Patent ID: 7948151

Claim:
An artificial neuromuscular unit (ANMU) comprising: an electroactive polymer (EAP) actuator layer; an EAP logic layer coupled to the actuator layer; an EAP energy layer coupled to the logic layer such that the logic layer is interposed between the energy layer and the actuator layer, wherein the logic layer is configured to control energy transfer between the energy layer and the actuator layer; a sensor element operatively coupled to the actuator layer and the logic layer, wherein the sensor element is configured to communicate deflections of the actuator layer to the logic layer; wherein the energy layer comprises an energy storage component electrically coupled to the logic layer such that the logic layer is configured to gate energy to and from the energy storage component and the actuator layer; and wherein the energy layer further comprises two energy buses and wherein the sensor element is laterally interposed between the two energy buses and vertically interposed between the logic layer and the energy storage component.