Patent Description:
Generally, a living body muscle is reacted by an electric signal transmitted from neuron (a nerve cell). Likewise, an artificial muscle is manufactured to be reacted by an external electric input and may replace the living body muscle.

The artificial muscle may be used for a rehabilitation robot functioning an arm or a leg of a disabled person, a working robot working in special circumstances such as the space, the ocean and a nuclear power plant, and a high technology device such as MEMS performing a high complex motion with a small size.

A heat response driving device contracting or expanding according to a temperature, such as a shape-memory alloy (SMA), a shape-memory resin, a carbon nanotube, a nylon and so on, is used in the artificial muscle.

For example, the shape-memory alloy needs an effective heating/cooling system for performing a high response motion speed. Thus, conventionally, a heating method using.

However, in the heating method using the electric resistance, response speed of the artificial muscle is relatively bad, energy consumption is increased, power source is increased to increase load capacity of the artificial muscle, and insulation is necessary.

Thus, a method for driving the artificial muscle may be necessary to enhance the conventional driving method.

Related prior art is <CIT> and is a driving supporting apparatus and a driving supporting method.

<CIT> discloses an actuator using a shape memory polymer, and a control method that can stably maintain a constant joint angle of two members with strong force.

<CIT> discloses an artificial muscle module which comprises a power supply part and an artificial muscle. The power supply part comprises a heating unit and a cooling unit. A tension inducing wire is heated by receiving a heat source from a heating unit to induce extension of a main wire, and a contraction inducing wire is cooled by receiving a cooling source from the cooling unit to induce contraction of the main wire.

<CIT> discloses an artificial muscle including a first operation unit that includes electro-active polymer where relaxation deformation occurs based on electric energy being applied; a heating unit that generates heat energy based on the electric being applied; a second operation unit that has a yarn structure and where contraction deformation occurs based on the heat energy generated in the heating unit; and a control unit that applies electric energy to the first operation unit and the heating unit.

<CIT> discloses a hydraulically energized magnetorheological replicant muscle tissue. Each muscle tissue element may receive fluid from a fluid supply. Control of fluid entering and exiting the muscle tissue element through valves may be effected using a central processing unit. As a result thereof, life-like action and artificial muscle tissue may be formed that replicates actual muscle tissue.

The present invention is developed to solve the above-mentioned problems of the related arts. The present invention provides a driving device for an artificial muscle module and a driving method for the driving device, capable of performing a flexible movement of the artificial muscle module and increasing a response of the artificial muscle module according to a temperature of a fluid charged in the artificial muscle module, and increasing energy efficiency.

According to an example embodiment, there is provided a driving device for an artificial muscle module, the artificial muscle module containing a heat reaction driving unit and a casing unit. The heat reaction driving unit is configured to deform in shape in response to temperature of a fluid being charged into the casing unit. The casing unit is connected to the heat reaction driving unit and is deformable therewith. The driving device includes a fluid tank unit, a fluid providing line, a fluid collecting line, a circulation pump unit, a temp control unit and a fluid distributing unit. The fluid tank unit includes a high temp water tank containing a relatively high temperature fluid, and a low temp water tank containing a relatively low temperature fluid. The fluid providing line connects to a first side of the artificial muscle module for providing fluid to the artificial muscle module. The fluid retrieving line connects a second side of the artificial muscle module to the fluid tank unit for retrieving the fluid charged in the artificial muscle module. The circulation pump unit is configured to pump fluid in at least one of the fluid providing line and the fluid retrieving line for circulating the fluid between the artificial muscle module and the fluid tank unit. The temp control unit is configured to mix fluid discharged from the high temp water tank and fluid discharged from the low temp water tank to provide fluid having a controlled temperature in the fluid providing line, wherein the fluid providing line connects the temp control unit to the first side of the artificial muscle module for deforming the shape of the heat reaction driving unit based on the controlled temperature of the fluid. The fluid distributing unit for distributing the fluid from the fluid retrieving line to the the high temp water tank or the low temp water tank.

In an example, the fluid tank unit may further include a heating unit for heating the fluid in the high temp water tank, to maintain the fluid in the high temp water tank to be in a predetermined high temperature.

In an example, the fluid tank unit may further include a cooling unit for cooling the fluid in the low temp water tank, to maintain the fluid in the low temp water to be in a predetermined low temperature.

In an example, the temp control unit may include a first control valve for controlling an amount of the fluid discharged from the high temp water tank, and a second control valve for controlling an amount of the fluid discharged from the low temp water tank. The amount of the fluid discharged from the high temp water tank and that from the low temp water tank may be decided such that the fluid passing through the temp control unit has a predetermined operating temperature.

In an example, the temp control unit may include a discharge control valve for discharging the fluid by controlling the fluid discharged from the low temp water tank considering the amount of the fluid discharged from the high temp water tank. A ratio between the amount of the fluid discharged from the high temp water tank and that from the low temp water tank may be controlled by the discharge control valve, such that the fluid passing through the temp control unit has a predetermined operating temperature.

In an example, the fluid distributing unit may include a first distributing valve for distributing the fluid collected from the fluid retrieving line to the high temp water tank, and a second distributing valve for distributing the fluid collected from the fluid retrieving line to the low temp water tank. The first distributing valve or the second distributing valve may be operated based on a predetermined distributing condition, so as to distribute the fluid collected from the fluid retrieving line to the high temp water tank or the low temp water tank.

In an example, the fluid distributing unit may include a collected fluid for distributing valve distributing the fluid collected from the fluid retrieving line to the high temp water tank or the low temp water tank. The collected fluid distributing valve may be operated based on a predetermined distributing condition, so as to distribute the fluid collected from the fluid retrieving line to the high temp water tank or the low temp water tank.

In an example, the driving device may further include a control unit for determining an operating temperature of a fluid for deforming a shape of the artificial muscle module based on a displacement command, to control the circulation pump unit, the temp control unit and the fluid distributing unit.

According to another example embodiment, there is provided a driving method for the above driving device, the driving method comprising: receiving a displacement order for deforming a shape of the artificial muscle module; determining an operating temperature of a fluid for deforming the shape of the artificial muscle module based on the displacement order; circulating fluid between the artificial muscle module and the fluid tank unit using the circulation pump unit; controlling the temperature of the fluid to the operating temperature using the temp control unit by mixing fluid discharged from the high temp water tank and fluid discharged from the low temp water tank ; and distributing fluid retrieved from the fluid retrieving line to the high temp water tank or the low temp water tank based on a distributing condition.

In an example, the temperature of the fluid in the high temp water tank is maintained to be a predetermined high temperature, or the temperature of the fluid in the low temp water tank is maintained to be a predetermined low temperature, corresponding to the fluid flowed into or discharged from the fluid tank unit.

According to the present example embodiments, a flexible movement of the artificial muscle module may be performed and a response of the artificial muscle module may be increased according to a temperature of a fluid charged in the artificial muscle module, and energy efficiency may be increased.

In addition, a predetermined high temperature fluid and a predetermined low temperature fluid are decided variously, and thus the operating temperature necessary for contracting or relaxing the heat reaction driving unit, and a displacement of the artificial muscle module may be easily controlled.

In addition, the predetermined high temperature and the predetermined low temperature may be easily maintained, and the temperature of the fluid in the fluid tank unit is less changed, to meet the operating temperature in mixing the fluid, very conveniently.

In addition, the operating temperature may be easily performed, and an amount of the fluid provided to the artificial muscle module may be easily controlled.

In addition, the ratio of the fluid for performing the operating temperature may be easily controlled, and the fluid discharged from the fluid tank unit may be easily stabilized.

In addition, the fluid discharged from the artificial muscle module may be easily collected, and the temperature of the fluid in the fluid tank unit may be less changed. Thus, the temperature of the fluid in the fluid tank unit may be easily maintained.

In addition, the fluid discharged from the artificial muscle module may be distributed more clearly, and thus the fluid tank unit may be prevented from being malfunctioned in maintaining the temperature of the fluid according to the fluid collected from the fluid tank unit.

In addition, the temperature of the fluid provided to the artificial muscle module is variously changed to perform the flexibility of the artificial muscle module very similar to a living body muscle.

Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Same elements or components are expressed with same reference numerals in the drawings.

<FIG> is a schematic diagram illustrating a driving device of an artificial muscle module according to an example embodiment of the present invention. <FIG> is a schematic diagram illustrating a control unit of the driving device of the artificial muscle module of <FIG>. <FIG> is a schematic diagram illustrating an example temperature control unit of the driving device of the artificial muscle module of <FIG>. <FIG> is a schematic diagram illustrating another example temperature control unit of the driving device of the artificial muscle module of <FIG>. <FIG> is a schematic diagram illustrating an example fluid distributing unit of the driving device of the artificial muscle module of <FIG>. <FIG> is a schematic diagram illustrating another example fluid distributing unit of the driving device of the artificial muscle module of <FIG>. <FIG> is a schematic diagram illustrating a contracting state of the driving device of the artificial muscle module of <FIG>. <FIG> is a schematic diagram illustrating a relaxed state of the driving device of the artificial muscle module of <FIG>.

Referring to <FIG>, the driving device <NUM> of the artificial muscle module <NUM> according to the present example embodiment, contracts or relaxes the artificial muscle module <NUM>.

First, the artificial muscle module <NUM> includes a heat reaction driving unit, and a casing unit <NUM>. The heat reaction driving unit is reacted to a heat and a shape of the heat reaction driving unit is deformed. The casing unit <NUM> forms an inner space <NUM> in which a fluid is charged, and is connected to the heat reaction driving unit. The casing unit <NUM> is deformed with the heat reaction driving unit.

The heat reaction driving unit may include a shape-memory alloy spring <NUM> reacted to the heat. The shape-memory alloy spring <NUM> may be manufactured using a shape-memory alloy material wire, and may be contracted or relaxed by the heat.

In the present example embodiment, the heat reaction driving unit includes a pair of the shape-memory alloy springs, and the pair of the shape-memory alloy springs are arranged in parallel, but not limited thereto. The number of the shape-memory alloy springs may be at least one, and may be changed variously, considering load capacity of the artificial muscle module <NUM>.

The heat reaction driving unit may include various kinds of heat reacted materials, such as a shape memory resin, a shape memory polymer, a carbon nanotube, polyethylene, polyamide, nylon and so on.

The casing unit <NUM> includes a stretching conduit <NUM> being stretchable, a first closure <NUM> disposed at a first end of the stretching conduit <NUM>, and a second closure <NUM> disposed at a second end of the stretching conduit <NUM>.

The stretching conduit <NUM> may be a corrugate tube or a bellows tube, but not limited thereto. The stretching conduit <NUM> may be any material or structure capable of being deformed due to an external force.

Thus, the first closure <NUM> is enclosed with the first end of the stretching conduit <NUM>, and the second closure <NUM> is enclosed with the second end of the stretching conduit <NUM>, to form the inner space <NUM> inside of the casing unit <NUM>.

A fluid inlet <NUM> is formed through the first closure <NUM>, and a fluid operating the artificial muscle module <NUM> is flowed into the inner space <NUM> through the fluid inlet <NUM>. A fluid outlet <NUM> is formed through the second closure <NUM>, and a fluid is discharged from the inner space <NUM> through the fluid outlet <NUM>.

In addition, a first combining portion is formed at the first closure <NUM>, and a first end of the shape-memory alloy spring <NUM> is combined with the first combining portion. A second combining portion is formed at the second closure <NUM>, and a second end of the shape-memory alloy spring <NUM> is combined with the second combining portion.

When the shape-memory alloy spring <NUM> is contracted or relaxed, the first and second closures <NUM> and <NUM> moves together along a longitudinal direction of the shape-memory alloy spring <NUM>, and thus the stretching conduit <NUM> combined with the first and second closures <NUM> and <NUM> is contracted or relaxed.

Here, the first and second closures <NUM> and <NUM> may have heat resistance to temperature change of the shape-memory alloy spring <NUM>.

Further, a first sealing member may be formed at the first combining portion combined with the first end of the shape-memory alloy spring <NUM>, and a second sealing member may be formed at the second combining portion combined with the second end of the shape-memory alloy spring <NUM>.

The driving device <NUM> of the artificial muscle module includes a fluid tank unit <NUM>, a fluid providing line <NUM>, a fluid collecting line <NUM>, a circulation pump unit <NUM>, a temp control unit <NUM> and a fluid distributing unit <NUM>. Hereinafter, 'temp' is abbreviation of 'temperature'.

A heated fluid and a cooled fluid are contained in the fluid tank unit <NUM>. The fluid tank unit <NUM> includes a high temp water tank <NUM> containing a fluid having a predetermined relatively high temperature, and a low temp water tank <NUM> containing a fluid having a predetermined relatively low temperature. Here, the relatively high temperature is higher than the relatively low temperature, and may be predetermined by an operator. Likewise the relatively low temperature may also be predetermined by the operator. Thus, the relatively high temperature may be a first temperature, and the relatively low temperature may be a second temperature lower than the first temperature.

Here, the fluid tank unit <NUM> may further include a heating unit <NUM>. The heating unit <NUM> heats the fluid in the high temp water tank <NUM>, to maintain the temperature of the fluid in the high temp water tank <NUM> to be a predetermined high temperature. However, various kinds of heating device may be applied stead of the heating unit <NUM>, to have a function mentioned above.

In addition, the fluid tank unit <NUM> may further include a cooling unit <NUM>. The cooling unit <NUM> cools the fluid in the low temp water tank <NUM>, to maintain the temperature of the fluid in the low temp water tank <NUM> to be a predetermined low temperature. However, various kinds of cooling device may be applied stead of the cooling unit <NUM>, to have a function mentioned above.

The high temp water tank <NUM> includes a high temp water inlet <NUM>, a high temp water outlet <NUM>, and a high temp water distributer <NUM>. The fluid is flowed through the high temp water inlet <NUM>. The fluid is discharged through the high temp water outlet <NUM>. The high temp water distributer <NUM> divides an inside of the high temp water tank <NUM> into a high temp mixing portion and a high temp maintaining portion. The fluid flowed from the high temp water inlet <NUM> and the fluid in the high temp water tank <NUM> are mixed in the high temp mixing portion. The mixed fluid in the high temp mixing portion is maintained to be a predetermined high temperature in the high temp maintaining portion. In the high temp maintaining portion, the fluid is heated by the heating unit <NUM>. Although not shown in the figure, a high temp connecting hole is formed through the high temp water distributer <NUM>, so that the fluid in the high temp mixing portion moves into the high temp maintaining portion according as the fluid in the high temp water tank <NUM> is discharged.

Here, the high temp maintaining portion is only heated using the high temp water distributer <NUM>, and thus a temperature of the fluid in the high temp water tank <NUM> is less changed (especially, a heat loss of the high temp maintaining portion is prevented), the temperature of the fluid in the high temp water tank <NUM> is layered, and the fluid discharged from the high temp water outlet <NUM> is always maintained as the predetermined high temperature.

The low temp water tank <NUM> includes a low temp water inlet <NUM>, a low temp water outlet <NUM> and a low temp water distributer <NUM>. The fluid is flowed through the low temp water inlet <NUM>. The fluid is discharged through the low temp water outlet <NUM>. The low temp water distributer <NUM> divides an inside of the low temp water tank <NUM> into a low temp mixing portion and a high temp maintaining portion. The fluid flowed from the low temp water inlet <NUM> and the fluid in the low temp water tank <NUM> are mixed in the low temp mixing portion. The mixed fluid in the low temp mixing portion is maintained to be a predetermined low temperature in the low temp maintaining portion. In the low temp maintaining portion, the fluid is cooled by the cooling unit <NUM>. Although not shown in the figure, a low temp connecting hole is formed through the low temp water distributer <NUM>, so that the fluid in the low temp mixing portion moves into the low temp maintaining portion according as the fluid in the low temp water tank <NUM> is discharged.

Here, the low temp maintaining portion is only cooled using the low temp water distributer <NUM>, and thus a temperature of the fluid in the low temp water tank <NUM> is less changed (especially, a heat loss of the low temp maintaining portion is prevented), the temperature of the fluid in the low temp water tank <NUM> is layered, and the fluid discharged from the low temp water outlet <NUM> is always maintained as the predetermined low temperature.

The fluid providing line <NUM> connects a first side of the artificial muscle module <NUM> with the artificial tank unit <NUM>, to form a providing path for providing the fluid to the artificial muscle module <NUM>. A providing temp sensor <NUM> may be positioned at the fluid providing line <NUM>, to measure a temperature of the fluid provided to the artificial muscle module <NUM>.

As illustrated in <FIG> and <FIG>, the fluid providing line <NUM> includes a first providing line <NUM> forming a path of the fluid discharged from the high temp water tank <NUM>, a second providing line <NUM> forming a path of the fluid discharged from the low temp water tank <NUM>, and a merging providing line <NUM> forming a path of the fluid providing to the artificial muscle module <NUM>. The fluid having the predetermined high temperature and the fluid having the predetermined low temperature are mixed with each other in the merging providing line <NUM>, and the mixed fluid is transmitted in the merging providing line <NUM>. The providing temp sensor <NUM> may be positioned at the merging providing line <NUM>.

Then, the first providing line <NUM> and the second providing line <NUM> are diverged from the merging providing line <NUM>. Here, the first providing line <NUM> connects the high temp water outlet <NUM> with the temp control unit <NUM>, the second providing line <NUM> connects the low temp water outlet <NUM> with the temp control unit <NUM>, and the merging providing line <NUM> connects the fluid inlet <NUM> with the temp control unit <NUM>.

The fluid collecting line <NUM> connects a second side of the artificial muscle module <NUM> with the fluid tank unit <NUM>, to form a collecting path for collecting the fluid charged in the artificial muscle module <NUM>. A collecting temp sensor <NUM> is positioned at the fluid collecting line <NUM>, to measure a temperature of the fluid discharged from the artificial muscle module <NUM>(the fluid discharged through the fluid collecting line <NUM>).

As illustrated in <FIG> and <FIG>, the fluid collecting line <NUM> includes a first collecting line <NUM> forming a path of the fluid collected to the high temp water tank <NUM>, a second collecting line <NUM> forming a path of the fluid collected to the low temp water tank <NUM>, and a distributing collecting line <NUM> forming a path of the fluid discharged from the artificial muscle module <NUM>. The collecting temp sensor <NUM> may be positioned at the distributing collecting line <NUM>.

Then, the first collecting line <NUM> and the second collecting line <NUM> are diverged from the distributing collecting line <NUM>. Here, the first collecting line <NUM> connects the high temp water inlet <NUM> with the fluid distributing unit <NUM>, the second collecting line <NUM> connects the low temp water inlet <NUM> with the fluid distributing unit <NUM>, and the distributing collecting line <NUM> connects the fluid outlet <NUM> with the fluid distributing unit <NUM>.

The circulation pump unit <NUM> is positioned at at least one of the fluid providing line <NUM> and the fluid collecting line <NUM>, to circulate the fluid between the artificial muscle module <NUM> and the fluid tank unit <NUM>.

The circulation pump unit <NUM> is divided into a first pump <NUM> and a second pump <NUM>. The first pump <NUM> is positioned at the fluid providing line <NUM>, and the fluid in the fluid tank <NUM> is transmitted to the artificial muscle module <NUM> by the first pump <NUM>. The second pump <NUM> is positioned at the fluid collecting line <NUM>, and the fluid discharged from the artificial muscle module <NUM> is transmitted to the fluid tank unit <NUM> by the second pump <NUM>.

In the present example embodiment, the first pump <NUM> is positioned at the merging providing line <NUM>, but not limited thereto. The first pump <NUM> may be positioned at the first providing line <NUM> or the second providing line <NUM>, and so on, so as to provide the fluid to the artificial muscle module <NUM> or to circulate the fluid between the fluid tank unit <NUM> and the artificial muscle module <NUM> stably.

In the present example embodiment, the second pump <NUM> is positioned at the distributing collecting line <NUM>, but not limited thereto. The second pump <NUM> may be positioned at the first collecting line <NUM> or the second collecting line <NUM>, and so on, so as to collect the fluid discharged from the artificial muscle module <NUM> to the fluid tank unit <NUM> or to circulate the fluid between the fluid tank unit <NUM> and the artificial muscle module <NUM> stably.

The temp control unit <NUM> is positioned at the fluid providing line <NUM>. The temp control unit <NUM> controls temperature of the fluid to be provided to the artificial muscle module <NUM>, using the fluid discharged from the high temp water tank <NUM> and the low temp water tank <NUM>. Here, the fluid, the temperature of which is controlled by the temp control unit <NUM>, may have a predetermined operating temperature, so that the shape of the heat reaction driving unit may be deformed.

For an example, the temp control unit <NUM>, as illustrated in <FIG>, may include a first control valve <NUM> controlling an amount of the fluid discharged from the high temp water tank <NUM>, and a second control valve <NUM> controlling an amount of the fluid discharged from the low temp water tank <NUM>. Then, the fluid passing through the first control valve <NUM> and the fluid passing through the second control valve <NUM> are mixed, so that the fluid passing through the temp control unit <NUM> has a predetermined operating temperature.

Alternatively, for another example, the temp control unit <NUM>, as illustrated in <FIG>, may further include a discharge control valve <NUM> discharging the fluid by controlling the amount of the fluid discharged from the low temp water tank <NUM> corresponding to the amount of the fluid discharged from the high temp water tank <NUM>. Then, a ratio between the amount of the fluid discharged from the high temp water tank <NUM> and the amount of the fluid discharged from the low temp water tank <NUM> is controlled by the discharge control valve <NUM>, and thus the fluid passing through the temp control unit <NUM> may have a predetermined operating temperature.

The fluid distributing unit <NUM> is positioned at the fluid collecting line <NUM>. The fluid distributing unit <NUM> distributes the fluid of the fluid collecting line <NUM> into one of the high temp water tank <NUM> and the low temp water tank <NUM>, according to a predetermined distributing condition.

Here, the predetermined distributing condition may be a temperature of the fluid collecting through the fluid collecting line <NUM>. Then, when the temperature of the fluid collected through the fluid collecting line <NUM> is lower than a predetermined distributing temperature, the fluid distributing unit <NUM> distributes the fluid collecting through the fluid collecting line <NUM> to the low temp water tank <NUM>. In addition, when the temperature of the fluid collected through the fluid collecting line <NUM> is higher than the predetermined distributing temperature, the fluid distributing unit <NUM> distributes the fluid collecting through the fluid collecting line <NUM> to the high temp water tank <NUM>. In addition, when the temperature of the fluid collected through the fluid collecting line <NUM> is substantially same as the predetermined distributing temperature, the fluid distributing unit <NUM> distributes the fluid collecting through the fluid collecting line <NUM> to one of the high temp water tank <NUM> and the low temp water tank <NUM>, based on an additional using condition.

Accordingly, since the fluid distributing unit <NUM> distributes the fluid collected through the fluid collecting line <NUM> to the high temp water tank <NUM> or the low temp water tank <NUM>. The temperature of the fluid inside of the high temp water tank <NUM> is less changed, and the temperature of the fluid inside of the low temp water tank <NUM> is also less changed. In addition, power consumption for heating or cooling the fluid may be decreased, and the temperature of the fluid may be easily maintained in the fluid tank unit <NUM>.

For an example, the fluid distributing unit <NUM> may include a first distributing valve <NUM> and a second distributing valve <NUM>. The first distributing valve <NUM> distributes the fluid collected through the fluid collecting line <NUM> to the high temp water tank <NUM>, and the second distributing valve <NUM> distributes the fluid collected through the fluid collecting line <NUM> to the low temp water tank <NUM>. Then, the first distributing valve <NUM> or the second distributing valve <NUM> is operated according to the temperature of the fluid measured in the collecting temp sensor <NUM>, so that the fluid collected through the fluid collecting line <NUM> is distributed to the high temp water tank <NUM> or the low temp water tank <NUM>.

For another example, the fluid distributing unit <NUM> may further include a collected fluid distributing valve <NUM> distributing the fluid collected through the fluid collecting line <NUM> to the high temp water tank <NUM> or the low temp water tank <NUM>. Then, the collected fluid distributing valve <NUM> is operated according to the temperature of the fluid measured in the collecting temp sensor <NUM>, so as to distribute the fluid collected through the fluid collecting line <NUM> to the high temp water tank <NUM> or the low temp water tank <NUM>.

The control unit <NUM> determines the predetermined operating temperature based on the displacement command for deforming the shape of the artificial muscle module <NUM>, and then controls the circulation pump unit <NUM>, the temp control unit <NUM> and the fluid distributing unit <NUM>.

As illustrated in <FIG>, the control unit <NUM> includes a displacement receiver <NUM>, a temp determiner <NUM>, a control unit controller <NUM>, a distributing unit controller <NUM> and a pump controller <NUM>.

The displacement receiver <NUM> receives a displacement command for deforming the shape of the artificial muscle module <NUM>. The displacement command may be expressed variously, and includes information for an amount of displacement for contracting or relaxing the artificial muscle module <NUM>.

The temp determiner <NUM> determines the operating temperature based on the displacement command. The operating temperature may be a predetermined value corresponding to the displacement command.

The control unit controller <NUM> controls an operation of the temp control unit <NUM>. The control unit controller <NUM> controls the operation of the temp control unit <NUM> based on the operating temperature, so that the fluid having the predetermined operating temperature is formed for deforming the shape of the artificial muscle module <NUM> using the fluid discharged from the high temp water tank <NUM> and the low temp water tank <NUM>. The control unit controller <NUM> receives the temperature measured by the providing temp sensor <NUM>, to monitor the state of the operating temperature or to compensate the operating temperature of the fluid.

The distributing unit controller <NUM> controls an operation of the fluid distributing unit <NUM>. The distributing unit controller <NUM> controls the operation of the fluid distributing unit <NUM> based on a predetermined distributing condition. The distributing unit controller <NUM> controls the operation of the fluid distributing unit <NUM>, based on a comparison result between the temperature of the fluid collected through the fluid collecting line <NUM> and the predetermined distributing temperature, so that the fluid collected through the fluid collecting line <NUM> may be distributed to the high temp water tank <NUM> or the low temp water tank <NUM>.

The pump controller <NUM> controls the circulation pump unit <NUM>. The pump controller <NUM> controls the operation of the circulation pump unit <NUM>, based on the displacement command or the operating temperature. The pump controller <NUM> controls the operation of the circulation pump unit <NUM>, to circulate the fluid between the artificial muscle module <NUM> and the fluid tank unit <NUM>.

The control unit <NUM> may further include at least one of a high temp water controller <NUM> and a low temp water controller <NUM>.

The high temp water controller <NUM> controls the heating unit <NUM>. The high temp water controller <NUM> operates the heating unit <NUM> according to the temperature of the fluid in the high temp water tank <NUM> (the fluid in the high temp maintaining portion), to maintain the temperature of the fluid in the high temp water tank <NUM> to be a relatively high temperature.

The low temp water controller <NUM> controls the cooling unit <NUM>. The low temp water controller <NUM> operates the cooling unit <NUM> according to the temperature of the fluid in the low temp water tank <NUM> (the fluid in the low temp maintaining portion), to maintain the temperature of the fluid in the low temp water tank <NUM> to be a relatively low temperature lower than the relatively high temperature.

Hereinafter, the temp control unit <NUM> is explained in detail.

As illustrated in <FIG>, in the temp control unit <NUM> in an example, the first control valve <NUM> is positioned at the first providing line <NUM>, and the second control valve <NUM> is positioned at the second providing line <NUM>.

When the circulation pump unit <NUM> is operated, the fluid having the predetermined high temperature is discharged through the high temp water outlet <NUM>, and the fluid having the predetermined low temperature is discharged through the low temp water outlet <NUM>. Here, as the operation of the control unit controller <NUM>, an opening of the first control valve <NUM> and an opening of the second control valve <NUM> are controlled, so that the amount of the fluid passing through the first providing line <NUM> with the predetermined high temperature, and that passing through the second providing line <NUM> with the predetermined low temperature may be controlled.

The fluid passing through the first providing line <NUM> and the fluid passing through the second providing line <NUM> are summed or mixed, to form the fluid which has the predetermined operating temperature and is provided to the artificial muscle module <NUM>. The fluid is transmitted through the merging providing line <NUM> due to the pumping of the circulation pump unit <NUM>, to be transmitted to the artificial muscle module <NUM>.

Here, the temp control unit <NUM> may further include a providing fluid mixer <NUM> mixing the fluid having the predetermined high temperature and the fluid having the predetermined low temperature, and thus the high temperature fluid and the low temperature fluid are stably mixed. Thus, the mixed fluid is to have the predetermined operating temperature, rapidly, and the heat may be prevented from being lost when the mixed fluid is transmitted through the merging providing line <NUM>.

As illustrated in <FIG>, in the temp control unit <NUM> in another example, the discharge control valve <NUM> includes a first inlet <NUM>, a second inlet <NUM> and an operating fluid provider <NUM>. The fluid discharged from the high temp water tank <NUM> is flowed through the first inlet <NUM>, and the fluid discharged from the low temp water tank <NUM> is flowed through the second inlet <NUM>. The fluid is discharged through the operating fluid provider <NUM>. In addition, the discharge control valve <NUM> includes a discharge control path <NUM>, an outlet diverging path <NUM>, a discharge control block <NUM> and a control driver <NUM>.

The discharge control path <NUM> connects the first inlet <NUM> with the second inlet <NUM>, and forms a path of the fluid between the first inlet <NUM> and the second inlet <NUM>.

The outlet diverging path <NUM> is diverged from the discharge control path <NUM>, to be connected to the operating fluid provider <NUM>, and the outlet diverging path <NUM> forms the path of the fluid between the discharge control path <NUM> and the operating fluid provider <NUM>.

The discharge control block <NUM> is positioned at the discharge control path <NUM>, with facing the outlet diverging path <NUM>, and guides the fluid of the discharge control path <NUM> to the outlet diverging path <NUM>. The discharge control block <NUM> is rotated or slidably moved in the discharge control path <NUM>.

The control driver <NUM> drives the discharge control block <NUM>.

Here, the first providing line <NUM> connects the high temp water outlet <NUM> of the high temp water tank <NUM> with the first inlet <NUM>. The second providing line <NUM> connects the low temp water outlet <NUM> of the low temp water tank <NUM> with the second inlet <NUM>. The merging providing line <NUM> connects the operating fluid provider <NUM> with the fluid inlet <NUM> of the artificial muscle module <NUM>.

When the circulation pump unit <NUM> is operated, the fluid having the predetermined high temperature and the fluid having the predetermined low temperature are provided to the discharge control path <NUM>. Here, as the operation of the control unit controller <NUM>, the operation of the control driver <NUM> is controlled such that the discharge control block <NUM> moves, and thus a ratio of the amount of the fluid having the predetermined high temperature and the amount of the fluid having the predetermined low temperature may be controlled to be a predetermined ratio. Here, the predetermined ratio means that the amount of the fluid having the predetermined low temperature is (<NUM>-N), when the amount of the fluid having the predetermined high temperature is (N) and the amount of total fluid passing through the outlet diverging path <NUM> is (<NUM>).

The discharge control block <NUM> is operated to meet the predetermined ratio, and then the fluid having the predetermined operating temperature may be formed to be provided to the artificial muscle module <NUM>. Thus, the fluid is transmitted through the merging providing line <NUM> due to the pumping of the first pump <NUM>, to be transmitted to the artificial muscle module <NUM>.

Here, the temp control unit <NUM> may further include a providing fluid mixer <NUM> mixing the fluid having the predetermined high temperature with the fluid having the predetermined low temperature, and thus the high temperature fluid and the low temperature fluid are stably mixed. Thus, the mixed fluid is to have the predetermined operating temperature, rapidly, and the heat may be prevented from being lost when the mixed fluid is transmitted through the merging providing line <NUM>.

Hereinafter, the fluid distributing unit <NUM> is explained in detail.

As illustrated in <FIG>, in the fluid distributing unit <NUM> in an example, the first distributing valve <NUM> is positioned at the first collecting line <NUM>, and the second distributing valve <NUM> is positioned at the second collecting line <NUM>.

When the circulation pump unit <NUM> is operated, the fluid discharged from the artificial muscle module <NUM> is transmitted in the distributing collecting line <NUM>. As the operation of the distributing unit controller <NUM>, an operation of the first distributing valve <NUM> or the second distributing valve <NUM> is controlled based on a predetermined distributing condition, so as to distribute the fluid collected through the fluid collecting line <NUM> to the high temp water tank <NUM> or the low temp water tank <NUM>.

As illustrated in <FIG>, in the fluid distributing unit <NUM> in another example, the collected fluid distributing valve <NUM> includes a first outlet <NUM>, a second outlet <NUM> and a collecting fluid inlet <NUM>. The fluid flowing in the high temp water tank <NUM> is discharged through the first outlet <NUM>, and the fluid flowing in the low temp water tank <NUM> is discharged through the second outlet <NUM>. The fluid discharged from the artificial muscle module <NUM> is flowed through the collecting fluid inlet <NUM>. The collected fluid distributing valve <NUM> includes a collecting distributing path <NUM>, an inlet diverging path <NUM>, a collecting distributing block <NUM> and a distributing driver <NUM>.

The collecting distributing path <NUM> connects the first outlet <NUM> with the second outlet <NUM>, and forms a path of the fluid between the first outlet <NUM> and the second outlet <NUM>.

The inlet diverging path <NUM> is diverged from the collecting distributing path <NUM>, is connected to the collecting fluid inlet <NUM>, and forms a path of the fluid between the collecting distributing path <NUM> and the collecting fluid inlet <NUM>.

The collecting distributing block <NUM> is positioned at the collecting distributing path <NUM>, with facing the inlet diverging path <NUM>, and guides the fluid of the collecting distributing path <NUM> to the inlet diverging path <NUM>. The collecting distributing block <NUM> is rotated, or slidably moved in the collecting distributing path <NUM>.

The distributing driver <NUM> operates the collecting distributing block <NUM>.

Here, the first collecting line <NUM> connects the high temp water inlet <NUM> of the high temp water tank <NUM> with the first outlet <NUM>. The second collecting line <NUM> connects the low temp water inlet <NUM> of the low temp water tank <NUM> with the second outlet <NUM>. The distributing collecting line <NUM> connects the collecting fluid inlet <NUM> with the fluid outlet <NUM> of the artificial muscle module <NUM>.

When the circulation pump unit <NUM> is operated, the fluid in the artificial muscle unit <NUM> is transmitted through the distributing collecting line <NUM>, to be transmitted to the inlet diverging path <NUM>. Here, as the operation of the distributing unit controller <NUM>, the operation of the distributing driver <NUM> is controlled to move the collecting distributing block <NUM>, so that the collecting distributing block <NUM> connects the first outlet <NUM> or the second outlet <NUM> with the collecting fluid inlet <NUM>, and the fluid collected through the fluid collecting line <NUM> is distributed to the high temp water tank <NUM> or the low temp water tank <NUM>. In addition, the collecting distributing block <NUM> closes the collecting fluid inlet <NUM> and prevents all fluid of the inlet distributing path <NUM> from being transmitted to the first outlet <NUM> and the second outlet <NUM>.

The contraction of the artificial muscle module using the driving device according to the present example embodiment will be explained below referring to <FIG> and <FIG>.

When the displacement command for contracting the artificial muscle module <NUM> is received in the displacement receiver <NUM>, the temp determiner <NUM> determines the operating temperature for contracting the artificial muscle module <NUM> based on the displacement command.

The pump controller <NUM> controls the operation of the circulation pump unit <NUM>, to circulate the fluid between the fluid tank unit <NUM> with the artificial muscle module. Here, control unit controller <NUM> controls the operation of the temp control unit <NUM>, to form the fluid having the predetermined operating temperature for contracting the artificial muscle module <NUM> in the merging providing line <NUM>.

In addition, the fluid in the merging providing line <NUM> is provided to the artificial muscle module <NUM> to contract the heat reaction driving unit. Here, the fluid provided to the artificial muscle module <NUM> has the predetermined operating temperature for the contracting, and thus the heat reaction driving unit may be contracted accurately and precisely corresponding to the displacement command.

Further, the fluid discharged from the artificial muscle module <NUM> is transmitted to the fluid distributing unit <NUM> through the distributing collecting line <NUM>, and the distributing unit controller <NUM> controls the operation of the fluid distributing unit <NUM> based on the predetermined distribution condition. Thus, the fluid collected through the fluid collecting line <NUM> is distributed to the high temp water tank <NUM> or the low temp water tank <NUM>.

The relaxing of the artificial muscle module using the driving device according to the present example embodiment will be explained below referring to <FIG> and <FIG>.

First, when the displacement command for relaxing the artificial muscle module <NUM> is received in the displacement receiver <NUM>, the temp determiner <NUM> determines the operating temperature for relaxing the artificial muscle module <NUM> based on the displacement command.

The pump controller <NUM> controls the operation of the circulation pump unit <NUM>, to circulate the fluid between the fluid tank unit <NUM> with the artificial muscle module. Here, control unit controller <NUM> controls the operation of the temp control unit <NUM>, to form the fluid having the predetermined operating temperature for relaxing the artificial muscle module <NUM> in the merging providing line <NUM>.

In addition, the fluid in the merging providing line <NUM> is provided to the artificial muscle module <NUM> to relax the heat reaction driving unit. Here, the fluid provided to the artificial muscle module <NUM> has the predetermined operating temperature for the relaxing, and thus the heat reaction driving unit may be relaxed accurately and precisely corresponding to the displacement command.

In the driving device of the artificial muscle module, when the temperature of the fluid provided to the artificial muscle module <NUM> is higher than a reference temperature, the artificial muscle module <NUM> is contracted. When temperature of the fluid provided to the artificial muscle module <NUM> is lower than a reference temperature, the artificial muscle module <NUM> is relaxed. However, based on the kinds of the heat reaction driving unit, when the temperature of the fluid provided to the artificial muscle module <NUM> is higher than a reference temperature, the artificial muscle module <NUM> may be relaxed. Likewise, when temperature of the fluid provided to the artificial muscle module <NUM> is higher than a reference temperature, the artificial muscle module <NUM> is contracted.

Hereinafter, the driving method of the artificial muscle module using the driving device of the artificial muscle module. <FIG> is a driving method of the artificial muscle module using the driving device of the artificial muscle module of <FIG>.

Referring to <FIG>, the method for driving the artificial muscle module includes contracting or relaxing the artificial muscle module <NUM>.

The driving method of the artificial muscle module <NUM> includes a displacement receiving step S1, a temp determining step S2, a fluid circulating step S3, a temp control step S4, a module operating step S5 and a fluid distributing step S6, and may further include a fluid temp maintaining step S7.

In the displacement receiving step S1, the displacement command for deforming the shape of the artificial muscle module <NUM> is received. The displacement receiving step S <NUM> may be performed according to the operation of the displacement receiver <NUM>.

In a temp determining step S2, the operating temperature of the fluid for deforming the shape of the artificial muscle module <NUM> is determined based on the displacement command. The temp determining step S2 may be performed according to the operation of the temp determiner <NUM>.

In the fluid circulating step S3, the fluid is circulated between the artificial muscle module <NUM> and the fluid tank unit <NUM>. The fluid circulating step S3 may be performed according to the operation of the pump controller <NUM> and the circulation pump unit <NUM>.

In the temp control step S4, temperature of the fluid is controlled by the temp control unit <NUM>. Here, the fluid is controlled to be at the operating temperature using the fluid discharged from the high temp water tank <NUM> and the low temp water tank <NUM>. In addition, the fluid having the operating temperature may deform the shape of the artificial muscle module <NUM>. The temp control step S4 may be performed according to the operation of the control unit controller <NUM> and the temp control unit <NUM>.

In the module operating step S5, the fluid at the operating temperature is provided to the artificial muscle module <NUM>, and thus the shape of the artificial muscle module <NUM> is deformed due to the fluid having the predetermined operating temperature. The module operating step S5 may be performed due to an interaction between the fluid having the predetermined operating temperature and the artificial muscle module <NUM>.

In the fluid distributing step S6, the fluid collected from the fluid collecting line <NUM> is distributed to the high temp water tank <NUM> or the low temp water tank <NUM>, based on the distributing condition. The fluid distributing step S6 may be performed according to the operation of the distributing controller and the fluid distributing unit <NUM>.

In the fluid temp maintaining step S7, the temperature of the fluid contained by the high temp water tank <NUM> is maintained to be the predetermined high temperature, or the temperature of the fluid contained by the low temp water tank <NUM> is maintained to be the predetermined low temperature, corresponding to the fluid flowed into or discharged from the fluid tank unit <NUM>.

The fluid temp maintaining step S7 may be performed according to the operation of the high temp water controller <NUM> and the heating unit <NUM>, or according to the operation of the low temp water controller <NUM> and the cooling unit <NUM>.

The predetermined distributing condition may be a displacement command for deforming the shape of the artificial muscle module <NUM>. Then, when the displacement command is for contracting the artificial muscle module <NUM>, the temperature of the fluid in the artificial muscle module <NUM> is lower than that of the fluid provided to the artificial muscle module <NUM>, and thus the fluid distributing unit <NUM> may distribute the fluid received through the fluid collecting line <NUM> to the low temp water tank <NUM>. In addition, the temperature of the fluid received in the artificial muscle module <NUM> is higher than that of the fluid provided to the artificial muscle module <NUM>, and thus the fluid distributing unit <NUM> may distribute the fluid collected through the fluid collecting line <NUM> to the high temp water tank <NUM>.

Here, the distributing unit controller <NUM> controls the operation of the fluid distributing unit <NUM> based on the displacement command, so that the fluid collected through the fluid collecting line <NUM> may be distributed to the high temp water tank <NUM> or the low temp water tank <NUM>.

The predetermined distributing condition mentioned above may be a water level of the high temp water tank <NUM> or a water level of the low temp water tank <NUM>.

Then, when the water level of the high temp water tank <NUM> or that of the low temp water tank <NUM> becomes lower than a reference level, the fluid distributing unit <NUM> may distribute the fluid collected through the fluid collecting line <NUM> to the tank having the water level lower than the reference lever. In addition, comparing the water level of the high temp water tank <NUM> to that of the low temp water tank <NUM>, the fluid distributing unit <NUM> may distribute the fluid collected through the fluid collecting line <NUM> to the tank having the relatively lower water level.

According to the present example embodiments, a flexible movement of the artificial muscle module <NUM> may be performed and a response of the artificial muscle module <NUM> may be increased according to a temperature of a fluid charged in the artificial muscle module, and energy efficiency may be increased. In addition, a predetermined high temperature fluid and a predetermined low temperature fluid are decided variously, and thus the operating temperature necessary for contracting or relaxing the heat reaction driving unit, and a displacement of the artificial muscle module <NUM> may be easily controlled. In addition, the predetermined high temperature and the predetermined low temperature may be easily maintained, and the temperature of the fluid in the fluid tank unit <NUM> is less changed, to meet the operating temperature in mixing the fluid, very conveniently.

Claim 1:
A driving device (<NUM>) for driving an artificial muscle module (<NUM>), the artificial muscle module (<NUM>) comprising a heat reaction driving unit (<NUM>) and a casing unit (<NUM>), the heat reaction driving unit (<NUM>) being configured to deform in shape in response to the temperature of a fluid being charged into the casing unit (<NUM>), and the casing unit (<NUM>) being connected to the heat reaction driving unit (<NUM>) and being deformable therewith, the driving device (<NUM>) comprising:
a fluid tank unit (<NUM>) comprising a high temp water tank (<NUM>) for receiving a high temperature fluid, and a low temp water tank (<NUM>) for receiving a low temperature fluid;
a fluid providing line (<NUM>) for connection to a first side (<NUM>) of the artificial muscle module (<NUM>) for providing fluid to the artificial muscle module (<NUM>);
a fluid retrieving line (<NUM>) for connecting a second side (<NUM>) of the artificial muscle module (<NUM>) to the fluid tank unit (<NUM>) for retrieving the fluid charged to the artificial muscle module (<NUM>);
a circulation pump unit (<NUM>) configured to pump fluid in at least one of the fluid providing line (<NUM>) and the fluid retrieving line (<NUM>) for circulating fluid between the artificial muscle module (<NUM>) and the fluid tank unit (<NUM>);
a temp control unit (<NUM>) configured to mix fluid discharged from the high temp water tank (<NUM>) and fluid discharged from the low temp water tank (<NUM>) to provide fluid having a controlled temperature in the fluid proving line (<NUM>), wherein the fluid providing line (<NUM>) connects the temp control unit (<NUM>) to the first side (<NUM>) of the artificial muscle module (<NUM>) for deforming the shape of the heat reaction driving unit (<NUM>) based on the controlled temperature of the fluid; and
a fluid distributing unit (<NUM>) for distributing the fluid from the fluid retrieving line (<NUM>) to the high temp water tank (<NUM>) or the low temp water tank (<NUM>).