Layered action structure including artificial muscle, and method for acting on the layered action structure.

Abstract

The layered actuation structure includes one or more actuation platforms interleaved with one or more mounting platforms to form one or more actuation cavities between pairs of platforms, each platform pair having an individual mounting platform and an individual actuation platform. The layered actuation structure also includes a support arm coupled to the one or more mounting platforms, an actuation arm coupled to the one or more actuation platforms, and one or more artificial muscles disposed in each of the one or more actuation cavities. Each of the one or more artificial muscles includes an electrode pair, and actuation of the electrode pair between an unactuated state and an actuated state directs a dielectric fluid into an expandable fluid region of a housing of the artificial muscle, expanding the expandable fluid region and thereby applying pressure to the one or more actuation platforms to cause translational movement of the one or more actuation platforms.

Description

Technical Field

[0001] This specification generally relates to a layered actuating structure actuated by artificial muscles.

Background Art

[0002] Current robotic technology mostly relies on rigid components such as servo motors to perform tasks in structured environments. This rigidity imposes limitations, at least in part due to the weight-to-output ratio of servo motors and other rigid robotic devices, in many robotic applications. In the field of soft robotics, these limitations are addressed by using artificial muscles and other soft actuators. Artificial muscles attempt to mimic the multifunctionality, performance, and reliability of biological muscles. Some artificial muscles rely on fluid actuators, but fluid actuators require a supply of pressurized gas or liquid, and the transport of the fluid must occur through a system of channels and tubes, which limits the speed and efficiency of the artificial muscles. Other artificial muscles use thermally activated polymer fibers, but these are difficult to control and operate inefficiently.

[0003] A specific artificial muscle design is described in the paper titled "Hydraulically amplified self-healing electrostatic actuators with muscle-like performance" by E. Acome, SK Mitchell, TG Morrissey, MB Emmett, C. Benjamin, M. King, M. Radakovitz, and C. Keplinger (Science 05 Jan 2018: Vol. 359, Issue 6371, pp. 61-65). These hydraulically amplified self-healing electrostatic (HASEL) actuators use electrostatic force and hydraulic pressure to achieve various operating modes. However, HASEL actuators have limited actuator output per unit volume. Furthermore, HASEL actuators and other well-known artificial muscles are difficult to combine in a small footprint while increasing the collective force that can be achieved by these combinations.

[0004] Therefore, there is a need for improved artificial muscles and actuation structures that increase actuator output per unit volume with a small footprint. [Overview of the project]

[0005] In one embodiment, the layered actuation structure includes one or more actuation platforms arranged alternately with one or more mounting platforms to form one or more actuation cavities between the platform pairs, each platform pair including an individual mounting platform and an individual actuation platform. The layered actuation structure also includes support arms coupled to one or more mounting platforms, actuation arms coupled to one or more actuation platforms, and one or more artificial muscles positioned in each of the one or more actuation cavities. 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 including a first electrode and a second electrode positioned in the electrode region of the housing, the electrode pair being actuated between a non-actuated state and an actuated state, the actuation from the non-actuated state to the actuated state causing pressure on one or more actuation platforms by guiding the dielectric fluid into the expandable fluid region and expanding the expandable fluid region, thereby causing translational motion of one or more actuation platforms.

[0006] In another embodiment, a method for acting on a layered actuation structure includes the step of generating a voltage using a power source electrically coupled to an electrode pair of one or more artificial muscles, wherein at least one of the one or more artificial muscles is positioned in each of one or more actuation cavities formed between one or more actuation platforms and one or more mounting platforms. The one or more actuation platforms are arranged alternately with one or more mounting platforms to form one or more actuation cavities between platform pairs, and each platform pair includes an individual mounting platform and an individual actuation platform, with support arms coupled to one or more mounting platforms and actuation arms coupled to one or more actuation platforms. Each artificial muscle includes a housing having an electrode region and an expandable fluid region, with a dielectric fluid contained within the housing, and the electrode pair includes a first electrode and a second electrode, positioned in the electrode region of the housing. This method further activates at least one pair of electrodes of an artificial muscle from a non-operating state to an operating state by applying a voltage to at least one pair of electrodes of an artificial muscle located in at least one of one or more working cavities, thereby introducing a dielectric fluid into the expandable fluid region of at least one artificial muscle and expanding the expandable fluid region to apply pressure to at least one working platform, thereby causing translational motion of one or more working platforms.

[0007] These and other features provided by the embodiments described herein will be better understood when the following detailed description is considered in conjunction with the drawings.

[0008] The embodiments shown in the drawings are for illustrative and illustrative purposes only and are not intended to limit the subject matter defined by the claims. The following detailed description of the illustrative embodiments can be understood in conjunction with the following drawings, which show similar structures with similar reference numerals. [Brief explanation of the drawing]

[0009] [Figure 1]A schematic diagram of an artificial muscle for illustrative purposes is shown, according to one or more embodiments described herein. [Figure 2] Figure 1 schematically shows a plan view of the artificial muscle according to one or more embodiments shown and described herein. [Figure 3A] A schematic cross-sectional view of the non-operating artificial muscle shown in Figures 1 and 2, according to one or more embodiments described herein, is shown along line 3-3 in Figure 2. [Figure 3B] A schematic cross-sectional view of the artificial muscle shown in Figure 1 in operation, along line 3-3 in Figure 2, is shown according to one or more embodiments shown and described herein. [Figure 4A] A schematic cross-sectional view of another artificial muscle in a non-operating state, as shown in one or more embodiments described herein, is provided. [Figure 4B] A schematic cross-sectional view of the artificial muscle shown in Figure 4A in operation, according to one or more embodiments shown and described herein, is shown. [Figure 5A] A schematic plan view is shown of an example artificial muscle laminate, which includes a plurality of coaxially aligned artificial muscle layers, according to one or more embodiments shown and described herein. [Figure 5B] A schematic side view along line 5B-5B of the non-operating artificial muscle stack shown in Figure 5A, according to one or more embodiments described herein. [Figure 5C] A schematic side view along line 5B-5B of the artificial muscle stack shown in Figure 5A in operation, according to one or more embodiments described herein. [Figure 6A] A schematic plan view is shown of an example of an artificial muscle laminate, which includes a plurality of artificial muscle layers arranged in an alternately offset configuration, according to one or more embodiments shown and described herein. [Figure 6B] A schematic side view along line 6B-6B of the non-operating artificial muscle stack shown in Figure 6A, according to one or more embodiments described herein. [Figure 6C]A schematic side view along line 6B-6B of the artificial muscle stack shown in Figure 6A in operation, according to one or more embodiments described herein. [Figure 6D] A schematic side view along line 6D-6D of the non-operating artificial muscle stack shown in Figure 6A, according to one or more embodiments described herein. [Figure 6E] A schematic side view along line 6D-6D of the artificial muscle stack shown in Figure 6A in operation, according to one or more embodiments described herein. [Figure 7] A schematic plan view of an example of a muscle fiber stack, which includes a plurality of muscle fiber layers arranged in an alternatingly offset configuration with additional surrounding muscle fiber, according to one or more embodiments shown and described herein. [Figure 8A] This figure schematically shows a cross-section of a layered actuation structure including an artificial muscle in a non-operating state, according to one or more embodiments shown and described herein. [Figure 8B] This figure schematically shows the layered operating structure of Figure 8A in which the artificial muscle is in an operating state, according to one or more embodiments shown and described herein. [Figure 9] This figure schematically shows an example of a layered operating structure according to one or more embodiments shown and described herein. [Figure 10] This figure schematically shows another example of a layered operating structure according to one or more embodiments shown and described herein. [Figure 11] This figure schematically illustrates an actuation system for operating the artificial muscles of the layered actuation structure shown in Figures 8A to 10, according to one or more embodiments shown and described herein. [Modes for carrying out the invention]

[0010] Embodiments described herein relate to a layered actuation structure in which one or more actuation platforms are alternately arranged with one or more mounting platforms. Adjacent individual actuation platforms and mounting platforms form a platform pair having an actuation cavity between the actuation platform and the mounting platform. The platform pairs are connected to each other using platform connecting arms. Artificial muscles are positioned in the actuation cavities of each platform pair and are expandable on demand to selectively elevate the actuation platforms. In particular, each of the one or more artificial muscles includes an electrode pair, which, when attracted by the application of a voltage, pushes a dielectric fluid into an expandable fluid region, expanding the expandable fluid region and allowing a portion of the artificial muscle to be raised on demand. Expanding the expandable fluid region applies pressure to one or more actuation platforms, causing translational motion of one or more actuation platforms.

[0011] During operation, an additional force that can be increased by adding a platform pair to the layered actuating structure by the translational movement of each of one or more actuating platforms is generated. In contrast, by stacking artificial muscles vertically (i.e., separately from the layered actuating structure), an additional displacement that can be increased by adding more artificial muscles occurs, but no additional force is generated. Further, increasing the number of artificial muscles arranged side by side in the lateral direction increases the maximum force that can be achieved collectively, but in order to increase the collective maximum force, it is necessary to continuously increase the lateral installation area, and the practicality of such a configuration decreases. In the embodiments described herein, each additional platform pair of the layered actuating structure increases the maximum achievable force without increasing the total displacement generated during operation. Therefore, this layered actuating structure is useful in applications with a small installation area, particularly in applications with a small lateral installation area. Further, by arranging the artificial muscles in each actuating cavity in an alternately shifted configuration, it becomes easy to fill each actuating cavity with artificial muscles to the maximum extent, and while maintaining a small installation area, the maximum force that the layered actuating structure can achieve can be further increased. Various embodiments of the layered actuating structure will be described in more detail herein. As far as possible, the same reference numerals are used for the same or similar parts throughout the drawings.

[0012] Next, referring to FIGS. 1 and 2, there is schematically shown an artificial muscle 100 as an example that can be disposed in artificial muscle laminates 201, 301, 301' (FIGS. 5A - 7) and a layered actuating structure 500 (FIGS. 8A - 10). The artificial muscle 100 includes a housing 110, an electrode pair 104 including a first electrode 106 and a second electrode 108 fixed to both surfaces of the housing 110, a first electrical insulator layer 111 fixed to the first electrode 106, and a second electrical insulator layer 112 fixed to the second electrode 108. In some embodiments, the housing 110 is a monolithic layer including a pair of inner surfaces on both sides such as a first inner surface 114 and a second inner surface 116, and a pair of outer surfaces on both sides 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 fabricated film layers such as a first film layer 122 and a second film layer 124. Thus, the first film layer 122 includes the first inner surface 114 and the first outer surface 118, and the second film layer 124 includes the second inner surface 116 and the second outer surface 120.

[0013] The embodiments described herein mainly refer to the housing 110 as including a first film layer 122 and a second film layer 124, in contrast to a monolithic housing, but it should be understood that any configuration is contemplated. In some embodiments, the first film layer 122 and the second film layer 124 include generally the same structure and composition. For example, in some embodiments, each of the first film layer 122 and the second film layer 124 includes biaxially oriented polypropylene.

[0014] Each of the first electrode 106 and the second electrode 108 is positioned between the first film layer 122 and the second film layer 124. In some embodiments, each of the first electrode 106 and the second electrode 108 is, for example, an aluminum-coated polyester such as Mylar®. In addition, 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 the purposes described herein, either electrode 106, 108 may be positively charged as long as the other electrode 106, 108 of the artificial muscle 100 is negatively charged.

[0015] The first electrode 106 has a surface 126 facing the film and an inner surface 128 on the opposite side. The first electrode 106 is positioned relative to the first film layer 122, specifically the first inner surface 114 of the first film layer 122. In addition, the first electrode 106 includes a first terminal 130 extending from the first electrode 106 beyond the edge of the first film layer 122, and the first terminal 130 can be connected to a power source to operate the first electrode 106. Specifically, the terminal is shown in Figure 11 As shown, the power supply and controller of the actuator system 400 are connected directly or in series. Similarly, the second electrode 108 has a surface 148 facing the film and an inner surface 150 on the opposite side. The second electrode 108 is positioned relative to 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 152 extending from the second electrode 108 beyond the edge of the second film layer 124, and the second terminal 152 can be connected to the power supply and controller of the actuator system 400 to actuate the second electrode 108.

[0016] 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 adjacent tab portions 132 and connects these adjacent tab portions 132 to each other. 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 circumference 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, and defines another portion of the outer circumference 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 that extends 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 the 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.

[0017] In some embodiments, two or more tab portions 132 are arranged in one or more pairs of tab portions 132. Each pair of tab portions 132 includes two tab portions 132 arranged to face each other in the diametrical direction. In some embodiments, the first electrode 106 may include only two tab portions 132 positioned on either side or both ends of the first electrode 106. In some embodiments, as shown in Figures 1 and 2, the first electrode 106 includes four tab portions 132 and four bridge portions 140 connecting adjacent tab portions 132 to each other. In this embodiment, the four tab portions 132 are arranged as two pairs of tab portions 132 facing each other in the diametrical direction. Furthermore, as shown, the first terminal 130 extends from and is integrally formed with the second end 136 of one of the tab portions 132.

[0018] Similar to the first electrode 106, the second electrode 108 includes at least one pair of tab portions 154 and two or more bridge portions 162. Each bridge portion 162 is positioned between adjacent tab portions 154 and connects these adjacent tab portions 154 to each other. Each tab portion 154 has a first end 156 that extends radially from the central axis C of the second electrode 108 to a second end 158 on the opposite side of the tab portion 154, the second end 158 defining a portion of the outer circumference 160 of the second electrode 108. Since the first electrode 106 and the second electrode 108 are coaxial, their central axes C are identical. Each bridge portion 162 has a first end 164 that extends radially from the central axis C of the second electrode to the opposite second end 166 of the bridge portion 162, defining another portion of the outer circumference 160 of the second electrode 108. Each tab portion 154 has a tab length L3, and each bridge portion 162 has a bridge length L4 that extends radially from the central axis C of the second electrode 108. 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 20% to 50% of the tab length L3, for example, 30% to 40% of the tab length L3.

[0019] In some embodiments, two or more tab portions 154 are arranged in one or more pairs of tab portions 154. Each pair of tab portions 154 includes two tab portions 154 arranged to face each other in the diametrical direction. In some embodiments, a second electrode 108 is 2 electrode 10 8It may include only two tab portions 154 positioned on either side or both ends. In some embodiments, as shown in Figures 1 and 2, the second electrode 108 includes four tab portions 154 and four bridge portions 162 connecting adjacent tab portions 154 to each other. In this embodiment, the four tab portions 154 are arranged as two pairs of tab portions 154 facing each other in the diametrical direction. Furthermore, as shown, the second terminal 152 extends from and is integrally formed with the second end 158 of one of the tab portions 154.

[0020] Next, referring to Figures 1 to 4B, 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. In Figures 3A and 3B, the first electrode 106 has a central opening 146. However, as shown in Figures 4A and 4B, it should be understood that if the central opening is provided in the second electrode 108, the first electrode 106 does not need to include the central opening 146. Conversely, if the central opening 146 is provided in the first electrode 106, the second electrode 108 does not need to include the central opening. Continuing to refer to Figures 1 to 4B, each of the first electrical insulator layer 111 and the second electrical insulator layer 112 has a geometric shape that roughly corresponds to the first electrode 106 and the second electrode 108, respectively. Therefore, each of the first electrical insulating layer 111 and the second electrical insulating layer 112 has tab portions 170, 172 and bridge portions 174, 176 corresponding to similar portions of the first electrode 106 and the second electrode 108. Furthermore, each of the first electrical insulating layer 111 and the second electrical insulating layer 112 has outer perimeters 178, 180 that, when placed on the first electrode 106, correspond to the outer perimeter 138 and the outer perimeter 160 of the second electrode 108, respectively.

[0021] In some embodiments, it should be understood that the first electrical insulator layer 111 and the second electrical insulator layer 112 have substantially the same structure and composition. Therefore, in some embodiments, each of the first electrical insulator layer 111 and the second electrical insulator layer 112 includes adhesive surfaces 182, 184 and opposite non-sealable surfaces 186, 188, respectively. Thus, in some embodiments, each of the first electrical insulator layer 111 and the second electrical insulator layer 112 is a polymer tape adhered to the inner surface 128 of the first electrode 106 and the inner surface 150 of the second electrode 108, respectively.

[0022] Next, referring to Figures 2 to 4B, the artificial muscle 100 is shown in its assembled form. the law of nature The first terminal 130 of the first electrode 106 and the second terminal 152 of the second electrode 108 extend beyond the outer periphery of the housing 110, i.e., the first film layer 122 and the second film layer 124. As shown in Figure 2, the second electrode 108 is laminated on top of the first electrode 106, so the first electrode 106, and First film layer 12 2 is Not shown. In the assembled form, 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. The first film layer 122 is partially sealed to the second film layer 124 in the region surrounding the outer periphery 138 of the first electrode 106 and the outer periphery 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 sealing portion 190 surrounding the first electrode 106 and the second electrode 108. The first film layer 122 and the second film layer 124 can be sealed by any suitable method, such as the use of adhesive or heat sealing.

[0023] 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 being sealed by the second film layer 124, forming an unsealed portion 192. The unsealed portion 192 of the housing 110 includes an electrode region 194 where the electrode pair 104 is provided, and an expandable fluid region 196 surrounded by the electrode region 194. The central openings 146 and 168 of the first electrode 106 and the second electrode 108 form the expandable fluid region 196 and are arranged to be stacked on top of each other in the axial direction. Although not shown, the housing 110 may be cut to match the shape of the electrode pair 104 to reduce the size of the artificial muscle 100, i.e., the size of the sealed portion 190.

[0024] The dielectric fluid 198 is introduced into the unsealed portion 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 conduction and therefore has low electrical conductivity. Dielectric fluids as some non-limiting examples include perfluoroalkanes, transformer oil, and deionized water. It should be understood that the dielectric fluid 198 may be injected into the unsealed portion 192 of the artificial muscle 100 using a needle or other suitable injection device.

[0025] Referring next to Figures 3A and 3B, the artificial muscle 100 is operable between a non-operating state and an operating state. In the non-operating state, as shown in Figure 3A, the first electrode 106 and the second electrode 108 are partially separated from each other near 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 are held in place relative to each other because the housing 110 is sealed at the outer periphery 138 of the first electrode 106 and the outer periphery 160 of the second electrode 108. In the operating state, as shown in Figure 3B, the dielectric fluid 198 is pushed into the expandable fluid region 196 by bringing the first electrode 106 and the second electrode 108 into contact with each other and oriented parallel to each other. As a result, the dielectric fluid 198 flows through the central openings 146 and 168 of the first electrode 106 and the second electrode 108, expanding the expandable fluid region 196.

[0026] Referring now to Figure 3A, the artificial muscle 100 is shown in a non-operating state. The electrode pair 104 is located within the electrode region 194 of the 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 the expandable fluid region 196. In the non-operating state, the first electrode 106 and the second electrode 108 are partially separated and non-parallel to each other. Since the first film layer 122 is sealed to the second film layer 124 around the electrode pair 104, the second ends 136 and 158 of the tab portions 132 and 154 are in contact with each other. Therefore, the dielectric fluid 198 is provided between the first electrode 106 and the second electrode 108, thereby separating the first ends 134 and 156 of the tab portions 132 and 154 that are adjacent to the expandable 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 zippers into the expandable fluid region 196 during operation. In some embodiments, the first electrode 106 and the second electrode 108 may be flexible. Thus, as shown in Figure 3A, the first electrode 106 and the second electrode 108 are convex such that the second ends 136 and 158 of their tab portions 132 and 154 remain close to each other while being able to separate from each other near the central openings 146 and 168. In the non-operating state, the expandable fluid region 196 has a first height H1.

[0027] During operation, as shown in Figure 3B, the first electrode 106 and the second electrode 108 are at the second ends of their tab portions 132 and 154. 136158 moves toward each other in a zipper-like manner, thereby pushing the dielectric fluid 198 into the expandable fluid region 196. As shown, in the operating state, the first electrode 106 and the second electrode 108 are parallel to each other. In the operating state, the dielectric fluid 198 flows into the expandable fluid region 196, expanding the expandable fluid region 196. As a result, the first film layer 122 and the second film layer 124 expand in opposite directions. In the operating 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 in the non-operating state. Note that, although not shown, the electrode pair 104 can be partially actuated to a position between the non-operating and operating states. This allows for partial expansion and adjustment of the expandable fluid region 196 as needed.

[0028] To move the first electrode 106 and the second electrode 108 toward each other, a power supply (Figure 11 A voltage is applied by a power source (e.g., power source 48). In some embodiments, a voltage of up to 10 kV may be supplied from 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 expandable fluid region 196. The pressure from the dielectric fluid 198 within the expandable fluid region 196 deforms the first film layer 122 and the first electrical insulator layer 111 in the first axial direction along the central axis C of the first electrode 106, and the second film layer 124 and the second electrical insulator layer 112 in the opposite second axial direction along the central axis C of the second electrode 108. When the voltage supplied to the first electrode 106 and the second electrode 108 is stopped, the first electrode 106 and the second electrode 108 return to their initial non-parallel positions in the non-operating state. During operation, a voltage may be applied to one or more artificial muscles 100 of the artificial muscle layers 201, 301, 301' and the layered actuation structure 500 (Figures 8A to 10) shown in Figures 5A to 7, thereby collectively and / or selectively activating the artificial muscles 100 of the artificial muscle layers 201, 301, 301' and the layered actuation structure 500.

[0029] It should be understood that this embodiment of the artificial muscle 100 disclosed herein, specifically the tab portions 132, 154 with interconnecting bridge portions 174, 176, offers several improvements over actuators that do not include the tab portions 132, 154, such as the hydraulically amplified self-healing electrostatic (HASEL) actuator described in the paper titled "Hydraulically amplified self-healing electrostatic actuators with muscle-like performance" by E. Acome, SK Mitchell, TG Morrissey, MB Emmett, 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, each including two pairs of tab portions 132, 154 on 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 101, without reducing the amount of force generated after operation, compared to a well-known HASEL actuator that includes a donut-shaped electrode with a uniform width extending radially. More specifically, the tab portions 132, 154 of the artificial muscle 100 provide a zipping front that results in increased operating output by providing localized and uniform hydraulic operation of the artificial muscle 100 compared to a HASEL actuator that includes a donut-shaped electrode. Specifically, one pair of tab portions 132, 154 provides twice the actuator output per unit volume compared to a donut-shaped HASEL actuator, and two pairs of tab portions 132, 154 provide four times the actuator output per unit volume. Furthermore, the bridge sections 174 and 176 that connect the tab sections 132 and 154 limit the bending of the tab sections 132 and 154 by maintaining the distance between adjacent tab sections 132 and 154 during operation.Since the bridge portions 174 and 176 are formed integrally with the tab portions 132 and 154, the bridge portions 174 and 176 also prevent leakage between the tab portions 132 and 154 by eliminating mounting locations that increase the risk of breakage.

[0030] During operation, when the artificial muscle 100 is activated, the expandable fluid range 196 expands to 4 N.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 The above describes the actuator volume of 1 cubic centimeter (cm³). 3 A force of 3 Newton-millimeters (N.mm) or more is generated per unit of force. In one example, when artificial muscle 100 is activated by a voltage of 9.5 kilovolts (kV), artificial muscle 100 will consequently provide a force of 5N. In another example, when artificial muscle 100 is activated by a voltage of 10kV, artificial muscle 100 will produce a strain of 440% under a load of 500 grams.

[0031] In addition, the sizes 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 within the expandable fluid region 196 is desired, the size of the electrode pair 104 is increased relative to the size of the expandable fluid region 196. It should be understood that the size of the expandable fluid region 196 is determined by the central openings 146, 168 of the first electrode 106 and the second electrode 108. Therefore, the degree of displacement within the expandable fluid region 196 may be controlled, either by increasing or decreasing the size of the central openings 146, 168, instead of or in addition to this.

[0032] Another embodiment of the artificial muscle 100', as shown in Figures 4A and 4B, will be described. The artificial muscle 100' is substantially similar to the artificial muscle 100. Therefore, similar structures are shown with similar reference numerals. However, as shown, the first electrode 106 does not include a central opening. Thus, only the second electrode 108 includes a central opening 168 formed therein. 4A As shown, the artificial muscle 100' is in a non-operating state, the first electrode 106 is flat, and the second electrode 108 is convex relative to the first electrode 106. In the non-operating state, the expandable fluid region 196 has a first height H3. As shown in Figure 4B, in the operating state, the expandable fluid region 196 has a second height H4 which is greater than the first height H3. It should be understood that by providing the central opening 168 only on the second electrode 108 and not on both the first electrode 106 and the second electrode 108, the total deformation can be formed on one side of the artificial muscle 100'. In addition, since the total deformation is formed on only one side of the artificial muscle 100', the second height H4 of the expandable fluid region 196 of the artificial muscle 100' extends further than the second height H2 of the expandable fluid region 196 of the artificial muscle 100' from the longitudinal axis perpendicular to the central axis C of the artificial muscle 100'.

[0033] Next, referring to Figures 5A to 7, artificial muscle stacks 201, 301, and 301' are shown. In Figures 5A to 7, each artificial muscle stack 201, 301, and 301' includes multiple artificial muscle layers 210, 310, each of which includes one or more artificial muscles 100. In some embodiments, the multiple artificial muscle layers may instead, or in addition to, include the artificial muscles 100' shown in Figures 4A and 4B. During operation, the artificial muscle stacks 201, 301, and 301' generate more actuation force than a single artificial muscle 100. Figures 5A to 7 show several different stack configurations that can be used to generate increased actuation force.

[0034] The artificial muscle stack 201 in Figures 5A to 5C includes multiple artificial muscle layers 210 arranged coaxially, where the expandable fluid region 196 of each individual artificial muscle 100 in each artificial muscle layer 210 is coaxially aligned with each individual artificial muscle 100 in the other individual artificial muscle layers 210. As shown in the side views of Figures 5B and 5C, the artificial muscle stack 201 includes three artificial muscle layers 210A to 210C. It should be understood that any number of artificial muscle layers 210 are intended. Figure 5B shows the artificial muscle stack 201 in a non-operating state, and Figure 5C shows the artificial muscle stack 201 in an operating state. In each layer of the artificial muscle stack 201, the individual artificial muscles 100 do not overlap. Furthermore, the artificial muscles 100 of adjacent artificial muscle layers 210 may be bonded or sutured together to help stabilize their positioning. Therefore, while the artificial muscle stack 201 shown in Figures 5A to 5B can generate collective operating force, the coaxial alignment of the individual artificial muscles 100 in each artificial muscle layer 210 results in a large footprint. To reduce the footprint of the artificial muscle arrangement, the artificial muscle stack 301 shown in Figures 6A to 6E can be realized.

[0035] The artificial muscle stack 301 shown in Figures 6A to 6E includes a plurality of artificial muscle layers 310 arranged in an alternately offset configuration. The artificial muscle stack 301 includes four artificial muscle layers 310: a first artificial muscle layer 310A, a second artificial muscle layer 310B, a third artificial muscle layer 310C, and a fourth artificial muscle layer 310D. Figure 6A is a plan view of the artificial muscle stack 301, and Figures 6B to 6E are side views of the artificial muscle stack 301. Figures 6B and 6C show side views of the artificial muscle stack 301 along line 6B-6B in a non-operating state (Figure 6B) and an operating state (Figure 6C). Figures 6D and 6E show side views of the artificial muscle stack 301 along line 6D-6D in a non-operating state (Figure 6D) and an operating state (Figure 6E). Line 6B-6B is perpendicular to line 6D-6D, and therefore Figures 6B and 6C show a different side view of the artificial muscle laminate 301 than Figures 6D and 6E, and the side view shown in Figures 6B and 6C is perpendicular to the side view shown in Figures 6D and 6E.

[0036] Each artificial muscle layer 310 includes one or more artificial muscles 100, for example, multiple artificial muscles 100. For example, in Figure 6A, the first artificial muscle 100A is an example of an artificial muscle 100 in the artificial muscle laminate 301. It should be understood that embodiments are intended in which some of the artificial muscle layers 310 of the artificial muscle laminate 301 include a single artificial muscle 100. Furthermore, artificial muscles 100 in adjacent artificial muscle layers 310 may be bonded or sutured together to help stabilize their positioning. In the configuration in which the artificial muscle laminate 301 shown in Figures 6A to 6E are alternately offset, the multiple artificial muscle layers 310 are arranged such that each expandable fluid region 196 of the housing 110 of one or more artificial muscles 100 in each artificial muscle layer 310 overlaps with at least one tab portion 132, 154 of one or more artificial muscles 100 in adjacent artificial muscle layers 310. In other words, each expandable fluid region 196 of the housing 110 of one or more artificial muscles 100 in each artificial muscle layer 310 overlaps with the electrode region 194 of the housing 110 of one or more artificial muscles 100 in an adjacent artificial muscle layer 310. In some embodiments, individual tab portions 132, 154 of one artificial muscle 100 may overlap with the expandable fluid region 196 of an artificial muscle 100 in an adjacent artificial muscle layer 310 such that the second ends 136, 158 of the individual tab portions 132, 154 terminate at or near the central axis C of the expandable fluid region 196 of the artificial muscle 100 in the adjacent muscle layer 310. Thus, some of the expandable fluid regions 196 may overlap with two tab portions 132, 154 from different artificial muscles 100 on one or both sides of the expandable fluid region 196. Although the tab portion 154 of the second electrode 108 of electrode pair 104 is shown in Figure 6A, it should be understood that electrode pair 104 also includes the first electrode 106 having a tab portion 132.

[0037] To illustrate the alternately offset configuration of the artificial muscle layers 301 in Figures 6A to 6E, the relative line thickness of the artificial muscles 100 in each artificial muscle layer 310 is used to indicate the relative spatial positioning of each artificial muscle layer 310. For example, in Figure 6A, since the first artificial muscle layer 310A is the uppermost layer, the artificial muscles 100 of the first artificial muscle layer 310A are depicted with the thickest line thickness among the multiple artificial muscle layers 310. Similarly, in Figure 6A, since the fourth artificial muscle layer 310D is the lowermost layer, the artificial muscles 100 of the fourth artificial muscle layer 310D are depicted with the thinnest line thickness among the multiple artificial muscle layers 310.

[0038] In the alternately offset configuration of the artificial muscle stack 301, adjacent artificial muscle layers 310 of the artificial muscle stack 301 are offset from each other along one or more tab axes, such as a first tab axis 10 or a second tab axis 12. Each tab axis extends from the central axis C of the expandable fluid region 196 of the individual artificial muscle 100 of the multiple artificial muscle layers 310 to at least one end (i.e., a second end 136, 158) of the tab portions 132, 154 of the individual artificial muscle 100 of the multiple artificial muscle layers 310. Each embodiment of the artificial muscle 100 of the artificial muscle stack 301 shown in Figures 6A to 6E includes four tab portions 132, 154 arranged in pairs facing each other in the diametrically opposed direction, so that the first tab axis 10 is perpendicular to the second tab axis 12. The artificial muscle 100 of the artificial muscle stack 310 includes four tab portions 132, 154 (i.e., each electrode of the electrode pair 104 of each artificial muscle 100 includes four tab portions 132, 154), but it should be understood that embodiments of the artificial muscle 100 including more or fewer than four tab portions 132, 154 are intended. These embodiments may include three or more tab axes, such as embodiments having three tab portions per electrode, five tab portions per electrode, or six tab portions per electrode, or may include only a single tab axis, such as embodiments including a single pair of diametrically opposed tab portions. In addition, it should be understood that other artificial muscle designs are intended, such as embodiments in which triangular or rectangular artificial muscles are arranged in an alternately offset configuration.

[0039] Continuing to refer to Figures 6A to 6E, embodiments of the artificial muscle laminate 301, which includes at least three artificial muscle layers 310, include at least one inner artificial muscle layer, which is an artificial muscle layer 310 adjacent to two other artificial muscle layers 310. In these embodiments, each inner artificial muscle layer is offset from a first adjacent artificial muscle layer along a first tab axis 10 and offset from a second adjacent artificial muscle layer along a second tab axis 12. This multi-axis offset is shown in the side views of Figures 6B to 6E by a lateral shift indicating the offset along one tab axis and a relative line thickness indicating the offset along the other tab axis. In Figures 6B and 6C, the offset between artificial muscle layers 310 along the second tab axis 12 is shown by a lateral shift, and the offset between adjacent artificial muscle layers 310 along the first tab axis 10 is shown by a relative line thickness. In particular, the thicker line thicknesses in Figures 6B and 6C indicate artificial muscle layers 310 shifted to the foreground (i.e., outside this page) along the first tab axis 10, while the thinner line thicknesses in Figures 6B and 6C indicate artificial muscle layers 310 shifted to the background (i.e., inside this page) along the first tab axis 10. In Figures 6D and 6E, the offset between artificial muscle layers 310 along the first tab axis 10 is indicated by a lateral shift, and the offset between adjacent artificial muscle layers 310 along the second tab axis 12 is indicated by relative line thicknesses. In particular, the thicker line thicknesses in Figures 6D and 6E indicate artificial muscle layers 310 shifted to the foreground (i.e., outside this page) along the second tab axis 12, while the thinner line thicknesses in Figures 6D and 6E indicate artificial muscle layers 310 shifted to the background (i.e., inside this page) along the second tab axis 12.

[0040] In Figures 6A to 6E, the second artificial muscle layer 310B and the third artificial muscle layer 310C are inner artificial muscle layers. The second artificial muscle layer 310B is offset from the first artificial muscle layer 310A along the first tab axis 10 and offset from the third artificial muscle layer 310C along the second tab axis 12. The third artificial muscle layer 310C is offset from the second artificial muscle layer 310B along the second tab axis 12 and offset from the fourth artificial muscle layer 310D along the first tab axis 10. In an artificial muscle laminate 301 with an increased number of artificial muscle layers 310, this pattern can be repeated to enable a laminated configuration in which the artificial muscle layers are arranged at a high density.

[0041] Continuing to refer to Figures 6A to 6E, in the alternately offset configuration of the artificial muscle stack 301, the overlapping of tab portions 132 and 154 and expandable fluid regions 196 within adjacent artificial muscle layers 310 allows a greater number of artificial muscles 100 to be placed within a given installation area compared to the artificial muscle stack 201 in Figures 5A to 5C. In fact, the artificial muscle stack 301 maximizes the number of artificial muscles 100 that can be placed within a given installation area in both the lateral (i.e., along the first and second tab axes 10 and 12) and depth directions, thereby maximizing the collective working force per unit volume of the artificial muscle stack 301. When each artificial muscle 100 is activated, the tab portions 132 and 154 of the electrode pair 104 close (for example, become flat), and the expandable fluid region 196 expands. Since the tab portions 132 and 154 are flattened, the expandable fluid region 196 of the artificial muscle 100 can be positioned above and / or below the tab portion of the adjacent artificial muscle layer 310. This allows a greater number of artificial muscles to be placed together within a compressed block (i.e., the artificial muscle stack 301) and to work cooperatively. In fact, the artificial muscle stack 301 is designed so that the artificial muscles 100 of each artificial muscle layer 310 can additionally represent their collective forces. In contrast, the coaxial alignment of the artificial muscle stack 201 in Figure 5A limits the additional forces generated by each artificial muscle layer 210 because the expandable fluid regions 196 of each artificial muscle layer 210 overlap.

[0042] Next, referring to Figure 7, an artificial muscle stack 301' is shown. The artificial muscle stack 301' includes the artificial muscle stack 301 of Figures 6A to 6E, with the addition of a periphery artificial muscle 315. The periphery artificial muscle 315 has the same structure as the artificial muscle 100, but has fewer tab portions 132, 154 than the artificial muscle 100 of the artificial muscle stack 301', as shown by the first periphery artificial muscle 315A. As shown in Figure 7, the artificial muscle 100 of the artificial muscle stack 301' includes four tab portions 132, 154, while the periphery artificial muscle 315 includes two or three tab portions 132, 154. In particular, the periphery artificial muscle 315 may include a periphery artificial muscle 316 and a periphery artificial muscle 318. The edge-peripheral artificial muscle 316 extends along one side of the artificial muscle stack 301, and the corner-peripheral artificial muscle 318 is positioned at the corner of the artificial muscle stack 301 such that one tab portion of the corner-peripheral artificial muscle 318 extends along one side of the artificial muscle stack 301, and the other tab of the corner-peripheral artificial muscle 318 extends along the other side of the artificial muscle stack 301.

[0043] As shown in Figures 6A to 6E, the configuration in which multiple artificial muscle layers 310 of the artificial muscle stack 301 are alternately offset creates a symmetrical imbalance along the edges of the artificial muscle stack 301. That is, due to the alternating offset configuration, the artificial muscle layers 310 may terminate at different positions in the lateral direction, leaving edge gaps in the artificial muscle stack 301. As shown in Figure 7, surrounding artificial muscles 315 may be used to fill these edge gaps so that each artificial muscle layer 310 of the artificial muscle stack 301' has a common boundary in the lateral direction. In some embodiments, each artificial muscle layer 310 can be made symmetrical along the edges of the artificial muscle stack 301 and additional working force can be applied to the artificial muscle stack 301 without increasing the total footprint by including surrounding artificial muscles 315, for example, a combination of edge-peripheral artificial muscles 316 and corner-peripheral artificial muscles 318.

[0044] Next, referring to Figures 8A and 8B, the layered actuation structure 500 is schematically shown. Figure 8A schematically shows the layered actuation structure 500 in a non-acting state. Figure 8B schematically shows the layered actuation structure 500 in an acting state. The layered actuation structure 500 includes one or more actuation platforms 502 arranged alternately with one or more mounting platforms 506, forming one or more platform pairs 510. Each platform pair 510 includes a mounting platform 506 and an actuation platform 502, with an actuation cavity 512 formed between them. Each of the one or more actuation platforms 502 includes a surface 504 facing the cavity. Similarly, each of the one or more mounting platforms 506 includes a surface 508 facing the cavity. In each platform pair 510, the cavity-facing surface 504 of each actuation platform 502 faces the cavity-facing surface 508 of each mounting platform 506. In some embodiments, the thickness of the operating platform 502 and the mounting platform 506 is between 1 / 4 inch and 1 / 32 inch, for example, 1 / 4 inch, 1 / 8 inch, 1 / 10 inch, 1 / 12 inch, 1 / 16 inch, 1 / 20 inch, 1 / 24 inch, 1 / 28 inch, 1 / 32 inch, or any range with any two of these values ​​at both ends.

[0045] Continuing to refer to Figures 8A and 8B, each of the platform pairs 510 is separated from at least one adjacent platform pair of the platform pairs 510 by at least a cavity displacement distance 530, thereby providing a gap for one or more actuation platforms 502 to move relative to one or more mounting platforms 506 in the direction of movement (for example, the Y direction shown in Figures 8A and 8B). In addition, one or more artificial muscles 100 are positioned in each of the actuation cavities 512 such that the actuation of one or more artificial muscles 100, i.e., the expansion of the expandable fluid region 196, applies pressure to one or more actuation platforms 502 and generates translational motion of one or more actuation platforms 502. Although artificial muscles 100 are shown in Figures 8A and 8B, it should be understood that the layered actuation structure 500 may include any embodiment of the artificial muscles described herein. In some embodiments, a single artificial muscle 100 is positioned in some or all of the actuation cavities 512. In other embodiments, multiple artificial muscles 100 are placed in some or all of the actuation cavities 512. In addition, when multiple artificial muscles 100 are placed in actuation cavities, they are placed within an artificial muscle laminate 301 which includes multiple artificial muscle layers arranged in an alternating staggered configuration, as previously described with respect to Figures 6A to 7.

[0046] In some embodiments, as shown in Figures 8A and 8B, each of one or more actuation platforms 502 and one or more mounting platforms 506 includes one or more protrusions 550 extending into one or more actuation cavities 512. In particular, the protrusions 550 extend outward from the cavity-facing surface 504 of the actuation platform 502 and the cavity-facing surface 508 of the mounting platform 506. The one or more protrusions 550 are sized and positioned to overlap with at least one electrode area 194 of one or more artificial muscles 100 positioned within the actuation cavity 512. During operation, as the expandable fluid area 196 of the artificial muscle 100 expands and presses against the cavity-facing surfaces 504, 508 of the actuation platform 502 and mounting platform 506, the contracted electrode area 194 presses against the protrusions 550. In some embodiments, the raised portions 550 are arranged to correspond to an alternately offset configuration of the artificial muscle stack 301. That is, one or more raised portions 550 are arranged such that each raised portion 550 aligns with at least one tab portion 132 located within the electrode area 194 of at least one artificial muscle 100.

[0047] Referring also to Figures 9 and 10, the layered actuation structure 500 further includes one or more platform connecting arms 520 that connect the platform pairs 510 to each other. The platform connecting arms 520 maintain the lateral arrangement (i.e., arrangement in the X and Z directions) of the platform pairs 510, maintain the distance in the direction of movement (i.e., the Y direction) between the mounting platforms 506 of adjacent platform pairs 510, and allow the actuation platform 502 of each platform pair 510 to move in translational motion in the direction of movement. As shown in Figures 8A to 10, one or more platform connecting arms 520 include a plurality of platform connecting arms 520, each including at least one actuation arm 522 coupled to one or more actuation platforms 502 and at least one support arm 524 coupled to one or more mounting platforms 506. In particular, the actuation arm 522 is firmly coupled to each actuation platform 502 and translatably coupled to each mounting platform 506, and the support arm 524 is firmly coupled to each mounting platform 506 and translatably coupled to each actuation platform 502. This translatably coupled connection may be a slidable connection. For example, the platform connecting arm 520 may include a number of notches 525 that provide a place for a connector 526 such as a screw, which connects the platform connecting arm 520 to the actuation platform 502 and the mounting platform 506, and allows the actuation platform 502 to move during the operation of the layered actuation structure 500 while maintaining the connection between the platform connecting arm 520 and the platform pair 510. In some embodiments, the actuation platform 502 and the mounting platform 506 may include a screw block portion that is thicker than the rest of each platform 502, 506 and provides a place for the connector 526 to connect.

[0048] During operation, when one or more artificial muscles 100 apply pressure to the surface 504 facing the cavity of one or more actuation platforms 502, the actuation platform 502 translates in the direction of movement relative to the mounting platform 506. That is, when one or more artificial muscles 100 located in at least one of the actuation cavities 512 are actuated, translational motion of one or more actuation platforms 502 occurs along the cavity displacement distance 530. The cavity displacement distance can be increased by increasing the number of layers of artificial muscles 100 in embodiments in which the artificial muscle stack is located in the actuation cavity 512, but increasing the number of platform pairs 510 does not increase the cavity displacement distance 530. However, the translational motion of individual actuation platforms 502 generates individual cavity forces, which are additional forces.

[0049] That is, if the layered actuation structure 500 includes a plurality of actuation cavities 512 as in the embodiments shown in Figures 8A and 8B, each of the individual actuation platforms generates an individual cavity force so that the layered actuation structure generates a multiple cavity force. The multiple cavity force is an additional force to each of the individual cavity forces. In some embodiments, the multiple cavity force is 10 Newtons (N) or greater, for example, 15N or greater, 20N or greater, 25N or greater, 30N or greater, 35N or greater, 40N or greater, 45N or greater, 50N or greater, 55N or greater, 60N or greater, 65N or greater, 70N or greater, 75N or greater, 80N or greater, 85N or greater, 90N or greater, 95N or greater, 100N or greater, 105N or greater, 110N or greater, 115N or greater, 120N or greater, or any range with any two of these values ​​as endpoints. In fact, an embodiment is intended in which a layered operating structure 500 having a lateral installation area of ​​5 cm x 5 cm is capable of generating a multi-cavity force of 80 N.

[0050] Continuing to refer to Figures 8A to 10, the layered actuation structure 500 further includes actuation surfaces 540 configured to impart cavity forces (e.g., individual cavity forces or multiple cavity forces) generated by the translational motion of one or more actuation platforms 502. In some embodiments, the actuation surface 540 is the surface of an actuation block 542, which may be coupled to at least one actuation arm 522 as shown in Figures 8A and 8B, or to an actuation platform 502 (e.g., the uppermost or outermost actuation platform 502) as shown in Figure 9. In other embodiments, the actuation surface 540 may be the surface of the actuation platform 502 itself, as shown in Figure 10.

[0051] Next, referring to Figures 9 and 10, embodiments of the layered operating structure 500 are shown. As shown in Figures 9 and 10, in some embodiments, the layered operating structure 500 has multiple support arms 52 4 and multiple operating arms 52 2 This includes, for example, the layered operating structure 500 includes the first support arm 52 4 A and the second support arm 52 4 B and the first operating arm 52 2 A and the second operating arm 52 2 B may include the first and second support arms 52. 4 A, 52 4 Each of B is coupled to one or more mounting platforms 506 and to first and second actuating arms 52 2 A, 52 2 Each of B is coupled to one or more operating platforms 502. First support arm 52 4 A and the second support arm 52 4 B is the edge of one or more mounting platforms 506 department The first actuating arm 52 is coupled to one or more mounting platforms 506 at opposing positions along the same axis. 2 A and the second operating arm 52 2 B is the edge of one or more operating platforms 502 departmentIt is coupled to one or more operating platforms 502 at opposing positions along the axis. In addition, the first and second support arms 52 4 A, 52 4 B is the first support arm 52 4 A and the second support arm 52 4 The shaft extending between B is the first operating arm 52 2 A and the second operating arm 52 2 The first and second operating arms 52 are positioned perpendicular to the axis extending between them and B. 2 A, 52 2 It is positioned relative to B.

[0052] Referring next to Figure 11, an actuation system 400 may be provided to actuate each individual artificial muscle 100 of the layered actuation structure 500. The actuation system 400 may include a controller 50, an operating device 46, a power supply 48, a display device 42, network interface hardware 44, and a communication path 41 communicably coupled to these components.

[0053] The controller 50 includes a processor 52 and a non-temporary electronic memory 54, in which various components are communicatively coupled. In some embodiments, the processor 52 and the non-temporary electronic memory 54 and / or other components are contained in a single device. In other embodiments, the processor 52 and the non-temporary electronic memory 54 and / or other components may be distributed across multiple communicatively coupled devices. The controller 50 includes a non-temporary electronic memory 54 that stores a set of machine-readable instructions. The processor 52 executes the machine-readable instructions stored in the non-temporary electronic memory 54. The non-temporary electronic memory 54 may include RAM, ROM, flash memory, a hard drive, or any device capable of storing machine-readable instructions so that the processor 52 can access them. Thus, the operating system 400 described herein may be implemented in any conventional computer programming language, either as pre-programmed hardware elements or as a combination of hardware and software components. The non-temporary electronic memory 54 may be implemented as one memory module or multiple memory modules.

[0054] In some embodiments, the non-temporary electronic memory 54 includes instructions for performing functions of the actuation system 400. The instructions may include instructions for operating the layered actuation structure 500, for example, instructions for acting one or more artificial muscles 100 individually or collectively, and instructions for acting artificial muscle layers 210, 310 individually or collectively.

[0055] 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-temporary electronic memory 54 and the processor 52 are coupled to a communication path 41 that provides signal interconnectivity between the various components and / or modules of the operating system 400. Thus, the communication path 41 can communicatively couple any number of processors, enabling modules coupled to the communication path 41 to operate in a distributed computing environment. Specifically, each module can operate as a node capable of transmitting and / or receiving data. As used herein, the term “communicatively coupled” means that the coupled components are capable of exchanging data signals, such as electrical signals over a conductive medium, electromagnetic signals over air, or optical signals over an optical waveguide.

[0056] As schematically shown in Figure 11, the communication path 41 connects the processor 52 and non-temporary electronic memory 54 of the controller 50 to several other components of the actuator system 400 in a communicative manner. For example, the actuator system 400 shown in Figure 11 includes the processor 52 and non-temporary electronic memory 54, which are communicatively connected to the operating device 46 and the power supply 48.

[0057] The operating device 46 allows the user to control the operation of the artificial muscle 100 of the layered actuation structure 500. In some embodiments, the operating device 46 may be any combination of a switch, toggle, button, or control device for providing user operation. The operating device 46 is coupled to a communication path 41 such that the communication path 41 communicatively couples the operating device 46 to other modules of the actuation system 400. The operating device 46 can provide a user interface for receiving user commands regarding a specific operating configuration of the layered actuation structure 500.

[0058] A power source 48 (e.g., a battery) supplies power to one or more artificial muscles 100 of the layered actuation structure 500. In some embodiments, the power source 48 is a rechargeable DC power source. It should be understood that the power source 48 may be a single power source or battery for supplying power to one or more artificial muscles 100 of the layered actuation structure 500. A power adapter (not shown) may be provided and electrically coupled via a wire harness or the like to supply power to one or more artificial muscles 100 of the layered actuation structure 500 via the power source 48.

[0059] In some embodiments, the actuation system 400 also includes a display device 42. The display device 42 is coupled to a communication path 41, which in turn connects the display device 42 to other modules of the actuation system 400 in a communicative manner. In addition to providing optical information, the display device 42 may be a touchscreen that detects the presence and location of tactile inputs on or adjacent to the surface of the display device 42. Thus, the display device 42 may include an operating device 46 that receives mechanical inputs directly on the optical output provided by the display device 42.

[0060] In some embodiments, the operating system 400 is a network 56 via portable devices 58 Includes network interface hardware 44 for communicatively connecting the operating system 400 to the portable device. 58 This may include, but is not limited to, smartphones, tablets, personal media players, or any other electrical devices including wireless communication capabilities. Portable devices 58It should be understood that, when provided, it may serve the role of providing user commands to the controller 50 in place of the operating device 46. Therefore, the user may be able to control or set a program for controlling the artificial muscle 100 of the layered actuation structure 500 by utilizing the control of the operating device 46. Thus, the artificial muscle 100 of the layered actuation structure 500 is network 56 Portable device that communicates wirelessly with controller 50 via 58 It may be remotely controlled via [a method].

[0061] It should be understood here that the embodiments described herein relate to a layered actuation structure having one or more mounting platforms and one or more actuation platforms arranged alternately to form a platform pair. Artificial muscles are positioned within the actuation cavities of each platform pair and are expandable as needed to selectively elevate the actuation platforms. The translational motion of each of the one or more actuation platforms generates an additional force that can be increased by adding further platform pairs to the layered actuation structure. Each additional platform pair of the layered actuation structure increases the maximum force that can be achieved without increasing the total displacement generated during operation. Thus, this layered actuation structure is useful in applications with a small footprint, particularly in applications with a small lateral footprint.

[0062] Note that the terms “substantially” and “about” may be used herein to express an inherent degree of uncertainty that may arise from any quantitative comparison, value, measurement, or other expression. These terms are also used herein to express the extent to which a quantitative expression may deviate from the given standard without causing a change in the fundamental function of the subject matter.

[0063] 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. In addition, while various aspects of the claimed subject matter are described herein, such aspects do not need to be used in combination. Therefore, it is intended that all such changes and modifications that fall within the scope of the claimed subject matter be covered by the appended claims.

Claims

1. A layered operating structure, wherein the layered operating structure is The layered actuation structure comprises one or more actuation platforms, the one or more actuation platforms being arranged alternately with one or more mounting platforms to form one or more actuation cavities between a plurality of platform pairs, each platform pair comprising an individual mounting platform and an individual actuation platform, and the layered actuation structure further comprises, Each of the one or more working cavities comprises one or more artificial muscles, A housing including an electrode region and an expandable fluid region, A dielectric fluid housed within the aforementioned housing, The housing comprises an electrode pair including a first electrode and a second electrode positioned in the electrode region of the housing, the electrode pair being operable between a non-operating state and an operating state, the operation from the non-operating state to the operating state causes the dielectric fluid to enter the expandable fluid region and expand the expandable fluid region, thereby applying pressure to one or more operating platforms and generating translational motion of the one or more operating platforms. The aforementioned pairs of platforms are interconnected using one or more platform connecting arms. The layered operating structure comprises one or more platform connecting arms, each including at least one support arm that is firmly coupled to each mounting platform and translatably coupled to each operating platform, and at least one operating arm that is firmly coupled to each operating platform and translatably coupled to each mounting platform.

2. Each of the one or more operating platforms and the one or more mounting platforms includes one or more protrusions extending into the one or more operating cavities, The layered actuation structure according to claim 1, wherein at least one of the one or more artificial muscles disposed in each of the one or more actuation cavities is positioned such that the electrode region of the housing of the at least one of the one or more artificial muscles overlaps with at least one of the one or more raised portions.

3. Each of the one or more artificial muscles positioned in the one or more operating cavities includes an artificial muscle stack, The artificial muscle laminate comprises a plurality of artificial muscle layers, each artificial muscle layer comprises one or more artificial muscles, and each of the one or more artificial muscles comprises two or more tab portions and two or more bridge portions. Each of the two or more bridge sections connects adjacent tab sections to each other. At least one of the first electrode and the second electrode is positioned between the two or more tab portions and includes a central opening that surrounds the expandable fluid region. The layered operating structure according to claim 1, wherein the plurality of artificial muscle layers are arranged such that the expandable fluid region of one or more artificial muscles in each artificial muscle layer overlaps with at least one tab portion of one or more artificial muscles in adjacent artificial muscle layers.

4. The layered operating structure according to claim 3, wherein adjacent artificial muscle layers are offset from one or more tab axes, and each tab axis extends from the central axis of the expandable fluid region of the individual artificial muscle of the plurality of artificial muscle layers to the end of at least one of the two or more tab portions of the individual artificial muscle of the plurality of artificial muscle layers.

5. The layered operating structure according to claim 4, wherein the plurality of artificial muscle layers include at least three artificial muscle layers, and each inner artificial muscle layer is offset from a first adjacent artificial muscle layer along a first tab axis and offset from a second adjacent artificial muscle layer along a second tab axis.

6. The layered operating structure according to claim 5, wherein the first tab axis is perpendicular to the second tab axis.

7. Each of the first electrode and the second electrode includes two or more tab portions and two or more bridge portions, Each of the two or more bridge sections connects adjacent tab sections to each other. The layered operating structure according to claim 1, wherein at least one of the first electrode and the second electrode is positioned between the two or more tab portions and includes a central opening surrounding the expandable fluid region.

8. When the electrode pair is in a non-operating state, the first electrode and the second electrode are not parallel to each other. The layered operating structure according to claim 7, wherein when the electrode pair is in an operating state, the first electrode and the second electrode are parallel to each other, and the first electrode and the second electrode are configured to move toward each other and toward the central opening in a zipper-like manner when operating from the non-operating state to the operating state.

9. The layered operating structure according to claim 7, wherein each of the first electrode and the second electrode includes two pairs of tab portions and two pairs of bridge portions, each bridge portion connects a pair of adjacent tab portions to each other, and each tab portion faces an opposing tab portion in the diametrical direction.

10. The layered operating structure according to claim 1, wherein the first electrode is fixed to the first surface of the housing, and the second electrode is fixed to the second surface of the housing.

11. A method for operating a layered operating structure, wherein the method is The step includes generating a voltage using a power supply electrically coupled to one or more pairs of electrodes of an artificial muscle, At least one of the one or more artificial muscles is positioned in each of the one or more actuation cavities formed between one or more actuation platforms and one or more mounting platforms. The one or more operating platforms are arranged alternately with the one or more mounting platforms to form a plurality of platform pairs, and each platform pair includes an operating cavity between the individual mounting platform and the individual operating platform. Each artificial muscle includes a housing having an electrode region and an expandable fluid region. The dielectric fluid is housed in the housing, The electrode pair includes a first electrode and a second electrode, and is positioned in the electrode region of the housing, and the method further comprises: By applying the voltage to the electrode pair of at least one artificial muscle located in at least one of the one or more working cavities, the electrode pair of the at least one artificial muscle is activated from a non-working state to an working state, the dielectric fluid is guided into the expandable fluid region of the at least one artificial muscle, and the expandable fluid region is expanded, thereby applying pressure to at least one working platform and causing translational motion of the one or more working platforms. The aforementioned pairs of platforms are interconnected using one or more platform connecting arms. The method wherein the one or more platform connecting arms include at least one support arm that is firmly coupled to each mounting platform and translatably coupled to each operating platform, and at least one operating arm that is firmly coupled to each operating platform and translatably coupled to each mounting platform.

12. The layered operating structure includes a plurality of operating cavities, The method comprises the step of applying a voltage to the electrode pair of the at least one artificial muscle located in at least two of the plurality of actuation cavities, thereby causing translational motion of one or more actuation platforms along a cavity displacement distance, the translational motion causing a multiple cavity force at the actuation surface, the multiple cavity force being an additional force to the individual cavity forces generated by each individual actuation cavity that actuates at least one artificial muscle. The method according to claim 11.

13. The method according to claim 12, wherein the multi-cavity force is 30 N or more.

14. The method according to claim 12, wherein the multi-cavity force is 50 N or more.

15. Each of the one or more artificial muscles positioned in the one or more operating cavities includes an artificial muscle stack, The artificial muscle laminate comprises a plurality of artificial muscle layers, each artificial muscle layer comprises one or more artificial muscles, and each of the one or more artificial muscles comprises two or more tab portions and two or more bridge portions. Each of the two or more bridge sections connects adjacent tab sections to each other. At least one of the first electrode and the second electrode is positioned between the two or more tab portions and includes a central opening that surrounds the expandable fluid region. The method according to claim 11, wherein the plurality of artificial muscle layers are arranged such that the expandable fluid region of one or more artificial muscles in each artificial muscle layer overlaps with at least one tab portion of one or more artificial muscles in an adjacent artificial muscle layer.

16. The method according to claim 15, wherein adjacent artificial muscle layers are alternately offset along one or more tab axes, and each tab axis extends from the central axis of the expandable fluid region of the individual artificial muscle of the plurality of artificial muscle layers to the end of at least one of the two or more tab portions of the individual artificial muscle of the plurality of artificial muscle layers.

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