Biomimetic modular artificial muscle and control system using same

Abstract

The present invention relates to a control system and method for a biomimetic modular artificial muscle, wherein a shape-memory alloy wire-based artificial muscle module is driven with chemical force, and all operating components are integrated into a single module and can be controlled by a microcontroller general-purpose input / output pin signal. By operating a shape-memory alloy wire having a size of several centimeters by using a catalytic combustion-type operation method, the limitations of existing driving methods using a large amount of electrical energy and high current can be overcome.

Description

Biomimetic modular artificial muscles and control systems using them

[0001] The present invention relates to a biomimetic modular artificial muscle and a muscle control system using the same, and more particularly, to a biomimetic modular artificial muscle control system and method that drives an artificial muscle module based on a shape memory alloy wire with chemical force, and in which all operating parts are integrated into a single module and can be controlled with a microcontroller general-purpose input / output pin signal.

[0002] Research on artificial muscle actuators utilizing shape-memory alloys (SMAs) continues to be reported, and they have been used as operating elements in various machines and devices. Shape-memory alloys are alloys that, when heated, return to their original shape after being deformed. This phenomenon occurs due to a phase transition within the crystal structure of the SMA caused by heat. When SMAs are subjected to external stress, they deform within a certain range, and then can be reshaped or return to their original shape at a higher temperature. Conventional methods for heating SMAs involve passing an electric current through them, inducing Joule heating. However, this type of heating requires significant electrical energy, and the high currents present limitations in stability.

[0003] Another heating method for inducing the shape memory effect in shape memory alloys is catalytic combustion-based heating. This method involves coating shape memory alloy elements with platinum nanoparticles and exposing them to a gas such as methane. The heat from the platinum nanoparticles is then transferred to the shape memory alloy, causing it to function. Research results based on this catalytic combustion approach have also recently begun to be reported.

[0004] Conventional methods have limitations in the proximity of the fuel storage container to the shape memory alloy wire, and lack a control system to manage this. Furthermore, because the overall structure consists of a single element, it limits the implementation of diverse movements. Furthermore, due to its size, implementing artificial muscles based on the catalyst-combustion mechanism of the shape memory alloy may be limited. Furthermore, the deformation direction for the shape memory effect was limited to the direction parallel to the wire, which in practice results in a very short deformation length.

[0005] To overcome these limitations and implement artificial muscle technology powered by chemical fuels, deformation in the direction perpendicular to the wire, which allows for greater deformation length for movement, should be preferred. Furthermore, the device should be integrated into a single module with the gas to allow for controlled gas flow. Furthermore, component technologies and modules capable of adjusting deformation force as needed, along with technologies for precise control of individual or all artificial muscles, are required. Furthermore, technologies for easily replacing materials and components that deteriorate over time are also needed.

[0006] The present invention has been devised to solve the above problems, and the purpose of the present invention is to implement an artificial muscle based on chemical fuel that is driven electronically.

[0007] An artificial muscle for controlling an artificial muscle based on a shape memory alloy of the present invention and a control system using the same, comprising: an artificial muscle unit in which at least one shape memory alloy-based wire penetrates one surface of a substrate and the other surface corresponding thereto and both sides of the wire protrude; and an electromagnetic valve module including a coil and a magnet to open and close a valve using electromagnetic force; wherein the wire is bent to have a predetermined curvature, and the artificial muscle control system may include a receiving unit for receiving a pin signal of a muscle or nerve from a control unit.

[0008] The above wire may be one of nitinol, a copper-aluminum-nickel alloy, an iron-manganese-silicon alloy, a copper-zinc-aluminum alloy, or a cobalt-based alloy.

[0009] The wire may be coated on the outer surface using one of carbon nanotubes, platinum nanoparticles, platinum-based nanoparticles, palladium nanoparticles, or ceria-based nanoparticles, and the outer surface of the wire coated with platinum black may be dip-coated with the carbon nanotubes.

[0010] The above substrate may be composed of an acrylate prepolymer.

[0011] The above electromagnetic valve module has a 0.1 mm copper coil wound around a slider with 50 turns, and can store chemical fuel built into the part where the magnet is fixed.

[0012] When a pin signal is received from the above receiver, the electromagnetic valve module can be opened.

[0013] When the above electromagnetic valve module is opened, the chemical fuel may be operated by the catalytic combustor of the platinum black to generate heat.

[0014] An artificial finger having at least one joint is attached to one side of the wire, and the generated heat causes the bent shape of the wire to be straightened, thereby enabling movement by controlling the joints of the artificial finger.

[0015] A method for controlling an artificial muscle using an artificial muscle control system may include a receiving step for receiving a pin signal of a muscle or nerve to a receiving unit; an electromagnetic valve opening / closing control step for transmitting a signal from the receiving unit to an electromagnetic valve module that controls opening / closing of a valve using an electromagnetic force containing methanol; a heating step for opening the electromagnetic valve module and using vaporized methanol to heat a wire of an artificial muscle unit through catalytic combustion; and a driving step for straightening the wire that has been bent using heat to move an artificial finger coupled to one side of the wire.

[0016] The biomimetic modular artificial muscle control system of the present invention with the above configuration integrates all operating and operating initiation elements into a single synergistic operating device, and can be programmed and used with any commercially available microcontroller, and can conveniently replace the artificial muscle system when the catalyst coating on the artificial muscle is damaged and repaired.

[0017] Figure 1 is a conceptual diagram of the present invention.

[0018] Figure 2 is a drawing showing an artificial muscle unit of the present invention.

[0019] Figure 3 is a drawing briefly showing the operating method of the artificial muscle unit of the present invention.

[0020] Fig. 4 is a drawing showing an electromagnetic valve module of the present invention.

[0021] Figure 5 is an exploded view of the artificial muscle control system of the present invention.

[0022] [Revised 06.03.2025 under Rule 91] Fig. 6 is a diagram showing the operation of an artificial finger using the artificial muscle control system of the present invention. Fig. 7 is a flowchart showing the artificial muscle control method of the present invention.

[0023] [Revised 06.03.2025 under Rule 91] The present invention will be described below with reference to the attached drawings.

[0024] [Revised on 06.03.2025 by Rule 91] The present invention provides a biomimetic modular artificial muscle control system that can be driven by chemical force and provides the ability to be controlled by a conventional microcontroller general-purpose input / output (GPIO) pin signal.

[0025] [Revised on 06.03.2025 by Article 91 of the Rules] It may be composed of an artificial muscle unit (300) that acts as a main actuator and an electromagnetic valve module (400) that includes an electromagnetic valve that can be opened and closed using chemical fuel storage and electromagnetic force.

[0026] [Revised on 06.03.2025 by Article 91 of the Rules] The purpose is to provide a biomimetic modular artificial muscle control system (10) that operates with chemical energy rather than conventional electrical energy by utilizing the catalytic combustion principle of a shape memory alloy.

[0027] [Revised on 06.03.2025 by Article 91 of the Rules] Referring to FIG. 1, an artificial muscle control system (10) for controlling an artificial muscle based on a shape memory alloy includes an artificial muscle unit (300) in which at least one shape memory alloy-based wire (310) penetrates one surface of a substrate (320) and the other surface corresponding thereto, and both sides of the wire (310) protrude, and an electromagnetic valve module (400) that opens and closes a valve using electromagnetic force, including a coil (410) and a magnet (420), and the wire (310) is bent to have a predetermined curvature, and the artificial muscle control system (10) is characterized in that it includes a receiving unit (100) that receives a pin signal of a muscle or nerve from a control unit.

[0028] The artificial muscle control system (10) transmits signals for the user's muscles or nerves to the control unit through a microcontroller general-purpose input / output (GPIO) pin signal. The transmitted pin signal controls the opening and closing of the electromagnetic valve module (400) through the built-in circuit. When the electromagnetic valve module (400) is opened, the chemical fuel inside undergoes a chemical reaction with the coating surface of the wire (310) to generate heat, causing the wire (310) to return to its original shape, thereby controlling the movement of the artificial muscle.

[0029] FIGS. 2 and 3 are drawings showing an artificial muscle unit of the present invention, and are drawings briefly showing an operating method of the artificial muscle unit of the present invention. Referring to the drawings, the artificial muscle unit (300) can be composed of at least one shape memory alloy-based wire (310) and a substrate (320) having a flat surface, and the wire (310) is preferably composed of nitinol. Nitinol is an alloy material mixed with nickel and titanium, and has a shape memory effect that returns to its original shape when heated above a certain temperature or immersed in water even if its shape is deformed after being manufactured. In addition, shape memory alloys can be used as materials such as copper-aluminum-nickel alloy, iron-manganese-silicon alloy, copper-zinc-aluminum alloy, and cobalt-based alloy depending on the purpose and characteristics, and shape memory polymers (SMP) include polyurethane-based SMP, polyethylene-based SMP, polyvinyl alcohol-based SMP, elastin-like polypeptides, polycaprolactone-based SMP, polyethylene oxide-based SMP, and thermoplastics. Polyurethane-based shape memory polymers (Thermoplastic Polyurethane-based SMPs) can be utilized. In the present invention, a wire (310) using nitinol is used to reproduce the movement of myosin, a major component of muscle protein found in human skeletal muscles.Additionally, it may be configured as a biomimetic cantilever, allowing for a larger operating stroke due to the shape memory effect.

[0030] In general, shape memory alloys generate a shape memory effect by utilizing Joule heating, which utilizes heat generated in a conductor due to electrical resistance. However, this requires a lot of electrical energy and has limitations in stability because it uses high current. The present invention first coats a nitinol wire (310) with carbon nanotubes (CNTs), and then secondarily coats platinum black using a dip coating technique. The platinum black acts as a catalytic combustor for methanol, and when a chemical reaction occurs and heat is generated, the generated heat can be transferred from the platinum black to the nitinol wire (310) through the carbon nanotube coating. In addition, in addition to carbon nanotubes, platinum nanoparticles, platinum-based nanoparticles, palladium nanoparticles, palladium-based nanoparticles, copper-based nanoparticles, iron-based nanoparticles, cerium oxide or ceria-based nanoparticles can be utilized as primary coating materials, and hydrogen ethanol, other ethanol-based fuels, isopropyl alcohol, propane-based fuels, butanol, butane-based fuels, etc. can be used instead of methanol for the catalytic reaction as needed.

[0031] The artificial muscle unit (300) is configured by arranging at least one wire (310) on a substrate (320). The substrate (320) preferably uses an acrylate prepolymer, and a desired number of wires (310) using nitinol or the like can be arranged therebetween. The wires (310) can be adjusted in size and quantity, and can change the operating parameters of the AMU, such as stroke length and operating force. The acrylate prepolymer is cured with ultraviolet light to form a hard structure, and the wires (310) are arranged by drilling holes in place thereon.

[0032] FIGS. 4 and 5 are drawings showing an electromagnetic valve module of the present invention, and are exploded views of an artificial muscle control system of the present invention. Referring to the drawings, the electromagnetic valve module (400) includes a copper coil (410) and a neodymium magnet (420), and further includes an electronic circuit composed of the coil (410) and electrical components. A 50-turn 0.1 mm copper coil (410) is wound around a slider (430) of the electromagnetic valve module (400), and a magnet (420) is arranged at a fixed portion of the electromagnetic valve module (400) to store a chemical fuel, which is a combustion material. An electronic circuit (200) composed of surface-mounted device (SMD) electrical components that provides power and electronic communication between the coil (410) and the microcontroller is included. When a pin signal of a muscle or nerve is received from the receiving unit (100), it is transmitted to the electromagnetic valve module (400) through the electronic circuit (200). The electromagnetic valve module (400) can be opened or closed using electromagnetic force according to the transmitted signal to evaporate or confine the built-in combustion material, methanol. In particular, methanol has a low boiling point and can evaporate at room temperature, and a catalytic reaction occurs with the platinum black on the surface of the wire (310) of the artificial muscle unit (300) to generate heat, and due to the heat, the wire (310), which was bent to have a predetermined curvature as shown in FIG. 3, can be seen to straighten the curvature to return to its original state.

[0033] Therefore, the artificial muscle control system (10) of the present invention is inspired by a living organism and uses a cantilever-type actuation method rather than the linear actuation method of the existing shape memory alloy wire. Using a cantilever-type shape memory alloy wire can realize a larger actuation stroke. However, since this type of configuration may reduce the actuation force, multiple centimeter-sized SMA wires that pull in the same direction in the same cantilever configuration are used. In order to actuate all the SMA wires at once, catalytic combustion-based heating can be used to actuate multiple SMA wires without the need to electrically wire each individual SMA wire.

[0034] FIG. 6 is a drawing showing the operation of an artificial finger using the artificial muscle control system of the present invention. Referring to the drawing, a biomimetic artificial finger (50) is combined with an artificial muscle unit (300) having one or more joints by extending one side of a wire or connecting a new string (510). This generates a shape memory effect using catalytic combustion-based heating to control the movement of the artificial finger (500) by adjusting the string (510) connected to the artificial muscle unit (300).

[0035] Hereinafter, an artificial muscle control method using an artificial muscle control system (10) according to an example of the present invention will be described. The control method of the present invention can utilize the artificial muscle control system (10) described above, and descriptions of any content overlapping with the control system described above will be omitted.

[0036] Figure 7 is a flowchart illustrating an artificial muscle control method of the present invention, which is largely comprised of a receiving step (S100), an electromagnetic valve opening / closing control step (S200), a heating step (S300), and a driving step (S400). First, the receiving step (S100) transmits a muscle or nerve pin signal to the receiving unit of the artificial muscle control system using a control unit. The receiving unit, which receives the pin signal, transmits an open or close signal to the electromagnetic valve module through an electronic circuit.

[0037] The electromagnetic valve opening / closing control step (S200) can open the electromagnetic valve module to release hydrogen, ethanol, other ethanol-based fuels, isopropyl alcohol, propane-based fuels, butanol, or butanol-based fuels, including methanol, which is a combustion material built into the electromagnetic valve module, by using the received opening / closing signal. In this case, the combustion material used is preferably methanol, and the combustion material may be changed as needed. The electromagnetic valve module is a valve that utilizes electromagnetic force, consisting of a magnet and a coil, and when a signal is received, a slider is opened to move methanol to the outside.

[0038] The heating step (S300) involves a catalytic reaction between methanol and the nitinol-based artificial muscle unit, which combines with carbon nanotubes and a platinum-black-coated wire. This reaction generates heat, and the bent wire exhibits a shape memory effect, returning to its original shape.

[0039] Next, the bent wire is straightened, thereby adjusting the length of the string connected to each joint of the artificial finger on one side of the wire, thereby performing a driving step (S400) in which the artificial finger moves the joint as much as input from the control unit.

[0040] While the embodiments of the present invention have been described above with reference to the attached drawings, those skilled in the art will appreciate that the present invention can be implemented in other specific forms without altering the technical spirit or essential characteristics thereof. Therefore, the embodiments described above should be understood to be illustrative in all respects and not restrictive.

[0041] [Explanation of symbols]

[0042] 10: Artificial muscle control system

[0043] 100: Receiver

[0044] 200: Electronic circuit

[0045] 300: Artificial Muscle Unit

[0046] 310: Wire

[0047] 320: Substrate

[0048] 400: Electromagnetic valve module

[0049] 410: Coil

[0050] 420: Magnet

[0051] 430: Slider

[0052] 500: Artificial Finger

[0053] 510: String

Claims

1. In an artificial muscle control system that controls artificial muscles based on shape memory alloy, An artificial muscle unit in which at least one shape memory alloy-based wire penetrates one surface of a substrate and a corresponding surface thereof, and both sides of the wire protrude; and An electromagnetic valve module that opens and closes a valve using electromagnetic force, including a coil and a magnet; The above wire is bent to have a predetermined curvature, The artificial muscle control system is an artificial muscle control system including a receiving unit that receives a muscle or nerve pin signal from a control unit.

2. In paragraph 1, An artificial muscle control system wherein the material of the above wire is one of nitinol, copper-aluminum-nickel alloy, iron-magnesium-silicon alloy, copper-zinc-aluminum alloy, or cobalt-based alloy.

3. In paragraph 2, The above wire is an artificial muscle control system in which the outer surface is coated using one of carbon nanotubes, platinum nanoparticles, platinum-based nanoparticles, palladium nanoparticles, palladium-based nanoparticles, copper-based nanoparticles, iron-based nanoparticles, cerium oxide nanoparticles, or ceria-based nanoparticles, and platinum black, and the outer surface of the wire coated with the carbon nanotubes is deep-coated.

4. In paragraph 1, The above substrate is an artificial muscle control system composed of an acrylate prepolymer.

5. In paragraph 3, The above electromagnetic valve module is an artificial muscle control system in which a 0.1 mm copper coil of 50 turns is wound around a slider and a chemical fuel is built into the part where the magnet is fixed and stored.

6. In paragraph 5, An artificial muscle control system, wherein the electromagnetic valve module opens when a pin signal is received from the receiving unit.

7. In paragraph 6, An artificial muscle control system in which, when the above electromagnetic valve module is opened, the chemical fuel is operated by the catalytic combustor of the platinum black to generate heat.

8. In paragraph 7, An artificial finger having at least one joint is attached to one side of the above wire, An artificial muscle control system capable of controlling and moving the joints of the artificial finger by straightening the bent shape of the wire due to the heat generated above.

9. A method for controlling artificial muscles using an artificial muscle control system, A receiving stage, which receives pin signals from muscles or nerves to a receiver; An electromagnetic valve opening / closing control step for transmitting a signal from the above-mentioned receiving unit to an electromagnetic valve module that controls the opening / closing of a valve using electromagnetic force containing combustion material; A heating step in which the above electromagnetic valve module is opened and the wires of the artificial muscle unit and catalytic combustion are heated using vaporized methanol; and An artificial muscle control method, comprising: a driving step in which the wire is bent using heat and straightened to move an artificial finger coupled to one side of the wire.

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