boundary 138 of the first electrode 106 and 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 surrounding the first electrode 106 and the second electrode 108. The first film layer 122 and the second film layer 124 may be sealed by any suitable method, such as an adhesive, a heat-sealing method, or an equivalent method.

[0023] The first electrode 106, the second electrode 108, the first electrode insulator 111, and the second electrode insulator 112 provide a barrier that prevents the first film layer 122 from sealing the second film layer 124 and forming an unsealed portion 192. The unsealed portion 192 of the housing 110 includes an electrode region 194 into which the electrode pair 104 is provided, and an inflatable fluid region 196 surrounded by the electrode region 194. The central openings 146 of the first electrode 106 and the second electrode 108 form the inflatable fluid region 196 and are arranged to stack axially with each other. Although not shown, the housing 110 may be cut to match the shape of the electrode pair 104, reducing the dimensions of the artificial muscle 100, i.e., the dimensions of the sealed portion 190.

[0024] The dielectric fluid 198 is provided within the unsealed section 192 and flows freely between the first electrode 106 and the second electrode 108. As used herein, “dielectric” fluid is a medium or material that transmits electrical force without electrical conduction and therefore has low electrical conductivity. Some non-limiting examples of dielectric fluids include perfluoroalkanes, transformer oil, and deionized water. It should be understood that the dielectric fluid 198 may be injected into the unsealed section 192 of the artificial muscle 100 using an injection needle or other suitable injection device.

[0025] As shown in Figures 3 and 4, the artificial muscle 100 is operable between a non-operating state and an operating state. In the non-operating state, as shown in Figure 3, the first electrode 106 and the second electrode 108 are partially separated from each other near their central openings 146 and the first end 134 of the tab portion 132. The second end 136 of the tab portion 132 remains in place because the housing 110 is sealed around the outer circumference 138 of the first electrode 106 and the second electrode 108. As shown in Figure 4, when transitioning to the operating state, the first electrode 106 and the second electrode 108 come into contact with each other and are oriented parallel to each other, pushing the dielectric fluid 198 into the expandable fluid region 196. This causes the dielectric fluid 198 to flow through the central openings 146 of the first electrode 106 and the second electrode 108, expanding the expandable fluid region 196.

[0026] Referring to Figure 3, the artificial muscle 100 is shown in a non-operating state. The electrode pair 104 is provided within the electrode region 194 of the unsealed portion 192 of the housing 110. The central openings 146 of the first electrode 106 and the second electrode 108 are coaxially aligned within the inflatable fluid region 196. In the non-operating state, the first electrode 106 and the second electrode 108 are partially separated from each other and non-parallel to each other. Because the first film layer 122 is sealed to the second film layer 124 around the electrode pair 104, the second ends 136 of the tab portion 132 are in contact with each other. Thus, the dielectric fluid 198 is provided between the first electrode 106 and the second electrode 108, thereby separating the first ends 134 of the tab portion 132 in the vicinity of the inflatable 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 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 electrode 108. This causes the electrode pair 104 to zip up towards the expandable fluid region 196 when in operation. In some embodiments, the first electrode 106 and the second electrode 108 may be flexible. Thus, as shown in Figure 3, the first electrode 106 and the second electrode 108 become convex, with their second ends 136 of the tab portions 132 remaining close to each other, but separating from each other near the central opening 146. In the non-operating state, the expandable fluid region 196 has a first height H1.

[0027] When the artificial muscle 100 is activated, the first electrode 106 and the second electrode 108 operate like zippers closing to each other from the second end 144 of the tab portion 132, thereby pushing the dielectric fluid 198 into the expandable fluid region 196. As shown in Figure 4, when activated, the first electrode 106 and the second electrode 108 are parallel to each other. In the activated state, the dielectric fluid 198 flows into the expandable 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 activated state, the expandable fluid region 196 has a second height H2, which is greater than the first height H1 of the expandable fluid region 196 when it is in the non-activated state. It should be understood that, although not shown, the electrode pair 104 may be partially activated to be in a position between the non-activated and activated states. This allows for partial expansion of the expandable fluid region 196, and adjustment as needed.

[0028] As shown in Figure 4, during the operation of the artificial muscle 100, one or more dielectric fluid pockets 199 are formed between the electrode pair 104. In some situations, one or more dielectric fluid pockets 199 may be temporarily present when the artificial muscle 100 is activated from a non-operated state to an activated state, so that the dielectric fluid 198 contained in one or more dielectric fluid pockets 199 eventually moves into an expandable fluid region 196 while the artificial muscle 100 is in an activated state. In other situations, one or more dielectric fluid pockets 199 may remain until the artificial muscle 100 returns from an activated state to a non-operated state. During operation, the dielectric fluid pockets 199 form hot spots of dielectric breakdown due to stress on the electrode pair 104. In other words, if the voltage applied to the electrode pair 104 to activate it is greater than the dielectric breakdown voltages of the first electrode insulator 111 and the second electrode insulator 112 of the dielectric fluid pocket 199, an electrical short circuit may occur. Although not intended to be limited by theory, changes in shape of the first and second electrode insulators 111 and 112 in the dielectric fluid pocket 199 (e.g., localized material expansion and / or localized material compression) generate mechanical stress in the polymer material of both the first and second electrode insulators 111 and 112, reducing the dielectric breakdown voltage of each of the materials of the first and second electrode insulators 111 and 112, and increasing the likelihood that the voltage applied to the electrode pair 104 will be greater than this reduced dielectric breakdown voltage of the first and second electrode insulators 111 and 112 in the dielectric fluid pocket 199. Electrical short circuits caused by the stress-induced reduction in the dielectric breakdown voltage of the first and second electrode insulators 111 and 112 may lead to undesirable failure of the artificial muscle 100, particularly due to an increase in the voltage applied to the artificial muscle 100, resulting in an increase in the load or an increase in the movement of a large load.

[0029] Figures 5 to 8 show the artificial muscle 100'. The artificial muscle 100' is similar to the artificial muscle 100. Therefore, similar structures are shown with similar reference numbers. However, as illustrated, the artificial muscle 100' includes an electrode insulator 113 (e.g., a single electrode insulator) positioned on the inner electrode surface 128a of the first electrode 106, but does not include an electrode insulator (such as the second electrode insulator 112 in Figures 1 to 4) positioned on the inner electrode surface 128b of the second electrode 108. Instead, the inner electrode surface 128b is an open inner electrode surface. That is, when the electrode pair 104 is in a non-working state, the open inner electrode surface 128b is exposed to the dielectric fluid 198. In fact, the open inner electrode surface 128b of the second electrode 108 may be oriented to face the electrode insulator 113 in both the working and non-working states of the electrode pair 104. Furthermore, when the electrode pair 104 is in operation, the electrode insulator 113 contacts the open inner electrode surface 128b of the second electrode 108.

[0030] As shown in Figures 5 to 8, the electrode insulator 113 comprises one or more insulating layers 150 and is positioned on the inner electrode surface 128a of the first electrode 106. The electrode insulator 113 has a shape that generally corresponds to the first electrode 106 and the second electrode 108. Thus, the electrode insulator 113 includes tab portions 170 and bridge portions 174 that correspond to similar portions on the first electrode 106 and the second electrode 108. The electrode insulator 113 also has an outer boundary 178 that corresponds to the outer boundary 138 of the first electrode 106 when positioned on the first electrode 106. Furthermore, although embodiments in which the electrode insulator 113 is positioned on the first electrode 106 are described herein, it should be understood that embodiments are intended in which the electrode insulator 113 is positioned on the inner electrode surface 128b of the second electrode 108, and the inner electrode surface 128a of the first electrode 106 is an open inner electrode surface. As shown in Figures 7 and 8, in some embodiments, the electrode insulator 113 comprises a plurality of insulating layers 150, such as a first insulating layer 150a disposed on the inner electrode surface 128a of the first electrode 106 and a second insulating layer 150b disposed on the first insulating layer 150a. Each insulating layer 150 may contain one or more polymer materials.

[0031] Referring again to Figures 1 to 8, the electrode insulator 113 may have a greater thickness individually than the first electrode insulator 111 and the second electrode insulator 112, but may have a thickness equal to the combined thickness of the first and second electrode insulators 111. Therefore, in comparison, the artificial muscles 100, 100' may have the same electrode insulator thickness, and if they are made of the same material, they may have the same dielectric breakdown voltage. However, by positioning the electrode insulator 113 on the first electrode 106 such that the inner electrode surface 128b of the second electrode 108 is an open surface, the electrode insulator 113 becomes more resistant to stress induced by a reduction in the dielectric breakdown voltage that occurs when one or more dielectric fluid pockets 199 are formed during operation.

[0032] Referring to Figure 8, the dielectric fluid pocket 199 is depicted within the artificial muscle 100'. As mentioned above with respect to Figure 4, the dielectric fluid pocket 199 is a hotspot for dielectric breakdown due to stress on the electrode pair 104. Although not intended to be limited by theory, changes in the shape of the electrode insulator 113 in the dielectric fluid pocket 199 (e.g., localized material expansion and / or localized material compression) generate mechanical stress on the material of the electrode insulator 113, reducing the dielectric breakdown voltage of the material of the electrode insulator 113. However, since the electrode insulator 113 is located on a single electrode, the electrode insulator 113 experiences mechanical stress in the dielectric fluid pocket 199 equivalent to that of the first and second electrodes 111 and 112, respectively (assuming a dielectric fluid pocket 199 of the same dimensions and shape for comparison). Therefore, although not intended to be limited by theory, the reduction in dielectric breakdown voltage of electrode insulator 113 is equal to the reduction in dielectric breakdown voltage of one of the first and second electrode insulators 111 and 112. In other words, the stress-induced reduction in dielectric breakdown voltage is halved by using electrode insulator 113 compared to the first and second electrode insulators 111 and 112. This increases the effectiveness of the artificial muscle 100' in resisting the stress-induced reduction in dielectric breakdown voltage. This allows the artificial muscle 100' to operate at an increased voltage without failure during operation, and increases the amount of force that the artificial muscle 100' can apply to the load.

[0033] As shown in Figures 9 and 10, in some embodiments, one or more insulating layers 150 of the electrode insulator 113 each comprise an insulating double layer 152. In particular, each insulating double layer 152 may include an acrylic polymer layer 154 such as poly(ethylacrylate acrylamide) and a biaxially oriented polypropylene (BOPP) layer 156. The insulating double layer 152 has a high dielectric breakdown voltage per unit thickness and is therefore resistant to high-voltage electrical breakdown, thus facilitating the formation of thin artificial muscles that operate at high voltages and promoting increased working force.

[0034] As shown in Figures 9 and 10, the acrylic polymer layer 154 is an adhesive layer (e.g., an acrylic emulsion adhesive) bonded to both the first electrode 106 and the BOPP layer 156. In some embodiments, the acrylic polymer layer 154 comprises poly(ethylacrylamide acrylate). However, it should be understood that mono(ethylacrylamide acrylate), poly(methylacrylamide acrylate), mono(methylacrylamide acrylate), poly(propylacrylamide acrylate), mono(propylacrylamide acrylate), poly(butylacrylamide acrylate), mono(butylacrylamide acrylate), poly(pentylacrylamide acrylate), mono(pentylacrylamide acrylate), poly(hexylacrylamide acrylate), mono(hexylacrylamide acrylate), or similar acrylic polymer materials are intended.

[0035] In some embodiments, one or more insulating layers 150 comprise a plurality of insulating double layers 152 (Figure 9), and in other embodiments, the one or more insulating layers 150 may comprise a single insulating double layer 152 (Figure 10). For example, in the embodiment shown in Figure 9, the first insulating layer 150a comprises a first insulating double layer 152a including a first acrylic polymer layer 154a disposed on the first electrode 106 and a first BOPP layer 156a disposed on the first acrylic polymer layer 154a, and the second insulating layer 150b comprises a second insulating double layer 152b including a second acrylic polymer layer 154b disposed on the first BOPP layer 156a and a second BOPP layer 156b disposed on the second acrylic polymer layer 154b.

[0036] Furthermore, as shown in Figures 9 and 10, the electrode insulator 113 may have a thickness TI of 50 μm or less, for example, 45 μm or less, 40 μm or less, 35 μm or less, 30 μm or less, 25 μm or less, 20 μm or less, 15 μm or less, 10 μm or less, or 5 μm or less, or any range ending at any two of these thicknesses. Furthermore, in embodiments in which one or more insulating layers 150 of the electrode insulator 113 comprises one or more insulating double layers 152, the thickness of the acrylic polymer layer 154 is greater than 1.5 to 10 times the thickness of the BOPP layer 156, for example, 2 to 5 times. Furthermore, although not intended to be theoretically limited, each insulating double layer 152 has a dielectric breakdown voltage per thickness of 1 kV / μm or more, 1.2 kV / μm or more, 1.5 kV / μm or more, 2 kV / μm or more, etc. In fact, each insulating double layer 152 has a dielectric breakdown voltage per thickness in the range of 0.75 to 2.5 kV / μm, for example, 0.8 kV / μm, 0.9 kV / μm, 1.0 kV / μm, 1.1 kV / μm, 1.2 kV / μm, 1.3 kV / μm, 1.4 kV / μm, 1.5 kV / μm, 1.6 kV / μm, 1.7 kV / μm, 1.8 kV / μm, 1.9 kV / μm, 2.0 kV / μm, 2.1 kV / μm, 2.2 kV / μm, 2.3 kV / μm, 2.4 kV / μm, or any range ending at any two of these dielectric breakdown voltages. Furthermore, although not intended to be limited by theory or by the dielectric breakdown voltage of the insulating double layer 152 including the acrylic polymer layer 154 and the BOPP layer 156, the thickness of the insulating double layer 152 allows the artificial muscle 100' to be operated by an increased voltage without short-circuiting, promoting the formation of a stronger artificial muscle. For example, the insulating double layer 152 is resistant to dielectric breakdown voltages of 10kV or more, such as 11kV or more, 12kV or more, 15kV or more, 20kV or more.

[0037] Although not intended to be limited by theory, during operation, the actuator force applied by the artificial muscle 100' is inversely proportional to the thickness TI of the electrode insulator 113 and directly proportional to the square of the applied voltage. Therefore, by reducing the thickness of the electrode insulator 113 while using materials resistant to electrical short circuits under high applied potentials, such as the acrylic polymer layer 154 and the BOPP layer 156, it becomes easier to increase the achievable actuator force. Furthermore, as described above, by placing the electrode insulator 113 on the first electrode 106 and leaving the second electrode 108 exposed to the dielectric fluid 198, this arrangement further reduces the thickness of the insulator because it strengthens the artificial muscle 100' against electrical short circuits caused by the decrease in the dielectric breakdown voltage of the insulator material due to stress.

[0038] As shown in Figures 1 to 8, a voltage is applied by a power source (such as power source 408 in Figure 11) to move the first electrode 106 and the second electrode 108 of the artificial muscles 100 and 100' relative to each other. The attractive force between the first electrode 106 and the second electrode 108 pushes the dielectric fluid 198 into the expandable fluid region 196. In the artificial muscle 100, the pressure from the dielectric fluid 198 in the expandable fluid region 196 deforms the first film layer 122 and the first electrode insulator 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 electrode insulator 112 in a second axial direction in the opposite direction along the central axis C of the second electrode 108. In the artificial muscle 100', the pressure from the dielectric fluid 198 within the expandable fluid region 196 deforms the first film layer 122 and electrode insulator 113 in a first axial direction along the central axis C of the first electrode, and deforms the second film layer 124 in a second axial direction along the central axis C of the second electrode 108. In both artificial muscles 100, 100', when the voltage supplied to the first electrode 106 and the second electrode 108 is cut off, the first electrode 106 and the second electrode 108 return to their initial non-parallel positions, as they were in the non-operating state.

[0039] It should be understood that embodiments of the artificial muscles 100, 100' disclosed herein, specifically the tab portion 132 with interconnecting bridge portions 140, offer many improvements over actuators that do not include the tab portion 132, such as the hydraulically amplified self-healing electrostatic (HASEL) actuator described in the paper entitled "Hydraulically Amplified Self-Healing Electrostatic Actuator with Muscle-like Performance" by E. Acome, SK Mitchell, TGMorrissey, MBEmmett, C. Benjamin, M. King, M. Radakovitz, and C. Keplinger (Science 05 Jan 2018: Vol.359, Issue 6371, pp.61-65). Embodiments of the artificial muscle 100 that individually include two pairs of tab portions 132 on each of the first electrode 106 and the second electrode 108 reduce the overall mass and thickness of the artificial muscle 100, reduce the amount of voltage required during operation, and reduce the total volume of the artificial muscle 100 without reducing the amount of force generated after operation, compared to known HASEL actuators that include donut-shaped electrodes with a uniform, radially extending width. More specifically, the tab portions 132 of the artificial muscle 100 provide a zipping surface that results in increased operating force by providing localized and uniform hydraulic operation of the artificial muscle 100 compared to HASEL actuators that include donut-shaped electrodes. Specifically, a pair of tab portions 132 provides twice the amount of actuator force per unit volume compared to a donut-shaped HASEL actuator, while two pairs of tab portions 132 provide four times the amount of actuator force per unit volume. Bridge portions 140 that interconnect the tab portions 132 also limit buckling of the tab portions 132 by maintaining the distance between adjacent tab portions 132 during operation. Since the bridge portion 140 is integrally formed with the tab portion 132, the bridge portion 140 also prevents leakage between the tab portions 132 by eliminating mounting positions that increase the risk of rupture.

[0040] During operation, when the artificial muscles 100, 100' are activated by supplying a voltage and applying that voltage to the electrode pair 104 of the artificial muscle 100, the expansion of the inflatable fluid region 196 generates a force with an actuator volume of 5 Newton millimeters (N.mm) / cubic centimeter (cm3) or more, for example, 8 N.mm / cm3 or more, 10 N.mm / cm3 or more, 12 N.mm / cm3 or more, 15 N.mm / cm3 or more, 20 N.mm / cm3 or more, etc. Supplying the voltage may include, for example, generating the voltage in embodiments where the power supply 408 (Figures 4 and 11) is a battery, or it may include converting the voltage in embodiments where the power supply 408 (Figures 4 and 11) is a power adapter, or it may be other known or undeveloped techniques for preparing the voltage for application.

[0041] Furthermore, the dimensions of the first electrode 106 and the second electrode 108 are proportional to the displacement of the dielectric fluid 198. Therefore, if a larger displacement is desired within the expandable fluid region 196, the dimensions of the electrode pair 104 increase in proportion to the dimensions of the expandable fluid region 196. It should be understood that the dimensions of the expandable fluid region 196 are defined by the central openings 146 within the first electrode 106 and the second electrode 108. The degree of displacement of the expandable fluid region 196 may be controlled, either alternatively or additionally, by increasing or decreasing the dimensions of the central openings 146.

[0042] As shown in Figure 11, the actuator system 400 is provided for operating artificial muscles 100, 100'. The actuator system 400 may include a controller 410, an operating device 406, a power supply 408, a display device 402, network interface hardware 404, and a communication path 401 that communicatively connects these components. The controller 410 includes a processor 412 and a non-temporary electronic memory 414 in which various components are communicatively connected. In some embodiments, the processor 412 and the non-temporary electronic memory 414 and / or other components are contained within a single device. In other embodiments, the processor 412 and the non-temporary electronic memory 414 and / or other components may be distributed across multiple communicatively connected devices. The controller 410 includes a non-temporary electronic memory 414 that stores a set of machine-readable instructions. The processor 412 executes the machine-readable instructions stored in the non-temporary electronic memory 414. The non-temporary electronic memory 414 may include RAM, ROM, flash memory, a hard drive, or any device capable of storing machine-readable instructions so that the machine-readable instructions are accessed by the processor 412. Therefore, the actuation system 400 described herein may be implemented as a pre-programmed hardware element in any conventional computer programming language, or as a combination of hardware and software components. The non-temporary electronic memory 414 may be implemented as one or more memory modules. In some embodiments, the non-temporary electronic memory 414 includes instructions for performing the functions of the actuation system 400. The instructions may include instructions for activating the artificial muscle 100.

[0043] The processor 412 may be any device capable of executing machine-readable instructions. For example, the processor 412 may be an integrated circuit, a microchip, a computer, or any other computing device. The non-temporary electronic memory 414 and the processor 412 are coupled to a communication path 401 that provides signal interconnectivity between various components and / or modules of the operating system 400. Thus, the communication path 401 may be communicatively coupled to any number of processors, and the modules coupled to the communication path 401 may be capable of operating in a distributed computing environment. Specifically, each module may operate as a node capable of transmitting and / or receiving data. As used herein, the term “communicatively coupled” means that the coupled components can exchange data signals, such as electrical signals over a conductive medium, electromagnetic signals over air, or optical signals over an optical waveguide.

[0044] As shown in Figure 11, the communication path 401 connects the processor 412 and the non-temporary electronic memory 414 of the controller 410 in a communicative manner to several other components of the actuator system 400, such as one or more sensors 405. For example, the actuator system 400 shown in Figure 11 includes the processor 412 and the non-temporary electronic memory 414, which are communicatively connected to the operating device 406 and the power supply 408.

[0045] The operating device 406 allows the user to control the operation of the artificial muscle 100. In some embodiments, the operating device 406 may be any combination of switches, toggles, buttons, or controls to provide user operation. The operating device 406 is coupled to a communication path 401 such that the communication path 401 communicatively couples the operating device 406 to other modules of the actuator system 400.

[0046] A power source 408 (e.g., a battery) supplies power to the artificial muscle 100. In some embodiments, the power source 408 is a rechargeable DC power source. It should be understood that the power source 408 can be a single power source or a battery for supplying power to the artificial muscle 100. A power adapter (not shown) may be provided and electrically coupled via a wiring harness or the like for supplying power to the artificial muscle 100 via the power source 408. In fact, the power source 408 can receive power at a certain level (e.g., a certain voltage, power level, or current) and output power at a second level (e.g., a second voltage, power level, or current).

[0047] In some embodiments, the actuation system 400 also includes a display device 402. The display device 402 is coupled to a communication path 401 such that the communication path 401 communicatively couples the display device 402 to other modules of the actuation system 400. The display device 402 may output notifications in response to instructions regarding the operating state of the artificial muscle 100 or changes in the operating state of the artificial muscle 100. Furthermore, in addition to providing optical information, the display device 402 may be a touchscreen that detects the presence and location of tactile input on or near the surface of the display device 402. Thus, the display device 402 may include an operating device 406 that can directly receive mechanical input via the optical output provided by the display device 402.

[0048] In some embodiments, the actuator system 400 includes network interface hardware 404 for communicatively connecting the actuator system 400 to a portable device 470 via a network 460. The portable device 470 may include, but is not limited to, a smartphone, tablet, personal media player, or other electronic device including wireless communication capabilities. It should be understood that, if a portable device 470 is provided, it may be used to provide user commands to the controller 410 instead of the operating device 406. Thus, the user can control or set a program for controlling the artificial muscle 100 using the control of the operating device 406. Thus, the artificial muscle 100 can be remotely controlled via the portable device 470, which communicates wirelessly with the controller 410 via the network 460.

[0049] Herein, it should be understood that the embodiments described herein are directed to an artificial muscle with an electrode insulator on the inner electrode surface of the first electrode, and the inner electrode surface of the second electrode is an open inner electrode surface facing the electrode insulator, which is exposed to a dielectric fluid when the artificial muscle is in a non-operating state. Placing the electrode insulator on only one of the electrode pair creates an asymmetry of the electrode insulator, which mitigates the decrease in the dielectric breakdown voltage of the electrode insulator material under stress, enabling the artificial muscle to lift more weight and improving reliability against dielectric breakdown short circuits.

[0050] It should be noted that the terms “substantially” and “about” may be used herein to describe the degree of inherent uncertainty arising from any quantitative comparison, value, measurement, or other representation. These terms are also used herein to describe the degree to which a quantitative representation may deviate from the references given without altering the fundamental function of the subject matter in question.

[0051] While specific embodiments are 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. Furthermore, although various aspects of the claimed subject matter are described herein, it is not necessary to use such aspects in combination. Accordingly, the attached claims are intended to cover all such changes and modifications that fall within the scope of the claimed subject matter. The inventions disclosed herein include the following embodiments: [Aspect 1] A housing comprising an electrode region and an expandable fluid region, A dielectric fluid housed within the housing, An electrode pair comprising a first electrode and a second electrode, disposed within the electrode region of the housing, An electrode insulator comprising one or more insulating layers, The electrode insulator is placed on the inner electrode surface of the first electrode of the electrode pair. The second electrode comprises an open inner electrode surface that is exposed to the dielectric fluid when the electrode pair is in a non-operating state. The electrode pair is operable between the non-operating state and the operating state, and the operation from the non-operating state to the operating state involves guiding the dielectric fluid into the expandable fluid region, thereby expanding the expandable fluid region. , Artificial muscle. [Aspect 2] The artificial muscle according to embodiment 1, wherein the exposed inner electrode surface of the second electrode is oriented to face the electrode insulator. [Aspect 3] The artificial muscle according to embodiment 1, wherein the one or more insulating layers of the electrode insulator comprise one or more insulating double layers, each insulating double layer comprising an acrylic polymer layer disposed on the first electrode and a biaxially oriented polypropylene (BOPP) layer disposed on the acrylic polymer layer. [Aspect 4] The artificial muscle according to embodiment 3, wherein the acrylic polymer layer comprises poly(ethylacrylamide acrylate). [Aspect 5] The artificial muscle according to embodiment 3, wherein the acrylic polymer layer is an adhesive layer bonded to the first electrode and the BOPP layer. [Aspect 6] The artificial muscle according to embodiment 1, wherein the one or more insulating layers of the electrode insulator include a first insulating layer disposed on the inner electrode surface of the first electrode, and the artificial muscle further includes a second insulating layer disposed on the first insulating layer. [Aspect 7] The first insulating layer comprises a first insulating double layer comprising a first acrylic polymer layer disposed on the inner electrode surface of the first electrode and a first biaxially oriented polypropylene (BOPP) layer disposed on the first acrylic polymer layer, The second insulating layer comprises a second insulating double layer comprising a second acrylic polymer layer disposed on the first BOPP layer and a second BOPP layer disposed on the second acrylic polymer layer. The artificial muscle described in embodiment 6. [Aspect 8] The artificial muscle according to embodiment 7, wherein the first acrylic polymer layer and the second acrylic polymer layer each contain poly(ethylacrylamide acrylate). [Aspect 9] The first electrode and the second electrode each comprise two or more tab portions and two or more bridge portions. Each of the two or more bridge sections interconnects adjacent tab sections. At least one of the first electrode and the second electrode is positioned between the two or more tab portions and has a central opening surrounding the expandable fluid region. The artificial muscle described in Embodiment 1. [Aspect 10] The artificial muscle according to embodiment 9, wherein the first electrode and the second electrode each include two pairs of tab portions and two pairs of bridge portions, each bridge portion is adjacent to and interconnected with a pair of adjacent tab portions, and each tab portion faces the opposite tab portion in the exact opposite direction. [Aspect 11] When the electrode pair is in the non-operating state, the first electrode and the second electrode are not parallel to each other. When the electrode pair is in the operating state, the first electrode and the second electrode are parallel to each other, and are configured to move toward each other and toward the expandable fluid region of the housing in a zipper-like manner when moving from the non-operating state to the operating state. The artificial muscle described in Embodiment 1. [Aspect 12] The artificial muscle according to embodiment 11, wherein when the electrode pair is in the operating state, the electrode insulator contacts the exposed inner electrode surface of the second electrode. [Aspect 13] A method for activating artificial muscles, The artificial muscle has a power supply electrically coupled to an electrode pair of artificial muscles to provide voltage, and the artificial muscle has A housing comprising an electrode region and an expandable fluid region, wherein an electrode pair having a first electrode and a second electrode is housed within the electrode region of the housing, A dielectric fluid housed within the housing, An electrode insulator comprising one or more insulating layers, The electrode insulator is placed on the inner electrode surface of the first electrode, The second electrode comprises an open inner electrode surface that is exposed to the dielectric fluid when the electrode pair is in a non-operating state. The method involves applying a voltage to the electrode pair of the artificial muscle, thereby activating the electrode pair from the non-operating state to the operating state, thereby guiding the dielectric fluid into the expandable fluid region of the housing, and causing the expandable fluid region to expand. How artificial muscles work. [Aspect 14] The method according to embodiment 13, wherein the exposed inner electrode surface of the second electrode is oriented to face the electrode insulator. [Aspect 15] The method according to embodiment 13, wherein the one or more insulating layers of the electrode insulator comprises an insulating double layer comprising an acrylic polymer layer disposed on the first electrode and a biaxially oriented polypropylene (BOPP) layer disposed on the acrylic polymer layer. [Aspect 16] The method according to embodiment 15, wherein the acrylic polymer layer comprises poly(ethylacrylamide acrylate). [Aspect 17] The one or more insulating layers of the electrode insulator include a first insulating layer disposed on the inner electrode surface of the first electrode and a second insulating layer disposed on the first insulating layer. The first insulating layer comprises a first insulating double layer comprising a first acrylic polymer layer disposed on the first electrode and a first biaxially oriented polypropylene (BOPP) layer disposed on the first acrylic polymer layer. The second insulating layer comprises a second insulating double layer comprising a second acrylic polymer layer disposed on the first BOPP layer and a second BOPP layer disposed on the second acrylic polymer layer. The method described in aspect 15. [Aspect 18] A housing comprising an electrode region and an expandable fluid region, A dielectric fluid housed within the housing, An electrode pair comprising a first electrode and a second electrode, disposed within the electrode region of the housing, An electrode insulator comprising one or more insulating layers, The electrode insulator is placed on the inner electrode surface of the first electrode, The second electrode comprises an open inner electrode surface facing the electrode insulator, The electrode pair is operable between a non-operating state and an operating state, and the operation from the non-operating state to the operating state involves guiding the dielectric fluid into the expandable fluid region, thereby expanding the expandable fluid region. Artificial muscle. [Aspect 19] The one or more insulating layers of the electrode insulator include a first insulating layer disposed on the inner electrode surface of the first electrode and a second insulating layer disposed on the first insulating layer. The first insulating layer comprises a first insulating double layer comprising a first acrylic polymer layer disposed on the inner electrode surface of the first electrode and a first biaxially oriented polypropylene (BOPP) layer disposed on the first acrylic polymer layer. The second insulating layer comprises a second insulating double layer comprising a second acrylic polymer layer disposed on the first BOPP layer and a second BOPP layer disposed on the second acrylic polymer layer. The artificial muscle described in embodiment 18. [Aspect 20] The first electrode and the second electrode each comprise two or more tab portions and two or more bridge portions. Each of the two or more bridge sections interconnects adjacent tab sections. At least one of the first electrode and the second electrode is positioned between the two or more tab portions and has a central opening surrounding the expandable fluid region. The artificial muscle described in embodiment 18.

Claims

1. A housing comprising an electrode region and an expandable fluid region, A dielectric fluid housed within the housing, An electrode pair comprising a first electrode and a second electrode, disposed within the electrode region of the housing, An electrode insulator comprising one or more insulating layers, The electrode insulator is placed on the inner electrode surface of the first electrode of the electrode pair. The second electrode comprises an open inner electrode surface that is exposed to the dielectric fluid when the electrode pair is in a non-operating state. The electrode pair is operable between the non-operating state and the operating state, and the operation from the non-operating state to the operating state involves guiding the dielectric fluid into the expandable fluid region, thereby expanding the expandable fluid region. The one or more insulating layers of the electrode insulator comprise one or more insulating double layers, each insulating double layer comprising an acrylic polymer layer disposed on the first electrode and a biaxially oriented polypropylene (BOPP) layer disposed on the acrylic polymer layer. Artificial muscle.

2. The artificial muscle according to claim 1, wherein the exposed inner electrode surface of the second electrode is oriented to face the electrode insulator.

3. The artificial muscle according to claim 1, wherein the acrylic polymer layer comprises poly(ethylacrylamide acrylate).

4. The artificial muscle according to claim 1, wherein the acrylic polymer layer is an adhesive layer bonded to the first electrode and the BOPP layer.

5. A housing comprising an electrode region and an expandable fluid region, A dielectric fluid housed within the housing, An electrode pair comprising a first electrode and a second electrode, disposed within the electrode region of the housing, An electrode insulator comprising one or more insulating layers, The electrode insulator is placed on the inner electrode surface of the first electrode of the electrode pair. The second electrode comprises an open inner electrode surface that is exposed to the dielectric fluid when the electrode pair is in a non-operating state. The electrode pair is operable between a non-operating state and an operating state, and the operation from the non-operating state to the operating state involves guiding the dielectric fluid into the expandable fluid region, thereby expanding the expandable fluid region, in an artificial muscle, The one or more insulating layers of the electrode insulator include a first insulating layer disposed on the inner electrode surface of the first electrode, and the artificial muscle further includes a second insulating layer disposed on the first insulating layer. The first insulating layer comprises a first insulating double layer comprising a first acrylic polymer layer disposed on the inner electrode surface of the first electrode and a first biaxially oriented polypropylene (BOPP) layer disposed on the first acrylic polymer layer, The second insulating layer comprises a second insulating double layer comprising a second acrylic polymer layer disposed on the first BOPP layer and a second BOPP layer disposed on the second acrylic polymer layer. Artificial muscle.

6. The artificial muscle according to claim 5, wherein the first acrylic polymer layer and the second acrylic polymer layer each contain poly(ethylacrylamide acrylate).

7. A housing comprising an electrode region and an expandable fluid region, A dielectric fluid housed within the housing, An electrode pair comprising a first electrode and a second electrode, disposed within the electrode region of the housing, An electrode insulator comprising one or more insulating layers, The electrode insulator is placed on the inner electrode surface of the first electrode of the electrode pair. The second electrode comprises an open inner electrode surface that is exposed to the dielectric fluid when the electrode pair is in a non-operating state. The electrode pair is operable between the non-operating state and the operating state, and the operation from the non-operating state to the operating state involves guiding the dielectric fluid into the expandable fluid region, thereby expanding the expandable fluid region. The first electrode and the second electrode each comprise two or more tab portions and two or more bridge portions, Each of the two or more bridge sections interconnects adjacent tab sections. At least one of the first electrode and the second electrode is positioned between the two or more tab portions and has a central opening surrounding the expandable fluid region. Artificial muscle.

8. The artificial muscle according to claim 7, wherein the first electrode and the second electrode each include two pairs of tab portions and two pairs of bridge portions, each bridge portion is adjacent to and interconnected with a pair of adjacent tab portions, and each tab portion faces the opposite tab portion in the exact opposite direction.

9. When the electrode pair is in the non-operating state, the first electrode and the second electrode are not parallel to each other. When the electrode pair is in the operating state, the first electrode and the second electrode are parallel to each other, and are configured to move toward each other and toward the expandable fluid region of the housing in a zipper-like manner when moving from the non-operating state to the operating state. The artificial muscle according to claim 1.

10. The artificial muscle according to claim 9, wherein when the electrode pair is in the operating state, the electrode insulator contacts the exposed inner electrode surface of the second electrode.

11. A method for activating artificial muscles, The artificial muscle has a power supply electrically coupled to an electrode pair of artificial muscles to provide voltage, and the artificial muscle has A housing comprising an electrode region and an expandable fluid region, wherein an electrode pair having a first electrode and a second electrode is housed within the electrode region of the housing, A dielectric fluid housed within the housing, An electrode insulator comprising one or more insulating layers, The electrode insulator is placed on the inner electrode surface of the first electrode, The second electrode comprises an open inner electrode surface that is exposed to the dielectric fluid when the electrode pair is in a non-operating state. The process involves applying a voltage to the electrode pair of the artificial muscle, thereby activating the electrode pair from the non-operating state to the operating state, thereby guiding the dielectric fluid into the expandable fluid region of the housing, and expanding the expandable fluid region. The one or more insulating layers of the electrode insulator comprise an insulating double layer comprising an acrylic polymer layer disposed on the first electrode and a biaxially oriented polypropylene (BOPP) layer disposed on the acrylic polymer layer. How artificial muscles work.

12. The method according to claim 11, wherein the exposed inner electrode surface of the second electrode is oriented to face the electrode insulator.

13. The method according to claim 11, wherein the acrylic polymer layer comprises poly(ethylacrylamide acrylate).

14. The one or more insulating layers of the electrode insulator include a first insulating layer disposed on the inner electrode surface of the first electrode and a second insulating layer disposed on the first insulating layer. The first insulating layer comprises a first insulating double layer comprising a first acrylic polymer layer disposed on the first electrode and a first biaxially oriented polypropylene (BOPP) layer disposed on the first acrylic polymer layer. The second insulating layer comprises a second insulating double layer comprising a second acrylic polymer layer disposed on the first BOPP layer and a second BOPP layer disposed on the second acrylic polymer layer. The method according to claim 11.

15. A housing comprising an electrode region and an expandable fluid region, A dielectric fluid housed within the housing, An electrode pair comprising a first electrode and a second electrode, disposed within the electrode region of the housing, An electrode insulator comprising one or more insulating layers, The electrode insulator is placed on the inner electrode surface of the first electrode, The second electrode has an open inner electrode surface facing the electrode insulator, The electrode pair is operable between a non-operating state and an operating state, and the operation from the non-operating state to the operating state involves guiding the dielectric fluid into the expandable fluid region, thereby expanding the expandable fluid region. The one or more insulating layers of the electrode insulator include a first insulating layer disposed on the inner electrode surface of the first electrode and a second insulating layer disposed on the first insulating layer. The first insulating layer comprises a first insulating double layer comprising a first acrylic polymer layer disposed on the inner electrode surface of the first electrode and a first biaxially oriented polypropylene (BOPP) layer disposed on the first acrylic polymer layer. The second insulating layer comprises a second insulating double layer comprising a second acrylic polymer layer disposed on the first BOPP layer and a second BOPP layer disposed on the second acrylic polymer layer. Artificial muscle.

16. A housing comprising an electrode region and an expandable fluid region, A dielectric fluid housed within the housing, An electrode pair comprising a first electrode and a second electrode, disposed within the electrode region of the housing, An electrode insulator comprising one or more insulating layers, The electrode insulator is placed on the inner electrode surface of the first electrode, The second electrode has an open inner electrode surface facing the electrode insulator, The electrode pair is operable between a non-operating state and an operating state, and the operation from the non-operating state to the operating state involves guiding the dielectric fluid into the expandable fluid region, thereby expanding the expandable fluid region. The first electrode and the second electrode each comprise two or more tab portions and two or more bridge portions, Each of the two or more bridge sections interconnects adjacent tab sections. At least one of the first electrode and the second electrode is positioned between the two or more tab portions and has a central opening surrounding the expandable fluid region. Artificial muscle.

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