91 results about "Muscle material" patented technology

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 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.

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.

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.

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.

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.

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.

The present application relates to the technical field of nuclear industry robot control, and discloses a radiation-resistant variable stiffness mechanical arm, comprising a plurality of torsion modules, two adjacent torsion modules are connected through a rotating module, so that the torsion module can spin around its longitudinal axis and rotate around the horizontal axis of the rotating module, the top of the uppermost torsion module is provided with a top cover, the bottom of the lowermost torsion module is provided with a bottom plate, a plurality of SMA artificial muscles are connected between the top cover and the torsion module, between the torsion modules and between the torsion module and the bottom plate, the two ends of the SMA artificial muscle are led out of wires and connected to independent driving circuits. The radiation-resistant variable stiffness mechanical arm can control the stiffness and deformation of the mechanical arm, greatly reduce the volume and weight of the mechanical arm and improve the power density.

An electroheat-driven LCE-based artificial muscle fiber is provided, and the overall mechanical strength of the electroheat-driven LCE-based artificial muscle fiber is improved under the condition that the driving performance of the fiber is not affected, quick and accurate driving may be realized, and the electroheat-driven LCE-based artificial muscle fiber has the characteristic of a quick response. An electroheat-driven LCE artificial muscle has a high sensitivity, driving capacity and output, may reach the maximum driving capacity of 60% within 0.3 s, and has a large driving force under the condition of guaranteeing a high driving capacity, thereby having a broad research prospect in the fields of flexible electronics, soft robots and rehabilitation. A preparation method has a simple preparation process, is easy to operate, and may realize mass preparation.

A bionic artificial muscle, a control system and method therefor and a robot. The bionic artificial muscle comprises: wires (101), each wire (101) comprising a fixed end (1012) and a stretching end (1011), the fixed end (1012) being fixedly connected to an anchor point on a bone (3011), and the stretching end (1011) being movably connected to a connecting member (103) on the bone (3011); and a muscle part (102), the muscle part (102) being constituted by an elastic material (1021), and the elastic material (1021) wrapping the outer sides of the wires (101) between the anchor point and the connecting member (103). When the stretching ends (1011) move the wires (101) in a direction away from the connecting member (103), the elastic material (1021) of the muscle part (102) is squeezed and deformed; when the stretching ends (1011) move the wires (101) in a direction close to the connecting member (103), the elastic material (1021) of the muscle part (102) is restored to an initial state.

The invention discloses a subject-object adaptation system of artificial muscle fibers, a driving structure and application. The adaptation system comprises an artificial muscle fiber subject and an ion object in an electrolyte; the main body fiber is twisted into the nano carbon-based fiber with the spiral structure; and the electrolyte is an organic electrolyte for supporting electrolysis of FeCl3 or an organic electrolyte containing FeCl4 <-> anions. The host and the guest provided by the invention have good affinity and good adaptability, so that the artificial muscle fiber has relatively low driving voltage and relatively high energy conversion efficiency; positive ions in the adaptive system do not contribute to the driving of the fiber, and the driving shows monotonicity to the voltage; the system supports two artificial muscle fibers to form an antagonistic structure in the electrolyte system, that is, when voltage is applied, the fiber on one side shrinks, the fiber on the other side stretches, and when reverse voltage is applied, the fibers on the two sides move in the opposite directions. The electrochemically driven antagonistic structure is suitable for multi-scene application.

Provided are a propulsion device and a propulsion method of a subminiature unmanned submarine using an artificial muscle and a paddle. The propulsion device of the subminiature unmanned submarine may be actively utilized to implement a subminiature unmanned submarine by driving a paddle coupled to a rotary-type artificial muscle that generates a rotational force through repeated twisting and untwisting depending on whether a voltage is applied, and may reduce noise generation, thereby minimizing the likelihood of detection.

The utility model discloses a kind of internal reinforcing cage laser welding devices for cement pole production, it is related to reinforcing cage welding tool technical field including two support trusses, the sliding clamping seat of sliding installation and the fixed guiding seat of fixed installation on support truss, welding frame in support truss side end, outer muscle material guide disc installed in welding frame side end, material guide support shaft installed in fixed guiding seat side, feeding support of material guide support shaft lower end, support fixed frame for supporting of material guide support shaft other end, the side of fixed guiding seat is equipped with limiting mechanism, and the other side of fixed guiding seat is equipped with feeding support mechanism;Support truss provides firm support base for overall device, the both ends positioning and spacing adjustment of reinforcing cage are realized by sliding clamping seat and fixed guiding seat cooperation, and welding frame provides installation carrier for laser welding;Finally solve the problem that the existing cement pole reinforcing cage laser welding device internal reinforcing frame installation adaptability is poor.

The invention discloses a sensing model self-correction method for electrothermal driving type artificial muscle, which comprises the following steps of: acquiring inductance values of the artificial muscle under different lengths by using an inductance measuring device, fitting, and constructing a fitting formula capable of realizing accurate association of the inductance and the length of the artificial muscle, the model is also a perceptual model of artificial muscles; the inductance measuring device is used for continuously recording the inductance value of the artificial muscle under cyclic driving, and then transmitting the acquired inductance value to the computer through the digital-to-analog conversion chip; the computer judges whether the artificial muscle generates overload and overdrive circulation or not by judging the maximum value of the inductance in each driving process to enable the structure to generate irreversible distortion, if the structure is distorted, the maximum value of the inductance can be reduced, and if the maximum value of the inductance is kept unchanged all the time, the sensing model is not modified. According to the method, the perception model of the artificial muscle can still be used under the condition that the structure is changed.

The invention discloses a preparation method of an electrically driven dielectric elastomer artificial muscle fiber with a core-shell structure, and relates to the technical field of flexible robot driving, and the preparation method comprises the following steps: preparing a high interface polarization BTO nanotube by a hydrothermal synthesis and wet chemical method; the preparation method comprises the following steps: preparing a polymer mixed solution by taking TPU (Thermoplastic Polyurethane) as a matrix, BDA (Butyl Diacrylate) as a polar micromolecule plasticizing and polarization aid and BTO (Boron-Tamyl Oxide) nanotubes as A continuous solution dipping core-spun method is adopted, CNT continuous fibers serve as conductive core wires, core-shell structure fibers are formed through continuous coating, a conductive polymer electrode layer is sprayed or deposited on the outer layer, and the core-shell structure dielectric elastomer artificial muscle fibers are obtained. According to the invention, the dielectric constant of the shell layer is improved and the flexibility is maintained by cooperatively regulating and controlling a high-dielectric shell layer system, the problems of high loss or mechanical embrittlement and difficulty in consideration of dielectric and flexible balance caused by easy agglomeration or poor compatibility of the traditional filler and a polymer are solved, the electrostrictive displacement efficiency under low and medium pressure conditions is improved, and the cost is reduced. Meanwhile, high elongation and flexibility are kept.

The invention relates to the technical field of bionic artificial muscles, in particular to a bionic artificial muscle with a spiral-crack integrated structure and a preparation method of the bionic artificial muscle. A carbon nanotube dispersion liquid is sprayed on the surface of a spiral liquid crystal elastomer, and a porous carbon nanotube layer with a microcrack network is formed in situ on the surface of the spiral liquid crystal elastomer by utilizing the synergistic effect of rapid volatilization of a solvent and stress release of a matrix, so that the bionic artificial muscle with a spiral-crack integrated structure is prepared. Through the unique spiral-crack integrated structural design, the technical contradiction that high-sensitivity sensing and large-strain driving are difficult to cooperate is fundamentally solved, and organic unification of driving strain amplification, a wide strain range and high linearity is achieved. The artificial muscle prepared by the method has excellent structural stability, actuating performance and strain sensing performance, and has wide application prospects in the fields of soft robots, wearable equipment, intelligent prostheses and the like.

The utility model discloses an artificial muscle imitating device which comprises a rubber sleeve, a connecting piece, a connecting piece, a connecting piece and a connecting piece, and the rubber sleeve has elasticity and can stretch out and draw back in the depth direction of the rubber sleeve; the inductance coil is arranged in the rubber sleeve, and the inductance coil extends in the depth direction of the rubber sleeve and is used for generating an electromagnetic field when being electrified; the iron core movably penetrates through the inductance coil and has a first state and a second state, and when the iron core is in the first state, the iron core pushes the inner wall of the rubber sleeve under the action of an electromagnetic field so as to stretch the rubber sleeve; and when the iron core is in a second state, the stretched rubber sleeve counteracts the iron core to retract and reset during power failure. It can be understood that energy loss is reduced, the noise problem and the heating problem are solved, and the humanistic requirement of the market is met.