141 results about "Muscle material" patented technology

A system includes a navigation apparatus and controller. The navigation apparatus includes a body assembly that includes a plurality of pneumatic or artificial muscles that are configured to interact with a sidewall of the conduit and move the body assembly through the conduit. The plurality of pneumatic or artificial muscles are independently actuated to steer the body assembly. The navigation apparatus also includes a sensor array coupled to the body assembly. The sensor array is positioned to interact with the sidewall of the conduit and provide signals as the body assembly moves through the interior cavity. The controller is communicatively coupled to the sensor array and configured to determine a characteristic of the conduit based on the signals provided by the sensor array.

The invention belongs to the technical field of soft robots, and discloses a lockable driver based on artificial muscles and a driving method of the lockable driver. The driver comprises an artificial muscle bundle, a locking device and a flexible connector, the artificial muscle bundle is formed by weaving a plurality of CD-ROM liquid crystal elastomer fibers in a chain shape, and 30%-50% of reversible contraction deformation can be generated under illumination; the locking device is of a layer blocking variable stiffness structure, and millisecond soft-hard state switching is achieved through vacuum negative pressure. During driving, light initiates phase change shrinkage of the liquid crystal elastomer, and then the locking device is vacuumized to fix deformation; and the flexible state can be recovered by charging positive pressure when the pressure is released. The problems that a traditional flexible driver is high in standby energy consumption and poor in load capacity are solved, the high deformation capacity and the lockable rigidity are achieved, and the flexible driver can be widely applied to the fields of exoskeletons, rehabilitation instruments and the like.

The invention discloses a coil structure-based length self-sensing method for high polymer twisted artificial muscle, which comprises the following steps of: firstly, enabling the artificial muscle to be equivalent to N equidistant circular current loops, establishing an inductance calculation formula by combining a Biot-Savart law and a magnetic field superposition principle, and breaking through the limitation of a traditional solenoid model on a helical angle; then through MATLAB numerical simulation and iterative computation, fitting to obtain a power function describing the relation between inductance and length; and finally, proposing a parameter dynamic correction mode based on single-time initial inductance measurement according to complex factors such as actual magnetic flux leakage and skin effect, and realizing rapid adaptive calibration by adjusting a parameter b. In a word, the method creatively combines theoretical modeling with experimental correction, the sensing precision in a dynamic stretching scene is remarkably improved while the inductance-length macroscopic trend prediction capability is ensured, dependence on a large amount of experimental data is not needed, and the method has good engineering applicability and is worthy of popularization.

A fluidic artificial muscle actuator may include at least one inflatable bladder defining a first inflatable segment coupled to a first member and to a second member arranged at opposite ends of the first inflatable segment, and a second inflatable segment coupled to a third member and to a fourth member arranged at opposite ends of the second inflatable segment, and an effector coupled to the first inflatable segment and to the second inflatable segment for providing an actuator output. The first inflatable segment is configured to contract in a longitudinal direction with increase in fluid pressure in the first inflatable segment and the second inflatable segment is configured to extend in the longitudinal direction with increase in fluid pressure in the second inflatable segment.

The invention provides a robot training method and device, electronic equipment and a storage medium, and the method comprises the steps: constructing a training network which comprises a strategy output network and an evaluation network; a reward function of the training network is determined, and the reward function comprises a centroid speed tracking reward function, an upper limb trunk balance reward function and a gait guiding reward function; obtaining current posture information of the to-be-trained robot, and calculating a target reward according to the posture information; inputting the attitude information into a strategy output network to obtain an action strategy of the hydraulic artificial muscle; inputting the target reward into an evaluation network to obtain an evaluation result of the action strategy; and under the condition that the evaluation result is that the action strategy meets the preset driving requirement, the hydraulic artificial muscle is driven according to the action strategy. According to the invention, the training of the robot based on hydraulic artificial muscle driving can be realized, and the training difficulty is low.

The invention discloses a large-driving-force liquid crystal elastomer composite artificial muscle belt and a manufacturing method and application thereof. The preparation method comprises the following steps: reacting a mixed reaction system containing a liquid crystal monomer, a chain extender, a cross-linking agent, a photoinitiator, a catalyst and a nano material to prepare a composite oligomer; and placing the composite oligomer in a mold, removing the solvent, and then carrying out stretching and cross-linking treatment to obtain the liquid crystal elastomer composite artificial muscle band with large driving force. The composite artificial muscle belt can achieve linear contraction under thermal stimulation, and large thrust can be generated in the recovery process; meanwhile, the composite artificial muscle belt can achieve large driving force output without being assembled by an artificial muscle fiber bundle, and the technical problem caused by the fact that a plurality of artificial muscle fiber bundles are assembled to achieve contraction force amplification is solved.

The invention relates to the technical field of rehabilitation training equipment, and discloses a hand rehabilitation glove with artificial muscles, which comprises a connecting piece, a plurality of flexible pneumatic muscles are fixedly connected to the surface of the connecting piece, fingerstalls are fixedly connected to the ends, away from the connecting piece, of the plurality of flexible pneumatic muscles, elastic bands are fixedly connected to the surfaces of the plurality of fingerstalls, and the elastic bands are fixedly connected to the surface of the connecting piece. The outer layers of the multiple flexible pneumatic muscles are all expandable woven mesh pipes, the inner layers of the multiple flexible pneumatic muscles are all flexible rubber air bags, the ends, close to the connecting piece, of the multiple flexible rubber air bags are all fixedly connected with air pipes, and the bottom of the connecting piece is fixedly connected with hook-and-loop fasteners. Through precise pressure adjustment of the intelligent control module, natural contraction characteristics of human muscles can be simulated, the collision risk of a traditional rigid driving structure is avoided, and meanwhile, the safety monitoring module monitors the running state of the equipment in real time and triggers emergency response when the equipment is abnormal, so that the safety in the rehabilitation training process is further guaranteed.

The present invention discloses an artificial muscle fiber based on liquid crystal elastomers that is electrically driven and heat-resistant. The fiber improves its overall mechanical strength without affecting its drive performance, enabling rapid and precise actuation and exhibiting rapid response characteristics. The electrically driven liquid crystal elastomer artificial muscle has high sensitivity, high drive capacity, and high output force, achieving 60% of its maximum drive capacity within 0.3 seconds. While meeting the requirements for a large drive capacity, it also possesses a high driving force, offering broad research prospects in the fields of flexible electronics, soft robotics, and rehabilitation medicine. The preparation method of the present invention is simple and easy to operate, enabling mass production.

The invention discloses a pneumatic artificial muscle driven soft rehabilitation glove, and belongs to the technical field of rehabilitation medical instruments, the pneumatic artificial muscle driven soft rehabilitation glove comprises a glove, driving assemblies and an air path conversion base, the glove comprises a finger sleeve, a phalanx sleeve and a palm sleeve, one end of a stretching tendon rope located on the hand back side is connected with the finger sleeve, the phalanx sleeve and the palm sleeve, and the other end of the stretching tendon rope is connected with one driving assembly; one end of the bent tendon rope located on the palm side is also connected with the fingerstall, the phalanx sleeve and the palm sleeve, the other end of the bent tendon rope located on the palm side is also connected with the other driving assembly, the two driving assemblies are connected with the two air path conversion bases respectively, the two air path conversion bases are connected through a bandage buckle, and the two air path conversion bases sleeve and are locked at the positions of the arms of the human body. The technical problems that an existing rehabilitation glove is high in structural rigidity and poor in wearing comfort, the maintenance cost is high due to an integrated structure, and motion antagonism and joint motion range limitation are generated due to lack of passive ductility of artificial muscles can be solved.

An electrothermally driven artificial muscle fiber based on a liquid crystal elastomer. The overall mechanical strength of the fiber is improved without affecting the driving performance thereof, can be driven quickly and precisely, and has quick response characteristics. The electrothermally driven liquid crystal elastomer artificial muscle has high sensitivity, large actuation strain and high output force, can achieve a maximum actuation strain of 60% within 0.3s, and has a large driving force while satisfying a large actuation stroke, such that the electrothermally driven liquid crystal elastomer artificial muscle has broad research prospects in the fields of flexible electronics, soft robotics and rehabilitation therapy. The preparation method for the electrothermally driven artificial muscle fiber based on a liquid crystal elastomer involves a simple preparation process and easy operations, and can be mass-prepared.

A soft robotic gripper includes multiple fingers, each embedding at least one artificial muscle formed as a low-temperature shape-memory coil that recovers a memorized shape when electrically heated, thereby driving the fingers between open and gripping configurations in cold environments; the coil acts as a Joule-heated actuator enabling reversible contraction / extension with improved response at reduced transformation temperatures suitable for low-ambient operation.

The invention relates to the technical field of nuclear industrial robot control, and discloses an anti-radiation variable-stiffness mechanical arm which comprises a plurality of torsion modules, and every two adjacent torsion modules are connected through a rotating module, so that the torsion modules can spin around the longitudinal axes of the torsion modules and rotate around the horizontal axes on the rotating modules. A top cover is installed at the top of the uppermost torsion module, a bottom plate is installed at the bottom of the lowermost torsion module, the top cover and the torsion modules, the torsion modules and the torsion modules and the bottom plate are connected through a plurality of SMA artificial muscles, and wires are led out from the two ends of the SMA artificial muscles and connected into independent drive circuits. According to the anti-radiation variable-rigidity mechanical arm, control over the rigidity and deformation of the mechanical arm can be achieved, the size and weight of the mechanical arm are greatly reduced, and the power density is improved.

Superabsorbent and rapidly expanding porous gels can be made from the in situ foaming of a monomer solution (e.g., acrylic acid and acrylamide) using a double-barreled syringe having an acid and a base in respective barrels. Gas (e.g., CO2) can be generated at the mixing tip of the syringe by the acid-base reaction, and gas bubbles may be stabilized by an amphiphilic polymer in one of the barrels. Monomers can be polymerized by ultraviolet (UV) light to form the gel around the bubbles, and the material can be dried under ambient conditions to yield a porous solid. A resulting gel can absorb water at an extremely high rate until equilibrium is achieved, for example, at ˜300 times its weight and / or at more than 3 times its size. Such expansion can be used to lift weight, in mechanical work, in new designs for mechano-chemical engines, in artificial muscles, etc.

A control method of artificial muscle, comprising the following steps: S1: generating an artificial muscle bundle by connecting artificial muscle modules in series; S2: establishing an artificial muscle bundle voltage displacement model, and obtaining a target displacement Y of the artificial muscle bundle through the artificial muscle bundle voltage displacement model * (t) required ideal voltage V(t); S3: a feedforward inverse compensation controller compensates the ideal voltage V(t) in advance according to a disturbance signal; the disturbance signal includes humidity, temperature and load change; S4: a PID controller automatically adjusts the ideal voltage V(t) according to an error signal e(t); the error signal e(t) is the difference between the ideal voltage V(t) and an actual voltage; S5: the target displacement Y of the artificial muscle bundle is realized according to the ideal voltage V(t) * (t). The application can accurately calculate the voltage required for a specific displacement target, effectively offset the nonlinearity and external disturbance of the artificial muscle system, improve the control accuracy, and make the displacement of the artificial muscle bundle accurately reach the target displacement.

This invention discloses a fabrication process and control method for a free-curvature bionic artificial muscle fan blade, belonging to the field of bionic artificial muscle fan blade technology. It involves mixing sodium alginate, a natural polymer, with an ionic liquid to prepare a biomass gel electro-actuated membrane with high output force density and high strength at room temperature. A biomass gel conductive ink, made by blending gallium indium tin alloy with sodium alginate powder, is used as the electrode film. The resulting artificial muscle fan blade exhibits high energy conversion efficiency, low starting voltage, fast response speed, and higher structural strength at room temperature. Finally, the fan-shaped electrode is divided into several regions, which can be independently powered to control the curvature effect. This invention provides a simple fabrication process and control method for a free-curvature bionic artificial muscle fan blade, with stable structure, rapid deformation, and strong controllability, offering new ideas for the research and application of artificial muscle devices.

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.

Actuators (artificial muscles) comprising twisted polymer fibers generate actuation when powered thermally. In some embodiments, the thermally-powered polymer fiber actuator can be incorporated into an article, such as a textile or garment.

An artificial muscle chair device includes a plurality of artificial muscles embedded in a chair. Each artificial muscle includes a housing having an electrode region and an expandable fluid region. A first electrode and a second electrode each disposed in the electrode region of the housing. The artificial muscle chair device further includes a dielectric fluid disposed within the housing. The first and second electrodes electrostatically attract, inflating the expandable fluid region with dielectric fluid and thereby applying selective pressure to an outer surface of the chair.

The invention discloses a bionic finger, a hand driving control device, a bionic hand control method and a robot, and belongs to the technical field of bionic robotics.The bionic finger comprises at least one flexible bionic muscle cooperation body which is arranged in the length direction of a knuckle structure, one end of the flexible bionic muscle cooperation body serves as a fixed end to be connected to a finger adaptation base of the knuckle structure, and the other end of the flexible bionic muscle cooperation body serves as a free end; the force transmission part is connected to the knuckle structure through a force transmission path; the driving unit is electrically connected with the flexible bionic muscle cooperation body and is configured to apply a driving electric field to the flexible bionic muscle cooperation body; motion output is transmitted to the knuckle structure through the free end, and the knuckle structure is driven to generate smooth motion conforming to human finger motion characteristics. According to the scheme, through adaptive connection of the cooperation body and the knuckle structure and cooperative driving of the multiple internal component sets, the problems that output force of a single artificial muscle driver is not smooth, and a step feeling exists are solved, and continuous, smooth and controllable bionic buckling movement is achieved.

To present effective configurations of a curved motion actuator using Warsaw-type artificial muscle and to embody various holding devices provided with the actuator.SOLUTION: An actuator 10 comprises: a multi-layered fiber reinforced tube 11 composed of two layers of a rubber base material layer and a fiber contained layer; cover members 12A, 12B attached to opposite ends of the tube 11, respectively; a binding member 20 in contact with a part of a lateral surface of the tube 11 and provided along an axial direction of the tube 11; an adhesive layer 31 connecting the tube 11 and the member; and fastening bands 13A, 13B. The cover members 12A, 12B close openings at the opposite ends of the tube 11, and maintains the inside thereof in a closed state. The fastening bands 13A, 13B are fastened to an outer peripheral surfaces at the opposite ends of the tube 11 and fastens the tube 11 with the binding member 20 such that no gap is present between the cover members 12A, 12B and the tube 11.SELECTED DRAWING: Figure 4

The application discloses a kind of artificial muscle driven hybrid fracture reduction surgery robot, it relates to the technical field of auxiliary operating instrument of medical surgery.The present application solves the problems of the existing fracture reduction surgery robot, such as large volume, small workspace, low integration, weak load capacity, complex control, complex kinematics calculation, and easy to cause rigid impact during movement.The top side of the mounting base is provided with a first and second joint swing arm, the first end of the swing arm connecting rod is provided with a first rotary joint, the left and right ends of the first rotary joint are respectively connected with two first rotary joint rotary traction mechanisms, the bottom of the first rotary joint is connected with the mounting base, the end of the swing arm connecting rod is provided with a second rotary joint, the left and right ends of the second rotary joint are respectively connected with two second rotary joint rotary traction mechanisms, and the second rotary joint, four-chain 2R1T parallel mechanism and end traction platform are sequentially connected.The application is used for fracture reduction surgery.

To provide an electrode pair having a saw-tooth configuration and an artificial muscle including the same.SOLUTION: An electrode pair includes a first electrode and a second electrode. The first electrode and the second electrode each have an outer surface, an inner surface, a first end, a second end, and a lead extending outwardly from the first end. The lead has a first width at the first end. The second end of at least one of the first electrode and the second electrode has a recess that is formed in the second end and that has a first terminal and a second terminal. A second width extends between the first terminal and the second terminal of the recess. The recess is defined by a saw-tooth pattern. When the first electrode is positioned on the second electrode, At least one recess in the first electrode is adjacent to the lead of the other electrode.SELECTED DRAWING: Figure 1

The application discloses a kind of bionic artificial muscle, including center axis and the kinematic pair being arranged around the center axis, the kinematic pair is arranged on the side of the center axis with uniformly distributed ball socket contact, the center axis is arranged on the side of the kinematic pair with at least one group of alternate action and can be moved along the length direction of the center axis and perpendicular to the center axis direction link, when the link moves along the direction perpendicular to the center axis, the end of the link close to the kinematic pair can be inserted into the ball socket contact.The application also discloses a kind of bionic robot comprising the above-mentioned bionic artificial muscle.The application can highly restore the structural characteristics of biological muscle, effectively reproduce the excellent comprehensive performance of biological muscle.

The invention discloses an artificial muscle belt, a multi-channel continuous preparation method and a multi-channel continuous preparation device. The multi-channel continuous preparation method of the artificial muscle band comprises the following steps: feeding an artificial muscle precursor material into a first rolling orientation device, and processing the artificial muscle precursor material to form a film-shaped base material with a preliminary orientation structure; the film-shaped base material is fed into a second rolling orientation device to be drafted, the roller linear speed of the second rolling orientation device is larger than that of the first rolling orientation device, meanwhile, in the drafting process of the film-shaped base material, the film-shaped base material is subjected to cross-linking curing treatment through a cross-linking curing device, and a cured film with a target orientation structure is obtained; and cutting the cured film into at least two independent artificial muscle bands. According to the device based on the differential rolling drafting orientation and rolling cutting method, multi-channel controllable continuous preparation of the liquid crystal elastomer artificial muscle belt can be achieved, and powerful support is provided for practical application of an artificial muscle driver.

According to the pneumatic artificial muscle based on the annular air bag, an air bag assembly comprises the annular air bag, a wiring device and a silk thread, a plurality of L-shaped through holes are formed in the wiring device, one end of each L-shaped through hole faces the inner circumferential direction of the annular air bag in the radial direction of the annular air bag, and the other end of each L-shaped through hole faces the terminal direction in the axial direction of the annular air bag; the silk thread penetrates through the L-shaped through hole, one end of the silk thread is arranged on the inner circumferential surface of the annular air bag, and the other end of the silk thread is connected with the terminal or connected with the silk thread of the adjacent air bag assembly; the outer protection film is arranged on the outer sides of the multiple air bag assemblies in a sleeving mode, terminals are arranged at the two ends of the outer protection film correspondingly, and connecting pieces are arranged on the terminals. Through the cooperation of the annular air bag and the wiring device, the change of the radial distance of the annular air bag is converted into the change of the axial distance of the terminal, that is, the change of the radius of the inner ring of the annular air bag is converted into the change of the telescopic length of the artificial muscle, the shrinkage rate is greatly improved, the shrinkage rate reaches 70% in reality, and the device has the advantages of being simple in structure, efficient and convenient.

The application discloses a water bath massage system based on a meta universe, which comprises a wearable garment for a human body and visual glasses, after the visual glasses and the wearable garment full of water bath medium are worn on the human body, the visual glasses are started and a preset massage process mode is selected in a display picture, the visual glasses generate corresponding matched massage instructions according to the massage process mode and transmit the massage instructions to the wearable garment. The water bath massage system based on the meta universe disclosed by the application can make the artificial muscle module massage according to the preset massage process mode through the driving of the driving module after the human body wears the wearable garment with the artificial muscle module distributed thereon, and a virtual picture of a massage environment is presented through the visual glasses, so that the user has a sense of being on the spot, and the water bath massage system has the advantages of convenient operation, high safety and stable structure.

The utility model discloses a bionic artificial muscle fixing structure and a bionic robot, and relates to the technical field of robots. The bionic artificial muscle fixing structure comprises a bionic body, and the bionic body comprises a hose and a woven mesh layer arranged on the outer side of the hose in a sleeving mode; a first crimping part and a second crimping part, wherein the first crimping part and the second crimping part are respectively abutted against the outer side and the inner side of the bionic main body; and the third crimping part is arranged on the second crimping part in a sleeving manner, and extrudes and fixes the hose and the woven mesh layer together with the first crimping part or the second crimping part. Based on the technical scheme disclosed by the utility model, on the premise that the hose is not damaged, the hose and the woven mesh layer are fully fixed, the probability that the crimping part falls off from the woven mesh layer is reduced, the failure of the expansion bearing function of the bionic artificial muscle is avoided, and the service life of the bionic artificial muscle and the service life of the corresponding bionic robot are prolonged.

Provided is an artificial muscle device that can be reduced in weight. An artificial muscle device according to an embodiment is provided with: a braided sleeve; an electromagnet disposed inside the braided sleeve and at one end in the expansion and contraction direction; an electromagnet or a magnet disposed inside the braided sleeve and at the other end in the expansion / contraction direction; and a guide that suppresses movement of the electromagnet or the magnet in a contraction direction in the expansion / contraction direction. The electromagnet and the electromagnet or the magnet may face each other with a space therebetween.

To provide an artificial muscle stack that comprises a plurality of artificial muscle layers.SOLUTION: Each artificial muscle layer includes one or more artificial muscles having a housing with an electrode region and an expandable fluid region, a dielectric fluid housed in the housing, and an electrode pair having first and second electrodes positioned in the electrode region. The first and second electrodes each include two or more tab portions and two or more bridge portions. The two or more bridge portions interconnect adjacent tab portions. At least one of the first and second electrodes includes a central opening positioned between the tab portions and encircling the expandable fluid region. The artificial muscle layers are arranged such that the expandable fluid region of the artificial muscles of each artificial muscle layer overlaps at least one tab portion of one or more artificial muscles of an adjacent artificial muscle layer.SELECTED DRAWING: Figure 1

The invention discloses a dexterous hand structure driven by a sensing function integrated artificial muscle belt and application of the dexterous hand structure. The dexterous hand structure comprises a dexterous hand skeleton and n first driving elements, each first driving element comprises a first artificial muscle belt with a sensing structure, the first artificial muscle belts are attached to the palm sides of the bionic fingers, one end of each first artificial muscle belt is connected with the fingertip part of one bionic finger, and the other end of each first artificial muscle belt is connected with the bionic palm; the sensing structures are arranged on the fingertip portion or the portion, close to the fingertip portion, of the first artificial muscle belt, the first driving element is used for driving the bionic fingers connected with the first driving element to be converted into the bent state from the initial state, and the n sensing structures can measure the shape and size of a grabbed object. The artificial muscle drivers with the sensing function are designed and arranged on the surface of the dexterous hand, flexible movement of each knuckle can be achieved, different gesture actions are made, and the object grabbing and recognizing functions are completed.