Patent ID: 12199527

DETAILED DESCRIPTION

Embodiments described herein are directed to artificial muscles and artificial muscle assemblies that include a plurality of artificial muscles. The artificial muscles described herein are actuatable to selectively raise and lower a region of the artificial muscles to provide a selective, on demand inflated expandable fluid region. The artificial muscles include a housing and an electrode pair. A dielectric fluid is housed within the housing, and the housing includes an electrode region and an expandable fluid region, where the electrode pair is positioned in the electrode region. The electrode pair includes a first electrode and a second electrode. The electrode pair is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs the dielectric fluid into the expandable fluid region. This expands the expandable fluid region, raising a portion of the artificial muscle on demand. Further, the first electrode and the second electrode each includes a pair of tab portions and a bridge portion interconnecting the tab portions. The tab portion and bridge portion design of the electrode pair facilitates a zippering actuation motion to increase the force per unit volume achievable by actuation of the artificial muscle. Various embodiments of the artificial muscle and the operation of the artificial muscle are described in more detail herein. Whenever possible, the same reference numerals will be used throughout the drawings to refer to the same or like parts.

Referring now toFIG.1, an artificial muscle100is shown. The artificial muscle100includes a housing102, an electrode pair104, including a first electrode106and a second electrode108, coupled or otherwise fixed to opposite surfaces of the housing102, a first electrical insulator layer110fixed to the first electrode106, and a second electrical insulator layer112fixed to the second electrode108. In some embodiments, the housing102is a one-piece monolithic layer including a pair of opposite inner surfaces, such as a first inner surface114and a second inner surface116, and a pair of opposite outer surfaces, such as a first outer surface118and a second outer surface120. In some embodiments, the first inner surface114and the second inner surface116of the housing102are heat sealable. In embodiments, the housing102may be a pair of individually fabricated film layers, such as a first film layer122and a second film layer124. Thus, the first film layer122includes the first inner surface114and the first outer surface118, and the second film layer124includes the second inner surface116and the second outer surface120.

Throughout the ensuing description, reference may be made to the housing102including the first film layer122and the second film layer124, as opposed to the one-piece housing. It should be understood that either arrangement is contemplated. In some embodiments, the first film layer122and the second film layer124generally include the same structure and composition. For example, in some embodiments, the first film layer122and the second film layer124each comprises biaxially oriented polypropylene (BOPP).

The first electrode106and the second electrode108are each positioned between the first film layer122and the second film layer124. In some embodiments, the first electrode106and the second electrode108are each aluminum-coated polyester such as, for example, Mylar®. In some embodiments, the first electrode106and the second electrode108may be flexible. In addition, one of the first electrode106and the second electrode108is a negatively charged electrode and the other of the first electrode106and the second electrode108is a positively charged electrode. For purposes discussed herein, either electrode106,108may be positively charged so long as the other electrode106,108of the artificial muscle100is negatively charged.

Referring still toFIG.1, the first electrode106has a film-facing surface126and an opposite inner surface128. The first electrode106is positioned against the first film layer122, specifically, the first inner surface114of the first film layer122. In addition, the first electrode106includes a first terminal130extending from the first electrode106past an edge of the first film layer122such that the first terminal130can be connected to a power supply to actuate the first electrode106. Specifically, the first terminal130is coupled, either directly or in series, to a power supply and a controller of an actuation system200, as shown inFIG.7. Similarly, the second electrode108has a film-facing surface148and an opposite inner surface150. The second electrode108is positioned against the second film layer124, specifically, the second inner surface116of the second film layer124. The second electrode108includes a second terminal152extending from the second electrode108past an edge of the second film layer124such that the second terminal152can be connected to a power supply and a controller of the actuation system200to actuate the second electrode108.

In embodiments, the first electrode106includes a pair of tab portions132and a bridge portion140. The bridge portion140is positioned between the tab portions132and interconnects the tab portions132. Although only a pair of tab portions132are illustrated extending parallel to one another with a single bridge portion140extending therebetween, it should be appreciated that the first electrode106may include more than two tab portions132and more than one bridge portion140. For example, the first electrode106may include three tab portions132and a pair of bridge portions140with each bridge portion140extending between a pair of adjacent tab portions132. Each tab portion132has a first end134and an opposite second end136proximate the first terminal130of the first electrode106and defining a portion of an outer perimeter138of the first electrode106. As shown inFIG.2, the first terminal130extends from the second end136of one of the tab portions132and is integrally formed therewith. Each bridge portion140has a first end142and an opposite second end144defining another portion of the outer perimeter138of the first electrode106.

Like the first electrode106, in embodiments, the second electrode108includes a pair of tab portions154and a bridge portion162. The bridge portion162is positioned between the tab portions154and interconnects the tab portions154. Although only a pair of tab portions154are illustrated extending parallel to one another with a single bridge portion162extending therebetween, it should be appreciated that the second electrode108may include more than two tab portions154and more than one bridge portion162. For example, the second electrode108may include three tab portions154and a pair of bridge portions162with each bridge portion162extending between a pair of adjacent tab portions154. Each tab portion154has a first end156and an opposite second end158proximate the second terminal152of the second electrode108and defining a portion of an outer perimeter160of the second electrode108. As shown inFIG.1, the second terminal152extends from the second end158of one of the tab portions154and is integrally formed therewith. Each bridge portion162has a first end164and an opposite second end166defining another portion of the outer perimeter160of the second electrode108.

Referring still toFIG.1, the first electrical insulator layer110and the second electrical insulator layer112have a geometry generally corresponding to the first electrode106and the second electrode108, respectively. Thus, the first electrical insulator layer110and the second electrical insulator layer112each have tab portions170,172, and bridge portions174,176corresponding to like portions on the first electrode106and the second electrode108. Further, the first electrical insulator layer110and the second electrical insulator layer112each have an outer perimeter178,180corresponding to the outer perimeter138of the first electrode106and the outer perimeter160of the second electrode108, respectively, when positioned thereon.

It should be appreciated that, in some embodiments, the first electrical insulator layer110and the second electrical insulator layer112generally include the same structure and composition. As such, in some embodiments, the first electrical insulator layer110and the second electrical insulator layer112each includes a sealable surface182,184and an opposite non-sealable surface186,188, respectively. Thus, in some embodiments, the first electrical insulator layer110and the second electrical insulator layer112are each a polymer tape adhered to the inner surface128of the first electrode106and the inner surface150of the second electrode108, respectively. In embodiments, the first electrical insulator layer110and the second electrical insulator layer112each comprises poly(vinylidene fluoride)-co-hexafluoropropylene (PVDF-HFP) film. Each of the first electrical insulator layer110and the second electrical insulator layer112may have a thickness of between 1 micron and 3 microns. In embodiments, each of the first electrical insulator layer110and the second electrical insulator layer112may have a thickness of 2 microns. The first electrical insulator layer110and the second electrical insulator layer112may be attached to the first electrode106and the second electrode108, respectively, by being vacuum heat sealed.

Referring now toFIG.2, the artificial muscle100is shown in its assembled form with the first terminal130of the first electrode106and the second terminal152of the second electrode108extending past an outer perimeter of the housing102, i.e., the first film layer122and the second film layer124. As shown inFIG.2, the second electrode108is stacked on top of the first electrode106and, therefore, only the first terminal130of the first electrode106is shown and the first film layer122, the first electrical insulator layer110, and the second electrical insulator layer112are not shown.

With reference toFIGS.2-5, in an assembled form, the first electrode106, the second electrode108, the first electrical insulator layer110, and the second electrical insulator layer112are sandwiched between the first film layer122and the second film layer124. The first film layer122is partially sealed to the second film layer124at an area surrounding the outer perimeter138of the first electrode106and the outer perimeter160of the second electrode108. In some embodiments, the first film layer122is heat-sealed to the second film layer124. Specifically, in some embodiments, the first film layer122is sealed to the second film layer124to define a sealed portion190at least partially surrounding the first electrode106and the second electrode108. The first film layer122and the second film layer124may be sealed in any suitable manner, such as using an adhesive, heat sealing, or the like.

An unsealed portion192is provided adjacent the sealed portion190at which the first film layer122is prevented from sealing to the second film layer124. The unsealed portion192of the housing102includes an electrode region194, in which the electrode pair104is provided, and an expandable fluid region196, which is surrounded by the electrode region194and the sealed portion190. Although not shown, the housing102may be cut to conform to the geometry of the electrode pair104and reduce the size of the artificial muscle100, namely, the size of the sealed portion190.

As shown inFIGS.4and5, a dielectric fluid198is provided within the unsealed portion192and flows freely between the first electrode106and the second electrode108. A “dielectric” fluid as used herein is a medium or material that transmits electrical force without conduction and as such has low electrical conductivity. Some non-limiting example dielectric fluids include perfluoroalkanes, transformer oils, and deionized water. It should be appreciated that the dielectric fluid198may be injected into the unsealed portion192of the artificial muscle100using a needle or other suitable injection device.

Referring again toFIG.3, in embodiments, the first film layer122and the second film layer124each include more than one layer. For example, the first film layer122includes a first inner subfilm layer122adefining the first inner surface114and a first outer subfilm layer122bdefining the first outer surface118, and the second film layer124includes a second inner subfilm layer124adefining the second inner surface116and a second outer subfilm layer124bdefining the second outer surface120. In embodiments, one or more additional layers may be provided between the first inner subfilm layer122aand the first outer subfilm layer122b. Similarly, in embodiments, one or more additional layers may be provided between the second inner subfilm layer124aand the second outer subfilm layer124b.

In embodiments, as shown inFIG.3, the first film layer122includes the first inner subfilm layer122a, the first outer subfilm layer122b, a first reinforcing layer122c, and a first backing layer122d. The first reinforcing layer122cis provided between the first inner subfilm layer122aand the first backing layer122d. As shown, only a single first reinforcing layer122cis provided. However, it should be appreciated that a plurality of first reinforcing layers122cmay be provided between the first inner subfilm layer122aand the first backing layer122d. The first reinforcing layer122cmay be in contact with and heat sealed between each of the first inner subfilm layer122aand the first backing layer122d. Accordingly, the first backing layer122dis dimensioned to be greater than the first reinforcing layer122cso that the first backing layer122dmay be heat sealed to the first inner subfilm layer122aand enclose the first reinforcing layer122ctherebetween. Additionally, in embodiments, the first backing layer122dcomprises the same material as the first inner subfilm layer122aand the first outer subfilm layer122b. In embodiments, the first backing layer122dpartially overlaps the first electrode106, specifically the bridge portion140of the first electrode106. In embodiments, the first backing layer122dalso overlaps a portion of the first electrical insulator layer110. The first reinforcing layer122chas an elasticity greater than an elasticity of the material forming each of the first inner subfilm layer122a, the first outer subfilm layer122b, and the first backing layer122d. In embodiments, the first reinforcing layer122cincludes a unidirectional laminate fabric material constructed from a sheet of ultra-high-molecular-weight polyethylene (UHMWPE) laminated between two sheets of polyester. In embodiments, the first reinforcing layer122chas a thickness of greater than or equal to 1 mil and less than or equal to 4 mil. In embodiments, the first reinforcing layer122chas a thickness of greater than or equal to 1 mil and less than or equal to 2 mil. In embodiments, the first reinforcing layer122cis a fabric material such as, for example, Dyneema®, Kevlar, and the like. However, other suitable materials may be utilized for the first reinforcing layer122c.

Similarly, as shown inFIG.3, the second film layer124includes the second inner subfilm layer124a, the second outer subfilm layer124b, a second reinforcing layer124c, and a second backing layer124d. The second reinforcing layer124cis provided between the second inner subfilm layer124aand the second backing layer124d. As shown, only a single second reinforcing layer124cis provided. However, it should be appreciated that a plurality of second reinforcing layers124cmay be provided between the second inner subfilm layer124aand the second backing layer124d. The second reinforcing layer124cmay be in contact with and heat sealed between each of the second inner subfilm layer124aand the second backing layer124d. Accordingly, the second backing layer124dis dimensioned to be greater than the second reinforcing layer124cso that the second backing layer124dmay be heat sealed to the second inner subfilm layer124aand enclose the second reinforcing layer124ctherebetween. Additionally, in embodiments, the second backing layer124dcomprises the same material as the second inner subfilm layer124aand the second outer subfilm layer124b. In embodiments, the second backing layer124dpartially overlaps the second electrode108, specifically the bridge portion162of the second electrode108. In embodiments, the second backing layer124dalso overlaps a portion of the second electrical insulator layer112. The second reinforcing layer124chas an elasticity greater than an elasticity of the material forming each of the second inner subfilm layer124a, the second outer subfilm layer124b, and the second backing layer124d. In embodiments, the second reinforcing layer124cincludes a unidirectional laminate fabric material constructed from a sheet of UHMWPE laminated between two sheets of polyester. In embodiments, the second reinforcing layer124chas a thickness of greater than or equal to 1 mil and less than or equal to 4 mil. In embodiments, the second reinforcing layer124chas a thickness of greater than or equal to 1 mil and less than or equal to 2 mil. In embodiments, the second reinforcing layer124cis a fabric material such as, for example, Dyneema®, Kevlar, and the like. However, other suitable materials may be utilized for the second reinforcing layer124c.

It should be appreciated that the first backing layer122dand the second backing layer124dare not sealable to one another such as, for example, by being heat sealed. As such, the expandable fluid region196(FIG.4) is provided between the first backing layer122dand the second backing layer124d. In addition, the film-facing surface126of the first electrode106is coupled or otherwise fixed to the second film layer124by any suitable methods such as, for example, heat-sealing or the like and, similarly, the film-facing surface148of the second electrode108is coupled or otherwise fixed to the second film layer124by any suitable methods such as, for example, heat-sealing or the like.

Due to the first reinforcing layer122cand the second reinforcing layer124chaving an elasticity greater than an elasticity of the other layers of the housing102permanent deformation of the housing102of the artificial muscle100resulting from repeated use is prevented. Specifically, the BOPP forming the housing102is known to permanently distend or deform when subjected to forces greater than 15N. Accordingly, the first reinforcing layer122cand the second reinforcing layer124creduce this permanent deformation.

Referring again toFIGS.4and5, the electrode pair104is provided within the electrode region194of the unsealed portion192of the housing102and the artificial muscle100is actuatable between a non-actuated state (FIG.4) and an actuated state (FIG.5). It should be appreciated that the first film layer122and the second film layer124are generally depicted inFIGS.4and5.

As shown inFIG.4, in the non-actuated state, the first electrode106and the second electrode108are initially partially spaced apart from one another, at least at the first end134,156of the tab portions132,154. Due to the first film layer122being sealed to the second film layer124around the electrode pair104, the second end136,158of the tab portions132,154are brought into contact with one another. Thus, dielectric fluid198is provided between the first electrode106and the second electrode108, thereby separating the first end134,156of the tab portions132,154proximate the expandable fluid region196. Stated another way, when in the non-actuated state, a distance between the first end134of the tab portion132of the first electrode106and the first end156of the tab portion154of the second electrode108is greater than a distance between the second end136of the tab portion132of the first electrode106and the second end158of the tab portion154of the second electrode108. This results in the electrode pair104zippering toward the expandable fluid region196when actuated. In the non-actuated state, the expandable fluid region196has a first height H1.

As shown inFIG.5, in the actuated state, the first electrode106and the second electrode108are brought into contact with and oriented parallel to one another to force the dielectric fluid198into the expandable fluid region196. This causes the dielectric fluid198to flow from the electrode region194between the first electrode106and the second electrode108, and into the expandable fluid region196to inflate the expandable fluid region196. Accordingly, when actuated, the first electrode106and the second electrode108zipper toward one another from the second ends144,158of the tab portions132,154thereof, thereby pushing the dielectric fluid198into the expandable fluid region196. When in the actuated state, the first electrode106and the second electrode108are parallel to one another. In the actuated state, the dielectric fluid198flows into the expandable fluid region196to inflate the expandable fluid region196. As such, the first film layer122and the second film layer124expand in opposite directions. In the actuated state, the expandable fluid region196has a second height H2, which is greater than the first height H1of the expandable fluid region196when in the non-actuated state. Although not shown, it should be noted that the electrode pair104may be partially actuated to a position between the non-actuated state and the actuated state. This would allow for partial inflation of the expandable fluid region196and adjustments when necessary.

To move the first electrode106and the second electrode108toward one another, a voltage is applied by a power supply. In some embodiments, a voltage of up to 10 kV may be provided from the power supply to induce an electric field through the dielectric fluid198. The resulting attraction between the first electrode106and the second electrode108pushes the dielectric fluid198into the expandable fluid region196. Pressure from the dielectric fluid198within the expandable fluid region196causes the first film layer122to deform in a first axial direction and causes the second film layer124to deform in an opposite second axial direction. Once the voltage being supplied to the first electrode106and the second electrode108is discontinued, the first electrode106and the second electrode108return to their initial, non-parallel position in the non-actuated state.

It should be appreciated that the present embodiments disclosed herein, specifically, the tab portions132,154with the interconnecting bridge portions140,162(FIG.1), provide a number of improvements over actuators, such as HASEL actuators, that do not include the tab portions132,154. Embodiments of the artificial muscle100including a pair of tab portions132,154on each of the first electrode106and the second electrode108, respectively, reduces the overall mass and thickness of the artificial muscle100, reduces the amount of voltage required during actuation, and decreases the total volume of the artificial muscle100without reducing the amount of resulting force after actuation as compared to known HASEL actuators. More particularly, the tab portions132,154of the artificial muscle100provide zipping fronts that result in increased actuation power by providing localized and uniform hydraulic actuation of the artificial muscle100compared to known HASEL actuators. The bridge portions140,162(FIG.1) interconnecting the tab portions132,154also limit buckling of the tab portions132,154by maintaining the distance between adjacent tab portions132,154during actuation. Because the bridge portions140,162are integrally formed with the tab portions132,154, the bridge portions140,162(FIG.1) also prevent leakage between the tab portions132,154by eliminating attachment locations that provide an increased risk of rupturing.

Moreover, the size of the first electrode106and the second electrode108is proportional to the amount of displacement of the dielectric fluid198. Therefore, when greater displacement within the expandable fluid region196is desired, the size of the electrode pair104is increased relative to the size of the expandable fluid region196.

Referring now toFIG.6, certain components of the artificial muscle100are illustrated including the first electrode106and the first reinforcing layer122cwithin the housing102. However, it should be appreciated that the first electrode106and the second electrode108have the same dimensions. Similarly, it should be appreciated that the first reinforcing layer122cand the second reinforcing layer124chave the same dimensions. Accordingly, only the dimensions of the first electrode106and the first reinforcing layer122care provided herein.

With respect to the first electrode106, each tab portion132of the first electrode106has a tab length Tl and the bridge portion140has a bridge length Bl. The tab length Tl is a distance from the first end134of the tab portion132to the second end136of the tab portion132, and the bridge length Bl is a distance from the first end142of the bridge portion140to the second end144of the bridge portion140. Accordingly, the tab length Tl of each tab portion132is longer than the bridge length Bl of the bridge portion140. In addition, each tab portion132has a tab width Tw extending between opposite sides127of a respective tab portion132. A gap portion133is formed between the sides127of adjacent tab portions132and adjacent the bridge portion140. The gap portion133has a gap width Gw extending between opposite sides127of adjacent tab portions132and a gap length Gl extending from the second end144of the bridge portion140and the second end136of the tab portions132. The first electrode106has a total tab width TTw extending across each of the pair of tab portions132and the gap portion133.

In embodiments, the tab portions132of the first electrode104define corners formed at substantially 90 degree angles. Accordingly, in embodiments, the tab portions132of the first electrode108are rectangular in shape with the first terminal130extending from one of the tab portion132. Additionally, in embodiments, the bridge portion140extends between the tab portions132to form corners partially defining the gap portion133, the corners also being formed at substantially 90 degree angles such that the gap portion133is rectangular in shape between the tab portions132. As discussed herein, the tab portions132extend parallel to one another and, more particularly, adjacent sides127of opposite tab portions132extend parallel to one another such that the gap portion133has a constant gap width Gw extending along the tab length Tl of the tab portions132, which is also constant.

With respect to the first reinforcing layer122c, the first reinforcing layer122chas a reinforcing layer length Rl extending in a direction parallel to the tab length Tl. The first reinforcing layer122calso has a reinforcing layer width Rw. In embodiments, the reinforcing layer width Rw is equal to the total tab width TTw of the first electrode106.

In a first embodiment of the artificial muscle100, the tab length Tl is greater than or equal to 3 cm and less than or equal to 4 cm. The tab width Tw is greater than or equal to 1 cm and less than or equal to 2 cm. The bridge length Bl is greater than or equal to 0.05 cm and less than or equal to 1 cm. The gap width Gw is greater than or equal to 0.5 cm and less than or equal to 1 cm. The gap length Gl is greater than or equal to 3 cm and less than or equal to 4 cm. The total tab width TTw is greater than or equal to 3 cm and less than or equal to 4.5 cm. The reinforcing layer length Rl of the first reinforcing layer122cis greater than or equal to 2 cm and less than or equal to 3 cm.

In another embodiment of the artificial muscle100, the tab length Tl is greater than or equal to 6 cm and less than or equal to 7 cm. The tab width Tw is greater than or equal to 2.5 cm and less than or equal to 4 cm. The bridge length Bl is greater than or equal to 0.1 cm and less than or equal to 1 cm. The gap width Gw is greater than or equal to 1 cm and less than or equal to 2 cm. The gap length Gl is greater than or equal to 6 cm and less than or equal to 7 cm. The total tab width TTw is greater than or equal to 7 cm and less than or equal to 8 cm. The reinforcing layer length Rl of the first reinforcing layer122cis greater than or equal to 4 cm and less than or equal to 6 cm.

In yet another embodiment of the artificial muscle100, the tab length Tl is greater than or equal to 12 cm and less than or equal to 13 cm. The tab width Tw is greater than or equal to 2.5 cm and less than or equal to 4 cm. The bridge length Bl is greater than or equal to 0.1 cm and less than or equal to 1 cm. The gap width Gw is greater than or equal to 1 cm and less than or equal to 2 cm. The gap length Gl is greater than or equal to 11 cm and less than or equal to 13 cm. The total tab width TTw is greater than or equal to 7 cm and less than or equal to 8 cm. The reinforcing layer length Rl of the first reinforcing layer122cis greater than or equal to 4 cm and less than or equal to 6 cm.

It should be appreciated that the dimensions discussed herein are not limiting and other dimensions are contemplated as being within the scope of the present disclosure. For example, additional bridge lengths Bl are contemplated such as, for example, equal to or greater than 15 mm and less than or equal to 20 mm, equal to or greater than 10 mm and less than or equal to 15 mm, equal to or greater than 5 mm and less than or equal to 10 mm, and equal to or greater than 1 mm and less than or equal to 5 mm.

Referring now toFIG.7, an actuation system200may be provided for operating an artificial muscle such as, for example, the artificial muscle100, between the non-actuated state and the actuated state. The actuation system200may also be provided for operating the artificial muscles100or an artificial muscle assembly including a plurality of the artificial muscles100arranged in any suitable configuration such as, for example, in a stacked formation such that the expandable fluid region196of each artificial muscle100is axially positioned to overlap an adjacent expandable fluid region196of another artificial muscle100. Thus, the actuation system200may include a controller202, an operating device204, a power supply206, and a communication path208. The various components of the actuation system200will now be described.

The controller202includes a processor210and a non-transitory electronic memory212to which various components are communicatively coupled. In some embodiments, the processor210and the non-transitory electronic memory212and/or the other components are included within a single device. In other embodiments, the processor210and the non-transitory electronic memory212and/or the other components may be distributed among multiple devices that are communicatively coupled. The controller202includes non-transitory electronic memory212that stores a set of machine-readable instructions. The processor210executes the machine-readable instructions stored in the non-transitory electronic memory212. The non-transitory electronic memory212may comprise RAM, ROM, flash memories, hard drives, or any device capable of storing machine-readable instructions such that the machine-readable instructions can be accessed by the processor210. Accordingly, the actuation system200described herein may be implemented in any conventional computer programming language, as pre-programmed hardware elements, or as a combination of hardware and software components. The non-transitory electronic memory212may be implemented as one memory module or a plurality of memory modules.

In some embodiments, the non-transitory electronic memory212includes instructions for executing the functions of the actuation system200. The instructions may include instructions for operating the artificial muscle100based on a user command.

The processor210may be any device capable of executing machine-readable instructions. For example, the processor210may be an integrated circuit, a microchip, a computer, or any other computing device. The non-transitory electronic memory212and the processor210are coupled to the communication path208that provides signal interconnectivity between various components and/or modules of the actuation system200. Accordingly, the communication path208may communicatively couple any number of processors with one another, and allow the modules coupled to the communication path208to operate in a distributed computing environment. Specifically, each of the modules may operate as a node that may send and/or receive data. As used herein, the term “communicatively coupled” means that coupled components are capable of exchanging data signals with one another such as, for example, electrical signals via conductive medium, electromagnetic signals via air, optical signals via optical waveguides, and the like.

As schematically depicted inFIG.7, the communication path208communicatively couples the processor210and the non-transitory electronic memory212of the controller202with a plurality of other components of the actuation system200. For example, the actuation system200depicted inFIG.7includes the processor210and the non-transitory electronic memory212communicatively coupled with the operating device204and the power supply206.

The operating device204allows for a user to control operation of the artificial muscle100. In some embodiments, the operating device204may be a switch, toggle, button, or any combination of controls to provide user operation. As a non-limiting example, a user may actuate the artificial muscle100into the actuated state by activating controls of the operating device204to a first position. While in the first position, the artificial muscle100will remain in the actuated state. The user may switch the artificial muscle100into the non-actuated state by operating the controls of the operating device204out of the first position and into a second position.

The operating device204is coupled to the communication path208such that the communication path208communicatively couples the operating device204to other modules of the actuation system200. The operating device204may provide a user interface for receiving user instructions as to a specific operating configuration of the artificial muscle100. In addition, user instructions may include instructions to operate the artificial muscle100only at certain conditions.

The power supply206(e.g., battery) provides power to the artificial muscle100. In some embodiments, the power supply206is a rechargeable direct current power source. It is to be understood that the power supply206may be a single power supply or battery for providing power to the artificial muscle100. A power adapter (not shown) may be provided and electrically coupled via a wiring harness or the like for providing power to the artificial muscle100via the power supply206.

In some embodiments, the actuation system200also includes a display device214. The display device214is coupled to the communication path208such that the communication path208communicatively couples the display device214to other modules of the actuation system200. The display device214may output a notification in response to an actuation state of the artificial muscle100or indication of a change in the actuation state of the artificial muscle100. Moreover, the display device214may be a touchscreen that, in addition to providing optical information, detects the presence and location of a tactile input upon a surface of or adjacent to the display device214. Accordingly, the display device214may include the operating device204and receive mechanical input directly upon the optical output provided by the display device214.

In some embodiments, the actuation system200includes network interface hardware216for communicatively coupling the actuation system200to a portable device218via a network220. The portable device218may include, without limitation, a smartphone, a tablet, a personal media player, or any other electric device that includes wireless communication functionality. It is to be appreciated that, when provided, the portable device218may serve to provide user commands to the controller202, instead of the operating device204. As such, a user may be able to control or set a program for controlling the artificial muscle100without utilizing the controls of the operating device204. Thus, the artificial muscle100may be controlled remotely via the portable device218wirelessly communicating with the controller202via the network220.

From the above, it is to be appreciated that defined herein is an artificial muscle for inflating or deforming a surface of an object by selectively actuating the artificial muscle to raise and lower a region thereof. This provides a low profile inflation member that may operate on demand.

It is noted that the terms “substantially” and “about” may be utilized herein to represent the inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement, or other representation. These terms are also utilized herein to represent the degree by which a quantitative representation may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue.

While particular embodiments have been illustrated and described herein, it should be understood that various other changes and modifications may be made without departing from the scope of the claimed subject matter. Moreover, although various aspects of the claimed subject matter have been described herein, such aspects need not be utilized in combination. It is therefore intended that the appended claims cover all such changes and modifications that are within the scope of the claimed subject matter.