Artificial Muscle Electrode Structure for Higher Power Density
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Solution Overview
Problem
Current artificial muscles, such as HASEL actuators, face limitations in actuator power per unit volume, which restricts their efficiency and versatility in robotic applications.
Innovation Solution
The proposed artificial muscle design incorporates an electrode pair with tab and bridge portions within a housing that includes an electrode region and an expandable fluid region. The electrode pair is actuatable between non-actuated and actuated states, directing dielectric fluid into the expandable region to increase force per unit volume.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If HASEL actuator design is used, then artificial muscle can achieve muscle-like performance, but actuator power per unit volume is limited
Solution Approach 1:
The electrode is divided into multiple discrete tab portions (first tab, second tab, third tab, fourth tab) arranged around the expandable fluid region, with bridge portions connecting adjacent tabs. This segmentation allows the dielectric fluid to be directed into specific segments of the expandable region, enabling localized inflation and improved power density while maintaining structural organization.
Solution Approach 2:
The electrode structure transitions from a traditional planar configuration to a three-dimensional arrangement where tab portions are positioned at different locations around the expandable fluid region and connected by bridge portions forming a cage-like structure. This dimensional change enables more effective containment and direction of dielectric fluid into the expandable region, increasing actuator power per unit volume.
2Productivity
If fluidic actuators are used, then artificial muscle can mimic biological muscle, but fluid transport through channels and tubes limits speed and efficiency
Solution Approach 1:
The invention extracts and eliminates the complex network of channels and tubes from the fluidic actuator system. Instead, a single expandable fluid region is used where dielectric fluid is directly contained and moved by the electrode structure, removing the need for separate fluid transport pathways and significantly improving actuation speed and efficiency.
Solution Approach 2:
The electrode structure with its tab portions and bridge portions is nested around the expandable fluid region, creating a confined space where dielectric fluid can be efficiently directed. The electrode structure essentially nests within the housing while enclosing the expandable region, enabling direct fluid containment and movement without external tubing.
3Ease of operation
If thermally activated polymer fibers are used, then artificial muscle can be actuated, but control difficulty and low efficiency persist
Solution Approach 1:
The invention replaces thermally activated polymer fiber actuation with an electrostatic-hydraulic system. Electrical voltage applied to the electrode structure generates electrostatic forces that mechanically move the dielectric fluid into the expandable region, providing precise electrical control and high actuation efficiency without relying on thermal processes.
Solution Approach 2:
The actuation mechanism changes from thermal activation to electrostatic field generation. By applying voltage as the controlling parameter instead of temperature, the system achieves superior control precision and efficiency. The electrostatic field strength can be precisely modulated through voltage control, enabling fine-tuned actuation responses.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This design enhances actuator power per unit volume, allowing for increased force generation while reducing the overall mass and thickness of the artificial muscle, thus improving its efficiency and performance in robotic applications.
Implementation Method 1
These hydraulically amplified self-healing electrostatic (HASEL) actuators use electrostatic and hydraulic forces to achieve a variety of actuation modes
Implementation Method 2
These hydraulically amplified self-healing electrostatic (HASEL) actuators use electrostatic and hydraulic forces to achieve a variety of actuation modes
Implementation Method 3
These hydraulically amplified self-healing electrostatic (HASEL) actuators use electrostatic and hydraulic forces to achieve a variety of actuation modes
Data Source
AI summary
An artificial muscle that includes a housing having an electrode region and an expandable fluid region and an electrode pair positioned in the electrode region, the electrode pair having a first electrode fixed to a first surface of the housing and a second electrode fixed to a second surface of the housing. The first and second electrodes each have two or more tab portions and two or more bridge portions. Each of the two or more bridge portions interconnects adjacent tab portions and at least one of the first and second electrodes includes a central opening positioned between the two or more tab portions and encircling the expandable fluid region. A dielectric fluid is housed within the housing and the electrode pair is actuatable between a non-actuated and an actuated state such that actuation from the non-actuated to actuated state directs the dielectric fluid into the expandable fluid region.