Artificial muscle module, artificial skin implementing micro-expression, and manufacturing method therefor

Abstract

Disclosed are an artificial muscle module, artificial skin implementing a micro-expression, and a manufacturing method therefor. The artificial muscle module of the present invention comprises: an outer coil including a coiled outer yarn having a hollow; and an inner elastic body located inside the hollow and including an elastic body. Through the introduction of a tension supporter, free-standing is possible without an initial load, resulting in high utilization and enabling implementation of micro-emotional expressions.

Description

Artificial muscle module, artificial skin for implementing micro-expressions, and method for manufacturing the same

[0001] The present invention relates to facial muscle mimicry and micro-expression implementation using an artificial muscle module.

[0002] With the recent rise in interest in social robots used as companion, care, and service robots, there is a growing demand for the development of technology that enables robots to express emotions in order to interact seamlessly with humans.

[0003] Conventional social robots have been manufactured using multiple servo motors to replicate human facial expressions. However, this technology for generating facial expressions using such motors has drawbacks, including high noise levels due to motor usage, an increased volume of the robot face resulting from the use of multiple motors, and limited degrees of freedom in the robot's movement.

[0004] Therefore, research on electrochemical-based fiber-type artificial muscles is being conducted to overcome the shortcomings of these motors. In particular, CNT-based fibers manufactured by imparting twists to carbon nanotubes (CNTs) are highly suitable materials for use as artificial muscles due to their excellent mechanical strength and electrochemical properties.

[0005] Meanwhile, Japanese Publication No. 2020-509805A (April 2, 2020) discloses an artificial muscle actuator and a method for manufacturing the same, but the twist-based artificial muscle actuator is not capable of free-standing.

[0006] Therefore, since these twist-based artificial muscles have structural limitations requiring a device to fix rotation and an initial load to secure the actuation space for actuation, it is necessary to develop an artificial muscle module capable of actuation without an initial load.

[0007] The objective of the present invention is to provide an artificial muscle module capable of free-standing without an initial load through the introduction of a tension-supporter, and a method for manufacturing the same.

[0008] In addition, the objective of the present invention is to provide artificial skin that implements fine emotional expressions using a free-standing artificial muscle module.

[0009] According to one aspect of the present invention, an artificial muscle module is provided comprising: an outer coil comprising a coiled outer yarn having a hollow; and an inner elastic body located inside the hollow and comprising an elastic body.

[0010] In addition, the above-mentioned hollow twisted outer yarn may include one or more selected from the group consisting of a combination of a hollow twisted carbon nanotube yarn and a hollow twisted first polymer yarn, and a hollow twisted second polymer yarn.

[0011] In addition, in the above combination, the hollow twisted carbon nanotube yarn and the hollow twisted first polymer yarn may be in contact with each other and positioned parallel to each other in the longitudinal direction.

[0012] In addition, in the above composite, the hollow twisted carbon nanotube yarn and the hollow twisted first polymer yarn may be twisted and coiled together.

[0013] In addition, the internal elastic body may include one or more selected from the group consisting of a coiled carbon nanotube yarn, a combination of a coiled carbon nanotube yarn and a coiled third polymer yarn, and an elastic composite film of metal and rubber.

[0014] In addition, the third polymer yarn may include one or more selected from the group consisting of polyamide (PA), polyethylene (PE), polypropylene (PP), polyoxymethylene (POM), polycarbonate (PC), polyethylene terephthalate (PET), polybutylene terephthalate (PBT), and polyphenylene oxide (PPO).

[0015] In addition, the carbon nanotube may include one or more types selected from the group consisting of single-walled carbon nanotubes and multi-walled carbon nanotubes.

[0016] In addition, the metal of the elastic composite film comprises one or more selected from the group consisting of shape memory alloy (SMA), nickel, titanium, gold, silver, copper, platinum, palladium, indium, aluminum, iron, rhodium, ruthenium, osmium, cobalt, molybdenum, zinc, vanadium, tungsten, titanium, manganese, chromium, and alloys thereof, and the rubber of the elastic composite film comprises silicone rubber, polydimethylsiloxane (PDMS), Ecoflex, fluorosilicone rubber, vinylmethylsilicone rubber, ethylene 1-butene copolymer, ethylene 1-hexene copolymer, ethylene 1-octene copolymer, and styrene-butadiene-styrene (SBS). Block copolymer, styrene-ethylene-butylene-styrene (SEBS) block copolymer, styrene-isoprene-styrene (SIS) block copolymer, styrene-butadiene rubber (SBR), butadiene rubber (BR), isobutylene-isoprene rubber (IIR), ethylene propylene rubber (EPR), ethylene propylene diene monomer rubber (EPDM), isoprene rubber (IR), isobutylene rubber (IR), acrylic rubber, acrylonitrile-butadiene rubber (ABR), polyurethane,It may include one or more selected from the group consisting of polyether urethane rubber, polyester urethane, epichlorohydrin rubber, polychloroprene rubber, and combinations thereof.

[0017] In addition, the elastic composite film may include a film containing rubber and metal fibers located along the length of the film on or inside the surface of the film.

[0018] In addition, the force of the internal elastic body attempting to contract in the longitudinal direction and the force of the external coil attempting to stretch in the longitudinal direction can be in equilibrium.

[0019] In addition, the force of the internal elastic body attempting to stretch in the longitudinal direction and the force of the external coil attempting to contract in the longitudinal direction can be in equilibrium.

[0020] In addition, when voltage is applied to the artificial muscle module, the artificial muscle module may contract.

[0021] In addition, the artificial muscle module can free-stand without an initial load or support device.

[0022] Additionally, the artificial muscle module may include a fixing part, and the fixing part may include a first fixing end that fixes one end of the outer coil and one end of the inner elastic body, and a second fixing end that fixes another end of the outer coil and another end of the inner elastic body.

[0023] In addition, the outer coil may further include an ion-conducting insulating film coated on the surface of the twisted outer yarn having the hollow.

[0024] In addition, the ion-conducting insulating film is each polyvinylidene fluoride (PVDF), polyvinylidene fluoride-co-hexafluoropropylene (PVDF-co-HFP) and polyvinylidene fluoride-co-trichloroethylene (PVDF-co-TCE), poly(3,4-ethylenedioxythiophene) (PEDOT), poly(3,4-ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS), poly(diallyldimethylammonium chloride (PDDA), polyaniline, polyacetylene, polypyrrole, polythiophene, polyparaphenylene, poly(3,4-ethylenedioxythiophene), polyphenylene sulfide, and polyparaphenylenevinylene. It may include one or more types selected from the group formed.

[0025] In addition, the diameter of the hollow of the outer coil may be larger than the diameter or width of the inner elastic body.

[0026] In addition, the first polymer yarn and the second polymer yarn may each independently include one or more selected from the group consisting of polyamide (PA), polyethylene (PE), polypropylene (PP), polyoxymethylene (POM), polycarbonate (PC), polyethylene terephthalate (PET), polybutylene terephthalate (PBT), and polyphenylene oxide (PPO).

[0027] In addition, the polyamide (PA) may include one or more types of nylon selected from the group consisting of nylon 6,6, nylon 6, nylon 12, nylon 6,10, nylon 6,12, nylon 11 and nylon 46.

[0028] According to another aspect of the present invention, an artificial skin for implementing fine facial expressions is provided, comprising the artificial muscle module.

[0029] In addition, the artificial skin may be intended for use on one or more facial muscles selected from the group consisting of the orbicularis oculi muscle, zygomaticus muscle, levator labii superioris muscle, procerus muscle, interglottis muscle, depressor oris muscle, depressor brow muscle, corrugator brow muscle, occipitalis muscle, parietal muscle, nasal muscle, depressor septum muscle, orbicularis oculi muscle, auricle muscle, auricle muscle, posterior auricle muscle, orbicularis oris muscle, buccinator muscle, synovial muscle, retractor oris muscle, levator labii superioris muscle, levator labii superioris muscle, depressor labii inferioris muscle, and chin muscle.

[0030] According to another aspect of the present invention, a method for manufacturing an artificial muscle module is provided, comprising: (a) manufacturing an outer coil comprising a coiled outer yarn having a hollow; (b) manufacturing an inner elastic body comprising an elastic body; and (c) positioning the inner elastic body tensioned in the hollow of the outer coil, fixing one end of the outer coil to one end of the inner elastic body, and fixing the other end of the outer coil to the other end of the inner elastic body.

[0031] In addition, the hollow twisted outer yarn of step (a) may include one or more selected from the group consisting of a hollow twisted carbon nanotube yarn, a hollow twisted first polymer yarn, and a hollow twisted second polymer yarn.

[0032] In addition, in the above combination, the hollow twisted carbon nanotube yarn and the hollow twisted first polymer yarn may be in contact with each other and positioned parallel to each other in the longitudinal direction.

[0033] In addition, in the above composite, the hollow twisted carbon nanotube yarn and the hollow twisted first polymer yarn may be twisted and coiled together.

[0034] In addition, the hollow twisted outer yarn of step (a) may include one or more selected from the group consisting of a combination of a hollow twisted carbon nanotube yarn and a hollow twisted first polymer yarn, and a hollow twisted second polymer yarn.

[0035] Additionally, the above step (a) may include: (a-1) a step of arranging a carbon nanotube yarn and a first polymer yarn or a second polymer yarn parallel in the longitudinal direction and twisting them to produce a twisted carbon nanotube yarn and a twisted first polymer yarn or a twisted second polymer yarn; and (a-2) a step of winding the twisted carbon nanotube yarn and the twisted first polymer yarn or the twisted second polymer yarn onto a rod to coil and heat treat them to produce an external coil comprising a combination of a twisted carbon nanotube yarn having a hollow core and a twisted first polymer yarn having a hollow core or a twisted second polymer yarn having a hollow core.

[0036] In addition, the heat treatment of step (a-2) is at the glass transition temperature (T) of the first polymer yarn or the second polymer yarn. g From ) above, the melting point (T m It can be performed at a lower temperature range than ).

[0037] In addition, the heat treatment of step (a-2) can be performed in a temperature range of 60 to 230 ℃.

[0038] Additionally, step (a) may further include, after step (a-2), step (a-3) of manufacturing an outer coil comprising an outer yarn coated with an ion-conductive insulating film by coating the surface of the outer yarn with an ion-conductive insulating film.

[0039] In addition, the ion-conducting insulating film is each polyvinylidene fluoride (PVDF), polyvinylidene fluoride-co-hexafluoropropylene (PVDF-co-HFP) and polyvinylidene fluoride-co-trichloroethylene (PVDF-co-TCE), poly(3,4-ethylenedioxythiophene) (PEDOT), poly(3,4-ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS), poly(diallyldimethylammonium chloride (PDDA), polyaniline, polyacetylene, polypyrrole, polythiophene, polyparaphenylene, poly(3,4-ethylenedioxythiophene), polyphenylene sulfide, and polyparaphenylenevinylene. It may include one or more types selected from the group formed.

[0040] Additionally, the above step (b) may include (b-1) a step of stacking a single or multiple carbon nanotube sheets and manufacturing them into a cylindrical shape; and (b-2) a step of twisting the cylindrical carbon nanotube sheets in a circumferential direction to manufacture an internal elastic body comprising a coiled carbon nanotube inner yarn.

[0041] In addition, the above step (b) may further include, prior to step (b-1), a step of forming a carbon nanotube sheet from a carbon nanotube forest (CNT forest) (b-1').

[0042] Additionally, the internal elastic body of step (c) is stretched with a tension of 10 to 60%, and one end of the external coil and one end of the internal elastic body are fixed, and the other end of the external coil and the other end of the internal elastic body are fixed, so that the internal elastic body has a contracting force and the external coil has a tensile force, and the contracting force and the tensile force may be in equilibrium with each other.

[0043] Additionally, the artificial muscle module may include an outer coil comprising a coiled outer yarn having a hollow; and an inner elastic body located inside the hollow and comprising an elastic body.

[0044] The present invention can provide an artificial muscle module capable of free-standing without an initial load through the introduction of a tension-supporter, and a method for manufacturing the same.

[0045] In addition, the present invention can provide artificial skin that implements fine emotional expressions using a free-standing artificial muscle module.

[0046] FIG. 1 is a flowchart showing the sequence of fabrication of an artificial muscle module according to the present invention.

[0047] Figure 2 is a figure showing the manufacturing process of an artificial muscle module according to Example 1 of the present invention.

[0048] FIGS. 3a to 3c are figures showing the structure of Example 3 of the present invention and the finite element analysis results of the artificial muscle module.

[0049] FIG. 4 is an optical photograph of an artificial muscle module according to Example 1 of the present invention.

[0050] FIG. 5 is an optical photograph showing the shape and structure of an artificial muscle module coated with a polymer according to Example 2 of the present invention.

[0051] FIG. 6a is a graph showing the cyclic voltammetry results of Preparation Example 2-1 and Preparation Example 2-2 of the present invention, and FIG. 6b is a graph showing the cyclic voltammetry results of Example 3 of the present invention.

[0052] FIG. 7a is a figure showing the structure of the packaging of the artificial muscle module of the present invention, FIG. 7b is a figure showing the configuration of the packaging of the artificial muscle module of the present invention, and FIG. 7c is a figure showing the packaging of the artificial muscle module of the present invention containing a liquid electrolyte.

[0053] Figure 8 is a figure showing an electrochemical setup for evaluating the electrochemical performance of the artificial muscle module of the present invention.

[0054] Figure 9 is a graph showing the cyclic voltammetry results of an artificial muscle module according to Example 2 of the present invention.

[0055] FIG. 10a is a graph showing the change in current and the change in the operation of the module when voltage is applied to the artificial muscle module of Example 2 of the present invention; FIG. 10b is a graph showing the contraction rate and response speed according to the voltage applied to the artificial muscle module of Example 2; FIG. 10c is a graph showing the change in initial length according to the load applied to the artificial muscle module of Example 2 and Manufacturing Example 1-1; FIG. 10d is a graph showing the contraction rate according to the load applied to the artificial muscle module of Example 2 and Manufacturing Example 1-1; FIG. 10e is a graph showing the work capacity according to the load applied to the artificial muscle module of Example 2 and Manufacturing Example 1-1; and FIG. 10f is a graph showing the contraction rate according to the frequency of the 4V square wave applied to the artificial muscle module of Example 2.

[0056] FIG. 11a is a graph showing the contraction force according to the voltage applied to the artificial muscle module of Example 2 and Manufacturing Example 1-1 of the present invention, FIG. 11b is a graph showing the contraction force according to time when a voltage of 4V and 0.01Hz is applied to the artificial muscle module of Example 2, FIG. 11c is a graph showing the contraction force according to the magnitude of the voltage applied to the artificial muscle module of Example 2, and FIG. 11d is a graph showing the contraction force according to the frequency of the square wave applied to the artificial muscle module of Example 2.

[0057] Figure 12 is a figure showing the noise measurement results of an artificial muscle module according to Example 2 of the present invention.

[0058] FIG. 13a is a photograph of the structure of Example 4, FIG. 13b is the driving setup of Example 4, and FIG. 13c is a before and after photograph of Example 4 when the contraction driving is generated.

[0059] FIG. 14a is a photograph of the structure of Example 5, FIG. 14b is the driving setup of Example 5, and FIG. 14c is a before and after photograph of Example 5 when the contraction driving is generated.

[0060] Figure 15 is a layout diagram showing the arrangement of artificial muscle modules for implementing micro-expressions.

[0061] Figure 16 is a figure showing the external appearance of the artificial skin of Example 7, fabricated for implementing micro-expressions.

[0062] Figure 17 is a graph showing the results of implementing micro-expressions in Example 6 using the artificial muscle module of Example 2 of the present invention.

[0063] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present invention.

[0064] However, the following description is not intended to limit the present invention to specific embodiments, and detailed descriptions of related prior art are omitted if it is determined that such detailed descriptions could obscure the essence of the present invention.

[0065] The terms used herein are merely for describing specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as “comprising” or “having” are intended to indicate the presence of the features, numbers, steps, actions, components, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, or combinations thereof.

[0066] Additionally, terms including ordinal numbers, such as "first," "second," etc., used below may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0067] Furthermore, when it is stated that one component is “formed” or “laminated” on another component, it should be understood that while it may be formed or laminated by being directly attached to the entire surface or one surface of the other component, there may also be other components present in between.

[0068] Hereinafter, the present invention will be described in detail regarding the mimicry of facial muscles and the implementation of micro-expressions using an artificial muscle module. However, this is presented as an example and is not intended to limit the present invention, and the present invention is defined only by the scope of the claims set forth below.

[0069] FIG. 1 is a flowchart illustrating the sequence of fabrication of an artificial muscle module according to an embodiment of the present invention. Referring to FIG. 1, according to one aspect of the present invention, an artificial muscle module is provided comprising: an outer coil including a coiled outer yarn having a hollow; and an inner elastic body located inside the hollow and including an elastic body. Here, the outer coil including the coiled outer yarn having a hollow may have a spring shape.

[0070] In addition, the above-mentioned hollow twisted outer yarn may include one or more selected from the group consisting of a combination of a hollow twisted carbon nanotube yarn and a hollow twisted first polymer yarn, and a hollow twisted second polymer yarn.

[0071] In addition, in the above combination, the hollow twisted carbon nanotube yarn and the hollow twisted first polymer yarn may be in contact with each other and positioned parallel to each other in the longitudinal direction.

[0072] In addition, in the above composite, the hollow twisted carbon nanotube yarn and the hollow twisted first polymer yarn may be twisted and coiled together.

[0073] In addition, the internal elastic body may include one or more selected from the group consisting of a coiled carbon nanotube yarn, a combination of a coiled carbon nanotube yarn and a coiled third polymer yarn, and an elastic composite film of metal and rubber.

[0074] In addition, the third polymer yarn may include one or more selected from the group consisting of polyamide (PA), polyethylene (PE), polypropylene (PP), polyoxymethylene (POM), polycarbonate (PC), polyethylene terephthalate (PET), polybutylene terephthalate (PBT), and polyphenylene oxide (PPO).

[0075] In addition, the carbon nanotube may include one or more types selected from the group consisting of single-walled carbon nanotubes and multi-walled carbon nanotubes.

[0076] In addition, the metal of the elastic composite film comprises one or more selected from the group consisting of shape memory alloy (SMA), nickel, titanium, gold, silver, copper, platinum, palladium, indium, aluminum, iron, rhodium, ruthenium, osmium, cobalt, molybdenum, zinc, vanadium, tungsten, titanium, manganese, chromium, and alloys thereof, and the rubber of the elastic composite film comprises silicone rubber, polydimethylsiloxane (PDMS), Ecoflex, fluorosilicone rubber, vinylmethylsilicone rubber, ethylene 1-butene copolymer, ethylene 1-hexene copolymer, ethylene 1-octene copolymer, and styrene-butadiene-styrene (SBS). Block copolymer, styrene-ethylene-butylene-styrene (SEBS) block copolymer, styrene-isoprene-styrene (SIS) block copolymer, styrene-butadiene rubber (SBR), butadiene rubber (BR), isobutylene-isoprene rubber (IIR), ethylene propylene rubber (EPR), ethylene propylene diene monomer rubber (EPDM), isoprene rubber (IR), isobutylene rubber (IR), acrylic rubber, acrylonitrile-butadiene rubber (ABR), polyurethane,It may include one or more selected from the group consisting of polyether urethane rubber, polyester urethane, epichlorohydrin rubber, polychloroprene rubber, and combinations thereof.

[0077] In addition, the elastic composite film may include a film containing rubber and metal fibers located along the length of the film on or inside the surface of the film.

[0078] In addition, the force of the internal elastic body attempting to contract in the longitudinal direction and the force of the external coil attempting to stretch in the longitudinal direction can be in equilibrium.

[0079] In addition, the force of the internal elastic body attempting to stretch in the longitudinal direction and the force of the external coil attempting to contract in the longitudinal direction can be in equilibrium.

[0080] In addition, when voltage is applied to the artificial muscle module, the artificial muscle module may contract.

[0081] In addition, the artificial muscle module can free-stand without an initial load or support device.

[0082] Additionally, the artificial muscle module may include a fixing part, and the fixing part may include a first fixing end that fixes one end of the outer coil and one end of the inner elastic body, and a second fixing end that fixes another end of the outer coil and another end of the inner elastic body.

[0083] In addition, the outer coil may further include an ion-conducting insulating film coated on the surface of the twisted outer yarn having the hollow.

[0084] In addition, the ion-conducting insulating film is each polyvinylidene fluoride (PVDF), polyvinylidene fluoride-co-hexafluoropropylene (PVDF-co-HFP) and polyvinylidene fluoride-co-trichloroethylene (PVDF-co-TCE), poly(3,4-ethylenedioxythiophene) (PEDOT), poly(3,4-ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS), poly(diallyldimethylammonium chloride (PDDA), polyaniline, polyacetylene, polypyrrole, polythiophene, polyparaphenylene, poly(3,4-ethylenedioxythiophene), polyphenylene sulfide, and polyparaphenylenevinylene. It may include one or more types selected from the group formed.

[0085] In addition, the diameter of the hollow of the outer coil may be larger than the diameter or width of the inner elastic body.

[0086] In addition, the first polymer yarn and the second polymer yarn may each independently include one or more selected from the group consisting of polyamide (PA), polyethylene (PE), polypropylene (PP), polyoxymethylene (POM), polycarbonate (PC), polyethylene terephthalate (PET), polybutylene terephthalate (PBT), and polyphenylene oxide (PPO).

[0087] In addition, the polyamide (PA) may include one or more types of nylon selected from the group consisting of nylon 6,6, nylon 6, nylon 12, nylon 6,10, nylon 6,12, nylon 11 and nylon 46.

[0088] According to another aspect of the present invention, an artificial skin for implementing fine facial expressions is provided, comprising the artificial muscle module.

[0089] In addition, the artificial skin may be intended for use on one or more facial muscles selected from the group consisting of the orbicularis oculi muscle, zygomaticus muscle, levator labii superioris muscle, procerus muscle, interglottis muscle, depressor oris muscle, depressor brow muscle, corrugator brow muscle, occipitalis muscle, parietal muscle, nasal muscle, depressor septum muscle, orbicularis oculi muscle, auricle muscle, auricle muscle, posterior auricle muscle, orbicularis oris muscle, buccinator muscle, synovial muscle, retractor oris muscle, levator labii superioris muscle, levator labii superioris muscle, depressor labii inferioris muscle, and chin muscle.

[0090] FIG. 2 is a diagram showing the manufacturing process of an artificial muscle module according to Embodiment 1 of the present invention. Referring to FIG. 2, according to another aspect of the present invention, a method for manufacturing an artificial muscle module is provided, comprising: (a) a step of manufacturing an outer coil including a coiled outer yarn having a hollow; (b) a step of manufacturing an inner elastic body including an elastic body; and (c) a step of positioning the inner elastic body tensioned in the hollow of the outer coil, fixing one end of the outer coil to one end of the inner elastic body, and fixing the other end of the outer coil to the other end of the inner elastic body.

[0091] In addition, the hollow twisted outer yarn of step (a) may include one or more selected from the group consisting of a hollow twisted carbon nanotube yarn, a hollow twisted first polymer yarn, and a hollow twisted second polymer yarn.

[0092] In addition, in the above combination, the hollow twisted carbon nanotube yarn and the hollow twisted first polymer yarn may be in contact with each other and positioned parallel to each other in the longitudinal direction.

[0093] In addition, in the above composite, the hollow twisted carbon nanotube yarn and the hollow twisted first polymer yarn may be twisted and coiled together.

[0094] In addition, the hollow twisted outer yarn of step (a) may include one or more selected from the group consisting of a combination of a hollow twisted carbon nanotube yarn and a hollow twisted first polymer yarn, and a hollow twisted second polymer yarn.

[0095] Additionally, the above step (a) may include: (a-1) a step of arranging a carbon nanotube yarn and a first polymer yarn or a second polymer yarn parallel in the longitudinal direction and twisting them to produce a twisted carbon nanotube yarn and a twisted first polymer yarn or a twisted second polymer yarn; and (a-2) a step of winding the twisted carbon nanotube yarn and the twisted first polymer yarn or the twisted second polymer yarn onto a rod to coil and heat treat them to produce an external coil comprising a combination of a twisted carbon nanotube yarn having a hollow core and a twisted first polymer yarn having a hollow core or a twisted second polymer yarn having a hollow core.

[0096] In addition, the heat treatment of step (a-2) is at the glass transition temperature (T) of the first polymer yarn or the second polymer yarn. g From ) above, the melting point (T m It can be performed at a lower temperature range than ).

[0097] In addition, the heat treatment of step (a-2) may be performed in a temperature range of 60 to 230 ℃. If the heat treatment is performed at a temperature below 60 ℃, the shape is not fixed and is undesirable, and if it is performed at a temperature above 230 ℃, the polymer melts and is undesirable.

[0098] Additionally, step (a) may further include, after step (a-2), step (a-3) of manufacturing an outer coil comprising an outer yarn coated with an ion-conductive insulating film by coating the surface of the outer yarn with an ion-conductive insulating film.

[0099] In addition, the ion-conducting insulating film is each polyvinylidene fluoride (PVDF), polyvinylidene fluoride-co-hexafluoropropylene (PVDF-co-HFP) and polyvinylidene fluoride-co-trichloroethylene (PVDF-co-TCE), poly(3,4-ethylenedioxythiophene) (PEDOT), poly(3,4-ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS), poly(diallyldimethylammonium chloride (PDDA), polyaniline, polyacetylene, polypyrrole, polythiophene, polyparaphenylene, poly(3,4-ethylenedioxythiophene), polyphenylene sulfide, and polyparaphenylenevinylene. It may include one or more types selected from the group formed.

[0100] Additionally, the above step (b) may include (b-1) a step of stacking a single or multiple carbon nanotube sheets and manufacturing them into a cylindrical shape; and (b-2) a step of twisting the cylindrical carbon nanotube sheets in a circumferential direction to manufacture an internal elastic body comprising a coiled carbon nanotube inner yarn.

[0101] In addition, the above step (b) may further include, prior to step (b-1), a step of forming a carbon nanotube sheet from a carbon nanotube forest (CNT forest) (b-1').

[0102] Additionally, the internal elastic body of step (c) is tensioned at a tension rate of 10 to 60%, and one end of the external coil and one end of the internal elastic body are fixed, and the other end of the external coil and the other end of the internal elastic body are fixed, so that the internal elastic body has a contracting force and the external coil has a tensile force, and the contracting force and the tensile force may be in equilibrium with each other. If the tension rate is less than 10%, it is undesirable because the pitch of the coil is insufficient to contract, and if it exceeds 60%, it is undesirable because the coil may break.

[0103] Additionally, the artificial muscle module may include an outer coil comprising a coiled outer yarn having a hollow; and an inner elastic body located inside the hollow and comprising an elastic body.

[0104] The present invention will be explained in more detail below with reference to examples. However, this is for illustrative purposes only and does not limit the scope of the invention.

[0105] [Example]

[0106] Preparation Example 1: Preparation of an internal elastic body

[0107] Preparation Example 1-1: Coiled CNT yarn

[0108] A carbon nanotube sheet (CNT-sheet, CNS) with a width of 4 cm and a length of 30 cm was drawn from a CNT forest and prepared by stacking two layers. The carbon nanotube sheet was formed into a cylindrical shape, a load of 0.8 g was applied to the bottom, and a carbon nanotube yarn was manufactured by twisting it using a motor. The manufactured carbon nanotube sheet / carbon nanotube yarn composite was further twisted using a motor by applying a load of 1.08 g to the bottom to produce a fully coiled coiled carbon nanotube yarn. Here, the diameter of the coiled carbon nanotube yarn was 100 μm, and the diameter of the coil of the coiled carbon nanotube yarn was 150 μm.

[0109] Preparation Examples 1-2: Coiled CNT / Nylon yarn

[0110] A coiled CNT / nylon fiber was fabricated by arranging a carbon nanotube yarn (CNT yarn, multi-walled carbon nanotube) and a nylon yarn (nylon fiber, TAJAK's Prime SW product) in parallel and then twisting them using a motor. The diameter of the coiled CNT / nylon yarn was 250 μm.

[0111] Preparation Examples 1-3: SMA / Rubber film

[0112] A shape memory alloy (SMA) of 40 μm was fixed to a glass plate, and a thin layer of silicon rubber was cast and dried at room temperature for more than 24 hours to produce an SMA / rubber film.

[0113] Preparation Example 2: Preparation of an external coil

[0114] Preparation Example 2-1: Preparation of Coiled CNT / Nylon Yarn Having a Hollow

[0115] A coiled CNT / nylon fiber was produced by arranging a carbon nanotube yarn (CNT yarn, multi-walled carbon nanotube) and a nylon yarn (nylon fiber, TAJAK’s Prime SW product) in parallel and then twisting them using a motor.

[0116] With a wire of a certain thickness fixed, two strands of the coiled CNT / nylon fiber were wound around the wire to perform mandrel coiling, and then heat-treated at 150°C for 1 hour. The two heat-treated mandrel-coiled CNT / nylon strands were unwound from the wire to produce a coiled CNT / nylon yarn with secured pitch. Here, the diameter of the coiled CNT / nylon yarn was 250 μm, the diameter of the coil of the coiled CNT / nylon yarn was 520 μm, and the diameter of the hollow was 400 μm.

[0117] Preparation Example 2-2: Preparation of Polymer-Coated Hollow Coiled CNT / Nylon Yarn

[0118] PVDF-co-HFP coated coiled CNT / Nylon yarn was prepared by coating the surface of the coiled CNT / nylon yarn of Preparation Example 2 with a PVDF-co-HFP polymer.

[0119] Preparation Example 2-3: Preparation of Coiled Nylon Yarn Having a Hollow

[0120] A nylon yarn (nylon fiber, Prime SW product of TAJAK) was twisted using a motor to produce coiled nylon fibers. Two strands of the coiled nylon fibers were wound around a fixed wire of a certain thickness to perform mandrel coiling, followed by heat treatment at 150°C for 1 hour. The two heat-treated mandrel-coiled nylon strands were unwound from the wire to produce a coiled nylon yarn with a secured pitch. Here, the diameter of the coiled nylon yarn was 250 μm, the diameter of the coil of the coiled nylon yarn was 520 μm, and the diameter of the hollow was 400 μm.

[0121] Example 1: Artificial muscle module using Preparation Examples 1-1 and 2-1

[0122] FIG. 2 is a diagram showing the manufacturing process of an artificial muscle module according to Example 1 of the present invention. FIG. 4 is an optical photograph of the artificial muscle module according to Example 1 of the present invention. Referring to FIG. 2 and FIG. 4, the coiled CNT yarn of Manufacturing Example 1-1 was fixed, and the hollow coiled CNT / Nylon yarn of Manufacturing Example 2-1 was inserted by rotating it. Then, the length of the coiled CNT yarn was stretched by 40%, and both ends were fixed. A Pt wire was connected to the coiled CNT yarn and the coiled CNT / Nylon yarn, respectively, and both ends were fixed with epoxy. The coiled CNT yarn other than the fixed parts was trimmed, thereby manufacturing an artificial muscle module in which an inner coil containing the coiled CNT yarn and an outer coil containing the coiled CNT / Nylon yarn are in a state of equilibrium.

[0123] Referring to Figure 4, the coiled CNT yarn that serves as the working electrode and the coiled CNT / Nylon yarn that serves as the counter electrode can be seen.

[0124] Example 2: Artificial muscle module using Preparation Examples 1-1 and 2-2

[0125] FIG. 5 is a figure showing the shape and structure of a polymer-coated artificial muscle module according to Example 2 of the present invention. Referring to FIG. 5, an image of the polymer-coated artificial muscle module of the present invention can be seen.

[0126] When the coiled CNT yarn, which serves as the working electrode, comes into contact with the coiled CNT / Nylon yarn, which serves as the counter electrode, a short circuit occurs. To prevent a short circuit from occurring even upon contact, an artificial muscle module was manufactured using the same method as in Example 1, and a PVDF-co-HFP polymer was coated onto the surface of the coiled CNT / nylon yarn, which serves as the counter electrode. PVDF-co-HFP is a material widely used as an electrochemical gel electrolyte, and because it has high ion conductivity, the entry and exit of ions are free. The polymer used for coating can be any material with ion conductivity, not just PVDF.

[0127] Example 3: Artificial muscle module using Preparation Examples 1-1 and 2-3

[0128] An artificial muscle module was manufactured in the same manner as in Example 1, except that the hollow coiled Nylon yarn of Preparation Example 2-3 was used instead of the hollow coiled CNT / Nylon yarn of Preparation Example 2-1 in Example 1. Referring to FIG. 3a, the artificial muscle module consists of an actuating part that drives the material and a supporting part that mechanically maintains an isometric contraction state. The material of the actuating part includes a material capable of moving in response to an external energy source, such as temperature, moisture, light, electric heat, photothermal heat, or electrochemical-based power. The structure may be linear or any other structure, but it is preferable to have a twist applied so that a greater driving force can be generated. The material of the supporting part includes a material capable of mechanically maintaining an isometric contraction state. The structure is such that it can contract together with the contraction drive of the actuating part, and it is preferable to have a twist applied as it is structurally advantageous for contraction drive.

[0129] Finite element analysis

[0130] FIGS. 3a to 3c illustrate the structure of Example 3 of the present invention and the results of finite element analysis of the artificial muscle module. Referring to FIGS. 3a to 3c, the results of finite element analysis performed to manufacture a free-standing artificial muscle module by balancing the forces of the coiled CNT yarn and the coiled nylon yarn can be seen. While keeping the coiled CNT yarn fixed, simulations were performed by varying the diameter of the nylon yarn to 230, 280, 330, 380, and 465 μm, and the results were obtained as shown in FIG. C. The contraction range of the artificial muscle module was calculated for each nylon yarn diameter, and as a result, it was confirmed that the largest contraction range was achieved when using a nylon yarn of 380 μm.

[0131] Example 4: Artificial muscle module using Preparation Examples 1-2 and 2-3

[0132] FIG. 13a is a photograph of the structure of Example 4. Referring to FIG. 13a, the coiled CNT / Nylon yarn of Preparation Example 1-2 was fixed with an actuator, and the coiled Nylon yarn having a hollow structure of Preparation Example 2-3 was inserted by rotating it. Then, the length of the coiled CNT / Nylon yarn was stretched by 30%, and both ends were fixed. A Pt wire was connected to the coiled CNT / Nylon yarn and the coiled Nylon yarn, respectively, and both ends were fixed with epoxy. The coiled CNT / Nylon yarn other than the fixed parts was trimmed to manufacture an artificial muscle module based on a twist structure in which an inner coil containing the coiled CNT / Nylon yarn and an outer coil containing the coiled Nylon yarn are in a state of equilibrium with each other.

[0133] Example 5: Artificial muscle module using Preparation Examples 1-3 and 2-3

[0134] FIG. 14a is a photograph of the structure of Example 5. Referring to FIG. 14a, a film structure-based artificial muscle module was manufactured in the same manner as Example 5, except that the SMA / Rubber film of Preparation Example 1-3 was used instead of the coiled CNT / Nylon yarn of Preparation Example 1-2.

[0135] Example 6: Artificial skin

[0136] Fig. 15 is a layout diagram showing the arrangement of artificial muscle modules for implementing micro-expressions. Fig. 16 is a photograph showing the external appearance of the artificial skin of Example 6 fabricated for implementing micro-expressions. Fig. 17 is a graph showing the results of implementing micro-expressions in Example 6 using the artificial muscle module of Example 2 of the present invention. Referring to Fig. 15, the arrangement of artificial muscle modules for implementing micro-expressions can be confirmed. It can be seen that the artificial muscle module of the present invention can implement a gentle smile by mimicking the movements of the orbicularis oculi muscle, zygomaticus muscle, and levator labii superioris muscle; a slightly angry expression by mimicking the movements of the procerus oris muscle and interocular muscles; and a sad expression by mimicking the movements of the depressor oculi muscle and chin muscle. Referring to Fig. 16, after fabricating the artificial skin for implementing micro-expressions, stickers in the shape of eyebrows, eyes, and mouth were attached to the skin to implement the expression. The artificial skin was fabricated by mixing a low-viscosity silicone base and a hardener in a 1:1 ratio and then coating it onto a mannequin model.

[0137] [Test Example]

[0138] Test Example 1: Changes in Electrochemical Properties of Counter Electrode Due to Polymer Coating

[0139] Figure 5 is an optical photograph showing the shape and structure of a polymer-coated artificial muscle module according to Example 2 of the present invention. Referring to Figure 5, a short circuit occurs when the working electrode, a coiled carbon nanotube yarn, and the counter electrode, a coiled carbon nanotube / nylon yarn, come into contact. To prevent a short circuit from occurring even when in contact, a PVDF-co-HFP polymer was coated on the surface of the counter electrode, the coiled carbon nanotube / nylon yarn. In this case, in addition to PVDF-co-HFP, it can be coated with an ion-conductive polymer.

[0140] FIG. 6a is a graph showing the cyclic voltammetry results of Preparation Examples 2-1 and 2-2 of the present invention, and FIG. 6b is a graph showing the cyclic voltammetry results of Example 3 of the present invention. Referring to FIG. 6a, it can be seen that when a polymer is coated on the counter electrode, the capacitance after coating is 0.00595 F, which is lower than the capacitance before coating of 0.009927 F. Referring to FIG. 6b, since the capacitance of 0.00595 F after coating the polymer on the counter electrode is also greater than the capacitance of 0.002923 F of Example 3, which is the working electrode, it can be seen that the polymer coating is sufficient for use as a counter electrode.

[0141] Test Example 2: Packaging of artificial muscle module

[0142] FIG. 7a is a figure showing the structure of the packaging of the artificial muscle module of the present invention, FIG. 7b is a figure showing the configuration of the packaging of the artificial muscle module of the present invention, and FIG. 7c is a figure showing the packaging of the artificial muscle module of the present invention containing a liquid electrolyte. In FIG. 7a, the packaging structure for utilizing the artificial muscle module in a liquid electrolyte environment can be seen, and a TPU film was used for the packaging film. It can be seen that any film that does not leak liquid can be used, and in FIG. 7c, a photograph of the artificial muscle module packaging containing a liquid electrolyte can be seen.

[0143] Test Example 3: Evaluation of Electrochemical Performance of Artificial Muscle Module Using a Secondary Electrode Electrochemical Cell

[0144] Figure 8 shows an electrochemical setup for evaluating the electrochemical performance of the artificial muscle module of the present invention. Referring to Figure 8, the coiled CNT yarn of the artificial muscle module according to Example 3 was used as the working electrode (WE), and the polymer-coated coiled CNT / nylon yarn was used as the counter electrode (CE). A two-electrode electrochemical cell (Device Example 1) was fabricated by immersing the working electrode and the counter electrode in a 0.2M tetrabutylammonium hexafluorophosphate / propylene carbonate (TBA·PF6 / PC) electrolyte.

[0145] Test Example 4: Cyclic voltammetry test of artificial muscle module

[0146] FIG. 9 is a graph showing the cyclic voltammetry results of an artificial muscle module according to Example 2 of the present invention. It can be seen that the electrochemical ion accessible region (capacitance) of the artificial muscle module of Example 2 of the present invention is 19.1 F / g.

[0147] Test Example 5: Electrochemical Performance Measurement of Artificial Muscle Module

[0148] FIG. 10a is a graph showing the change in current and the change in the operation of the module when voltage is applied to the artificial muscle module of Example 2 of the present invention; FIG. 10b is a graph showing the contraction rate and response speed according to the voltage applied to the artificial muscle module of Example 2; FIG. 10c is a graph showing the change in initial length according to the load applied to the artificial muscle module of Example 2 and Manufacturing Example 1-1; FIG. 10d is a graph showing the contraction rate according to the load applied to the artificial muscle module of Example 2 and Manufacturing Example 1-1; FIG. 10e is a graph showing the work capacity according to the load applied to the artificial muscle module of Example 2 and Manufacturing Example 1-1; and FIG. 10f is a graph showing the contraction rate according to the frequency of the 4V square wave applied to the artificial muscle module of Example 2.

[0149] The electrochemical performance of the artificial muscle module was measured by applying voltage using ZIVE’s Potentiostat equipment, and the driving performance of the artificial muscle was measured and analyzed in real-time using camera video.

[0150] Referring to Fig. 10a, it can be seen that when a square wave voltage of 3V is applied to the artificial muscle module, current flows through the module and it exhibits contraction-driving movement. Referring to Fig. 10b, the contraction rate reached a maximum of 6.94% at 4V, and the response speed showed an increasing trend as the applied voltage increased, reaching near saturation at 4.9% / s from 4V. Referring to Fig. 10c, it can be seen that the coiled CNT yarn shows a trend of linearly increasing initial length according to the applied load, whereas the artificial muscle module maintains a constant initial length according to the applied load. This is a result of the strong mechanical properties of the coiled nylon yarn. Referring to Fig. 10d, the applied voltage is 4 V 0.01 Hz. When examining the ratio of relative stroke to maximum contraction stroke, it can be seen that the coiled CNT yarn shows a trend of significant performance change depending on the load, whereas the artificial muscle module maintains a characteristic of almost no change in contraction performance depending on the load. Referring to Fig. 10e, the applied voltage is 4 V 0.01 Hz. The work capacity of the coiled CNT yarn shows a trend of increasing and then decreasing depending on the applied load, whereas the artificial muscle module shows a trend of increasing linearly depending on the applied load, and the linearity of the graph has a reliability of R2=0.992. Referring to Fig. 10f, it can be seen that the same stroke is achieved within a faster speed as the frequency of the applied voltage increases. These contraction characteristics mean that the speed of facial expression implementation can be controlled when utilized as facial muscles.

[0151] Test Example 6: Analysis of Mechanical Properties and Durability

[0152] FIG. 11a is a graph showing the contraction force according to the voltage applied to the artificial muscle module of Example 2 and Manufacturing Example 1-1 of the present invention, FIG. 11b is a graph showing the contraction force according to time when a voltage of 4V and 0.01Hz is applied to the artificial muscle module of Example 2, FIG. 11c is a graph showing the contraction force according to the magnitude of the voltage applied to the artificial muscle module of Example 2, and FIG. 11d is a graph showing the contraction force according to the frequency of the square wave applied to the artificial muscle module of Example 2.

[0153] Referring to Fig. 11a, the electrochemical contraction driving force was measured upon voltage application while the initial lengths of the coiled CNT yarn and the artificial muscle module were fixed. It was observed that current flowed through the coiled CNT yarn and the artificial muscle module, respectively, and contraction force was generated as a voltage of +3 to -3 V was applied at a scan rate of 100 mV / s. Unlike the coiled CNT yarn, the artificial muscle module exhibited a 40% length elongation during the fabrication process, resulting in a much larger contraction force. Additionally, it was observed that a greater contraction force was generated when a negative voltage was applied because the size of the adsorbed cations was larger. Referring to Fig. 11b, it was observed that electrochemical contraction force was generated upon applying a voltage of 4 V at 0.01 Hz to the artificial muscle module, with a maximum contraction force of 0.21 N. Referring to Fig. 11c, it was confirmed that the contraction force reached a maximum of 0.21 N at 4 V, and decreased at voltages higher than that. The results of the graph have the same trend as the graph in Fig. 10b. Referring to Fig. 11d, the performance of the artificial muscle module can be verified by applying a square wave of 4V at different frequencies. It can be seen that as the frequency of the applied voltage increases, the electrochemical contractile force shows a decreasing trend because sufficient time is not given for ions to adsorb; nevertheless, the artificial muscle module generates a contractile force of 0.08 N even at a very high frequency of 1 Hz, which is a value that maintains about 40% of the maximum contractile force of 0.21 N.

[0154] Test Example 7: Noise measurement during operation of artificial muscle module

[0155] FIG. 12 is a figure showing the noise measurement results of an artificial muscle module according to Embodiment 2 of the present invention. Referring to FIG. 12, it can be seen that the noise generated when operating the artificial muscle module is very small, at 28 dB. Therefore, while operating an actuator by a conventional motor generates loud noise, the noise of the artificial muscle module according to the present invention is very small, so it can be seen that the usability of the artificial muscle module according to the present invention is excellent.

[0156] Test Example 8: Analysis of driving performance of Examples 4 and 5

[0157] Figure 13b shows the driving setup of Example 4, and Figure 13c shows the before and after photos when the shrinkage drive of Example 4 is generated. Referring to Figure 13b, a coiled CNTF / nylon yarn was used as an actuator and a coiled nylon yarn was used as a tension supporter. In the coiled CNTF / nylon yarn, the driving element is the nylon yarn, and the CNTF was simply used as a wire to apply heat to the nylon. After connecting wires to both ends of the coiled CNTF / nylon yarn, voltage was applied using a power supply.

[0158] Referring to Fig. 13c, when a voltage of 7 V is applied, heat is generated in the CNTF, causing the nylon to expand and generate a contraction actuation of 9.2%. This result demonstrates that the actuator can be actuated not only by electrochemical-based stimulation but also by various forms of external stimulation. Furthermore, it proves that the material used for actuation is not limited to CNT yarn, but can be applied to any material capable of length contraction or elongation in response to stimulation, such as nylon.

[0159] Figure 14b shows the driving setup of Example 5, and Figure 14c shows the before and after photos when the contraction driving of Example 5 is generated. Referring to Figure 14b, an SMA / Rubber film was used as the actuator and a coiled nylon yarn was used as the tension supporter. In the SMA / Rubber film, the driving element is the rubber film, and the SMA was simply used as a wire to apply heat to the rubber film. After connecting wires to both ends of the SMA, voltage was applied using a power supply.

[0160] Referring to Fig. 14c, when a voltage of 12 V is applied, heat is generated in the SMA, causing the rubber film to expand and generate a contraction drive of 25.3%. The results of this study demonstrate that the material used for driving is not limited to a structure with a twist applied, and that various structures, including film forms, can be applied in the same way.

[0161] Test Example 9: Implementation of micro-expressions using an artificial muscle module

[0162] FIG. 15 is a layout diagram showing the arrangement of an artificial muscle module for implementing micro-expressions, FIG. 16 is a photograph showing the external appearance of the artificial skin of Example 6 fabricated for implementing micro-expressions, and FIG. 17 is a graph showing the results of implementing micro-expressions of the artificial skin of Example 6 using the artificial muscle module of Example 2 of the present invention. Referring to FIG. 15 to 17, a voltage of 4 V was applied to the artificial muscle module at 0.01 Hz to generate contraction driving and implement facial expressions. The implemented micro-expressions were analyzed using the FaceReader program from Noldus. When voltage was applied to the artificial muscle modules at the locations of the zygomaticus and levator labii superioris muscles, the corners of the mouth were pulled upward, creating a gentle smile, and the Happy score increased by 6.7% from 22.9% to 29.6%. When voltage was applied to the artificial muscle modules at the locations of the depressor oris and chin muscles, the corners of the mouth were pulled downward, creating a sad expression, and the Angry score increased by 9.5% from 11.4% to 20.9%.

[0163] Although preferred embodiments of the present invention have been described above, those skilled in the art may modify and change the present invention in various ways by adding, changing, deleting, or adding components, etc., without departing from the spirit of the present invention as described in the claims, and such modifications and changes shall also be deemed to be included within the scope of the rights of the present invention. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form. The scope of the present invention is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the present invention.

Claims

1. An outer coil comprising a coiled outer yarn having a hollow; and An internal elastic body located inside the above-mentioned hollow and comprising an elastic body; Artificial muscle module including 2. In Paragraph 1, An artificial muscle module characterized by comprising one or more selected from the group consisting of a hollow twisted outer yarn, a combination of a hollow twisted carbon nanotube yarn and a hollow first twisted polymer yarn, and a hollow twisted second polymer yarn.

3. In Paragraph 2, An artificial muscle module characterized in that, in the above assembly, the twisted carbon nanotube yarn having a hollow space and the twisted first polymer yarn having a hollow space are in contact with each other and positioned parallel to each other in the longitudinal direction.

4. In Paragraph 2, An artificial muscle module characterized in that, in the above assembly, the hollow twisted carbon nanotube yarn and the hollow first twisted polymer yarn are twisted and coiled together.

5. In Paragraph 1, An artificial muscle module characterized in that the internal elastic body comprises one or more selected from the group consisting of a coiled carbon nanotube yarn, a combination of a coiled carbon nanotube yarn and a coiled third polymer yarn, and an elastic composite film of metal and rubber.

6. In Paragraph 5, The metal of the elastic composite film comprises one or more selected from the group consisting of shape memory alloy (SMA), nickel, titanium, gold, silver, copper, platinum, palladium, indium, aluminum, iron, rhodium, ruthenium, osmium, cobalt, molybdenum, zinc, vanadium, tungsten, titanium, manganese, chromium, and alloys thereof, and The rubber of the above elastic composite film is silicone rubber, polydimethylsiloxane (PDMS), Ecoflex, fluorosilicone rubber, vinylmethylsilicone rubber, ethylene 1-butene copolymer, ethylene 1-hexene copolymer, ethylene 1-octene copolymer, styrene-butadiene-styrene (SBS) block copolymer, styrene-ethylene-butylene-styrene (SEBS) block copolymer, styrene-isoprene-styrene (SIS) block copolymer, styrene-butadiene rubber (SBR), butadiene rubber (BR), and isobutylene-isoprene Rubber (isobutylene isoprene rubber, IIR), ethylene propylene rubber (ethylene propylene rubber, EPR), ethylene-propylene-diene rubber (ethylene propylene diene monomer rubber, EPDM), isoprene rubber (isoprene rubber, IR), isobutylene rubber (isobutylene rubber, IR), acrylic rubber, acrylonitrile-butadiene rubber (acrylonitrile butadiene rubber, ABR), polyurethane, polyether urethane rubber, polyester urethane, epichlorohydrin rubber,An artificial muscle module characterized by comprising one or more types selected from the group consisting of polychloroprene rubber and combinations thereof.

7. In Paragraph 5, An artificial muscle module characterized by the elastic composite film comprising a film containing rubber and metal fibers located along the longitudinal direction of the film on or inside the surface of the film.

8. In Paragraph 1, An artificial muscle module characterized by the fact that the force of the internal elastic body attempting to contract in the longitudinal direction and the force of the external coil attempting to stretch in the longitudinal direction are in equilibrium.

9. In Paragraph 1, An artificial muscle module characterized by the fact that the artificial muscle module contracts when voltage is applied to the artificial muscle module.

10. In Paragraph 1, An artificial muscle module characterized by the above artificial muscle module being free-standing without an initial load or support device.

11. In Paragraph 1, The above artificial muscle module includes a fixing part, and An artificial muscle module characterized by the above-mentioned fixing part including a first fixing end portion that fixes one end of the external coil and one end of the internal elastic body, and a second fixing end portion that fixes another end of the external coil and another end of the internal elastic body.

12. In Paragraph 1, An artificial muscle module characterized by the fact that the above-described external coil further comprises an ion-conductive insulating film coated on the surface of the twisted external yarn having the above-described hollow.

13. In Paragraph 12, The above ion-conducting insulating film is composed of polyvinylidene fluoride (PVDF), polyvinylidene fluoride-co-hexafluoropropylene (PVDF-co-HFP) and polyvinylidene fluoride-co-trichloroethylene (PVDF-co-TCE), poly(3,4-ethylenedioxythiophene) (PEDOT), poly(3,4-ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS), poly(diallyldimethylammonium chloride (PDDA), polyaniline, polyacetylene, polypyrrole, polythiophene, polyparaphenylene, poly(3,4-ethylenedioxythiophene), polyphenylene sulfide, and polyparaphenylenevinylene, respectively. An artificial muscle module characterized by including one or more types selected from the group.

14. In Paragraph 1, An artificial muscle module characterized in that the diameter of the hollow of the outer coil is larger than the diameter or width of the inner elastic body.

15. In Paragraph 2, An artificial muscle module characterized in that the first polymer yarn and the second polymer yarn each independently comprise one or more selected from the group consisting of polyamide (PA), polyethylene (PE), polypropylene (PP), polyoxymethylene (POM), polycarbonate (PC), polyethylene terephthalate (PET), polybutylene terephthalate (PBT), and polyphenylene oxide (PPO).

16. Artificial skin for implementing fine facial expressions, comprising an artificial muscle module according to paragraph 1.

17. In Paragraph 16, Artificial skin characterized by being used on one or more facial muscles selected from the group consisting of the orbicularis oculi muscle, zygomaticus muscle, levator labii superioris muscle, procerus muscle, interglottis muscle, depressor oris muscle, depressor brow muscle, corrugator brow muscle, occipitalis muscle, parietal muscle, nasal muscle, depressor septum muscle, orbicularis oculi muscle, auricle muscle, auricle muscle, posterior auricle muscle, orbicularis oris muscle, buccinator muscle, zygomaticus muscle, levator labii superioris muscle, levator labii superioris muscle, depressor labii inferioris muscle, and chin muscle. 18.(a) A step of manufacturing an outer coil comprising a coiled outer yarn having a hollow; (b) a step of manufacturing an internal elastic body including an elastic body; and (c) a step of positioning the internal elastic body tensioned in the hollow of the external coil, fixing one end of the external coil and one end of the internal elastic body, and fixing the other end of the external coil and the other end of the internal elastic body; A method for manufacturing an artificial muscle module including 19. In Paragraph 18, A method for manufacturing an artificial muscle module, characterized in that the hollow twisted outer yarn of step (a) comprises one or more selected from the group consisting of a combination of a hollow twisted carbon nanotube yarn, a hollow twisted first polymer yarn, and a hollow twisted second polymer yarn.

20. In Paragraph 19, A method for manufacturing an artificial muscle module, characterized in that, in the above assembly, the twisted carbon nanotube yarn having a hollow space and the first twisted polymer yarn having a hollow space are in contact with each other and positioned parallel to each other in the longitudinal direction.

21. In Paragraph 19, A method for manufacturing an artificial muscle module characterized in that, in the above-described assembly, the hollow twisted carbon nanotube yarn and the hollow first twisted polymer yarn are twisted and coiled together.

22. In Paragraph 18, A method for manufacturing an artificial muscle module, wherein the hollow twisted outer yarn of step (a) comprises one or more selected from the group consisting of a combination of a hollow twisted carbon nanotube yarn and a hollow twisted first polymer yarn, and a hollow twisted second polymer yarn.

23. In Paragraph 18, The above step (a) (a-1) A step of arranging a carbon nanotube yarn and a first polymer yarn or a second polymer yarn parallel in the longitudinal direction and twisting them to produce a twisted carbon nanotube yarn and a twisted first polymer yarn or a twisted second polymer yarn; and (a-2) a step of winding the twisted carbon nanotube yarn and the twisted first polymer yarn or the twisted second polymer yarn onto a rod, coiling them, and heat treating them to produce an external coil comprising a combination of a twisted carbon nanotube yarn having a hollow core and a twisted first polymer yarn having a hollow core or a twisted second polymer yarn having a hollow core; a method for manufacturing an artificial muscle module characterized by comprising: (a-2) a step of winding the twisted carbon nanotube yarn and the twisted first polymer yarn or the twisted second polymer yarn having a hollow core on a rod, coiling them, and heat treating them to produce an external coil comprising a combination of a twisted carbon nanotube yarn having a hollow core and a twisted second polymer yarn having a hollow core.

24. In Paragraph 23, The heat treatment of step (a-2) above is at the glass transition temperature (T) of the first polymer yarn or the second polymer yarn g From ) above, the melting point (T m A method for manufacturing an artificial muscle module characterized by being performed in a temperature range lower than ).

25. In Paragraph 23, Step (a) after Step (a-2), (a-3) a step of manufacturing an external coil comprising an external yarn coated with an ion-conductive insulating film by coating the surface of the external yarn; further comprising the step of manufacturing an external coil comprising an external yarn coated with an ion-conductive insulating film.

26. In Paragraph 25, The above ion-conducting insulating film is composed of polyvinylidene fluoride (PVDF), polyvinylidene fluoride-co-hexafluoropropylene (PVDF-co-HFP) and polyvinylidene fluoride-co-trichloroethylene (PVDF-co-TCE), poly(3,4-ethylenedioxythiophene) (PEDOT), poly(3,4-ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS), poly(diallyldimethylammonium chloride (PDDA), polyaniline, polyacetylene, polypyrrole, polythiophene, polyparaphenylene, poly(3,4-ethylenedioxythiophene), polyphenylene sulfide, and polyparaphenylenevinylene, respectively. A method for manufacturing an artificial muscle module characterized by including one or more types selected from the group.

27. In Paragraph 18, The above step (b) (b-1) A step of stacking a single or multiple carbon nanotube sheets and manufacturing them into a cylindrical shape; and (b-2) A step of manufacturing an internal elastic body comprising a coiled carbon nanotube inner yarn by twisting the above-mentioned cylindrical carbon nanotube sheet in the circumferential direction; characterized by a method for manufacturing an artificial muscle module.

28. In Paragraph 27, The above step (b) is before step (b-1), (b-1') a step of forming a carbon nanotube sheet from a carbon nanotube forest (CNT forest); further comprising a method for manufacturing an artificial muscle module.

29. In Paragraph 18, A method for manufacturing an artificial muscle module, characterized in that the internal elastic body of step (c) is stretched with a tension rate of 10 to 60%, one end of the external coil and one end of the internal elastic body are fixed, and the other end of the external coil and the other end of the internal elastic body are fixed, so that the internal elastic body has a contracting force and the external coil has a tensile force, and the contracting force and the tensile force are in a state of equilibrium with each other.

30. In Paragraph 18, A method for manufacturing an artificial muscle module characterized by comprising: an outer coil including a coiled outer yarn having a hollow; and an inner elastic body located inside the hollow and including an elastic body.

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