Layered Artificial Muscle Structure for High Force Density
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Solution Overview
Problem
Current artificial muscles, such as HASEL actuators, face limitations in actuator power per unit volume and are challenging to combine in a small footprint while increasing collective force, due to their design and operational constraints.
Innovation Solution
A layered actuation structure is introduced, featuring interleaved actuation and mounting platforms with artificial muscles that include a housing with an electrode region and an expandable fluid region, where a dielectric fluid is actuated by an electrode pair to generate translational motion, allowing for increased force without increasing displacement or footprint.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If HASEL actuators are used to achieve muscle-like performance, then versatility and reliability are improved, but actuator power per unit volume is limited
Solution Approach 1:
The patent transitions from traditional lateral arrangement of artificial muscles to a vertical stacked configuration. Multiple actuation platforms are arranged in the vertical dimension, allowing muscles to be stacked one above another rather than placed side-by-side. This dimensional change increases power density by utilizing vertical space efficiently while maintaining muscle-like versatility through electrostatic and hydraulic actuation mechanisms.
Solution Approach 2:
The patent implements a nested structure where multiple actuation platforms are vertically stacked within a compact footprint. Each platform contains artificial muscles that are nested in sequence along the vertical axis, with actuation cavities positioned between alternating platforms. This nesting approach allows multiple muscle actuators to occupy a small lateral footprint while accumulating significant collective force in the vertical direction.
2Force
If multiple artificial muscles are combined to increase collective force, then force output is improved, but footprint increases
Solution Approach 1:
The patent resolves the footprint-force contradiction by arranging multiple artificial muscles in the vertical dimension rather than lateral expansion. The stacked platform configuration allows N muscles to be arranged within a footprint comparable to a single muscle, with each additional muscle contributing to collective force through vertical stacking. The actuation cavities are positioned between alternating platforms, enabling dense packing without lateral growth.
Solution Approach 2:
The patent segments the artificial muscle system into multiple independent actuation platforms stacked vertically. Each platform contains its own artificial muscles and actuation cavity, allowing modular arrangement in the vertical direction. This segmentation enables the system to scale force output by adding platforms vertically rather than expanding laterally, maintaining a compact footprint while increasing collective force through the combined action of segmented muscle units.
3Adaptability or versatility
If fluidic actuators are used to achieve versatility, then performance is improved, but speed and efficiency are limited due to fluid transport requirements
Solution Approach 1:
The patent extracts the fluid transport system from the actuation mechanism by using electrostatic actuation to directly inflate the expandable fluid region without requiring external fluid supply lines. The dielectric fluid is contained within sealed artificial muscles, eliminating the need for channels and tubes that would limit actuation speed. This extraction of the fluid transport requirement enables faster actuation while maintaining the versatility of fluid-based muscle-like performance.
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 and enables a higher collective force in a compact footprint, improving the efficiency and practicality of artificial muscle systems.
Implementation Method 1
Hydraulically amplified self-healing electrostatic actuators with muscle-like performance
Implementation Method 2
use electrostatic and hydraulic forces to achieve a variety of actuation modes
Data Source
AI summary
A layered actuation structure includes one or more actuation platforms interleaved with one or more mounting platforms to form one or more actuation cavities between platform pairs, each platform pair having an individual mounting platform and an individual actuation platform. The layered actuation structure also includes a support arm coupled to the one or more mounting platforms, an actuation arm coupled to the one or more actuation platforms, and one or more artificial muscles disposed in each of the one or more actuation cavities. The one or more artificial muscles each include an electrode pair that is actuatable between a non-actuated state and an actuated state to direct a dielectric fluid into an expandable fluid region of a housing of the artificial muscle, expanding the expandable fluid region thereby applying pressure to the one or more actuation platforms, generating translational motion of the one or more actuation platforms.