EP2326467A1 - Muscle artificiel - Google Patents

Muscle artificiel

Info

Publication number
EP2326467A1
EP2326467A1 EP09775858A EP09775858A EP2326467A1 EP 2326467 A1 EP2326467 A1 EP 2326467A1 EP 09775858 A EP09775858 A EP 09775858A EP 09775858 A EP09775858 A EP 09775858A EP 2326467 A1 EP2326467 A1 EP 2326467A1
Authority
EP
European Patent Office
Prior art keywords
nano
artificial muscle
expansion unit
muscle according
cell
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP09775858A
Other languages
German (de)
English (en)
Inventor
Achim Gröger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102008045554A external-priority patent/DE102008045554A1/de
Application filed by Individual filed Critical Individual
Publication of EP2326467A1 publication Critical patent/EP2326467A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/08—Muscles; Tendons; Ligaments
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N11/00—Generators or motors not provided for elsewhere; Alleged perpetua mobilia obtained by electric or magnetic means
    • H02N11/006—Motors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/08—Muscles; Tendons; Ligaments
    • A61F2002/0894—Muscles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5066—Muscles

Definitions

  • the invention relates to an artificial muscle consisting of a large number of nano-motors (referred to below as nano-power-cell), the nano-motors being the smallest unit for the production of complex muscular structures for the generation of longitudinal motor forces.
  • Nano-Power-Cell muscular structures can be produced, whose characteristics correspond to human and animal muscles. Levers and rotations are produced by the course of the muscle structures.
  • the Nano Power Cell is in all
  • the force generating element can be used as a muscle prosthesis.
  • the described drive unit comprising at least one force-generating element, which has a rigid end portions closed internal cavity to limit its working volume and of which a portion fixedly connected to a first part of the mechanism and another portion tensile strength with another part of the mechanism is connected to a with a control device for varying the working volume of the force-generating element, wherein the force generating element has a radially elastic tubular jacket whose longitudinal expansion is limited by a support structure, so that under the action of the control device, the mecanicober vom- to volume ratio with change in length ( ⁇ L) of the force-generating element is variable.
  • the preferably elongate shell is connected at the end to rigid plates, the distance of which can be changed by raising or lowering the internal pressure, which results in either shortening or moving back into the original length of the force-generating element.
  • the individual elements are connected by fluid connection at one end of the force-generating element. Due to the small dimensions of the force-generating elements, the fluid connections are relatively thin, that is capillary-shaped, form, whereby a pressure change only very slowly can be done, which leads to the example of a muscle to chameleon-like movement speeds.
  • muscle groups can be formed with the round structures, they have drawbacks in performing rotational movements.
  • rotational movements for example, arm or foot rotation
  • round structures of the inflatable body are unsuitable because they distort each other in transversely arranged muscle at the moment of force generation while the required force within the muscle is consumed.
  • Movements such as the human skeleton, are basically based on pulling movements.
  • high performance active elements EAP "Electro - Active Polimer - Actuator" of various kinds or the nanotechnology of the natural muscle
  • liquid crystals of ferroelectric elastomers which allow rapid movements and are environmentally insensitive
  • a construction is required which creates a compressive effect in a pulling action
  • high performance nematic elastomers of various kinds or the nanotechnology of the natural muscle such as the nano-elastic liquid crystals of nematic elastomers, which allow rapid movements and are environmentally insensitive
  • a construction is required which generate a direct pulling action and make this micromechanically non-positively implementable.
  • the technical problem is based on a very low-power drive with high power output.
  • the design of the Nano Power Cell drive is such that it is externally constructed so that the drive is very soft and visually very similar to the muscle of humans and animals.
  • Task and objective is a biologically similar drive of muscular structures with low power consumption for the use of different technical and bionic applications.
  • the drive is made up of a large number of nano-motors (nano-power-cell).
  • the Nano-Power-Cell is the smallest unit for the production of complex muscular structures for the generation of longitudinal motor forces, which converts a pressure (polymers) into a tensile action or stabilizes a contraction rubber (elastomers), so that the Nano-Power-Cell is stabilized non-positively in the polymers.
  • Complex structures such as a muscle whose effect consists of serial and parallel nano-power cells, can be used for a variety of applications, such as in prosthetics, internal medicine, robotics, technology and much more. be used.
  • Based on the small nano power cell's are muscular structures whose properties correspond to human and animal muscles. Levers and rotations are produced by the course of the muscular structures.
  • the Nano-Power-Cell consists of a honeycomb-shaped jacket in which the spiral-shaped expansion unit is embedded.
  • the liquid crystal molecules are incorporated in polymer networks so as to exert a leverage effect upon application of an electric field.
  • the expansion unit consists of a winding in which liquid crystals of ferroelectric elastomers are incorporated.
  • the volume expansion By reducing the electric field, the volume expansion returns to its original state.
  • the radial expansion which takes place in the middle, leads to the shortening of the nano-power-cell, which is used as a force for the movement sequences.
  • other variants of the EAP family can be used.
  • a further possibility of forming the expansion unit is that it is designed as a contraction rubber consisting of at least one nematic elastomer winding which is formed with embedded liquid crystals.
  • the expansion unit designed as a contraction rubber is known as cylindrical hollow body formed, which is provided all around with at least one arranged along the lateral surface nematic elastomer winding.
  • a heating device or a laser light source is arranged within the cylindrical hollow body. This is connected via an electrical connection in each case with the mechanical couplings.
  • the expansion unit consists of at least one nematic elastomer winding, in which liquid crystals are incorporated, and a heating device or laser light source arranged in the interior of the elastomer winding.
  • a heating device or laser light source By applying a working voltage to the heater or the laser light source, the nematic elastomer windings are heated or activated in the laser, which leads to a shortening of the Nano Power Cell and thus to a radial circumferential extension in the middle region.
  • the working voltage is safe for humans and animals, ie less than 25 volts.
  • the length change returns to its original state.
  • the shortening of the Nano Power Cell leads to radial expansions, which take place in the middle of the Nano Power Cell and lead to the natural expansion of the muscle and at the same time is used to stabilize rotating forces for the movement processes.
  • the replica of the nanomotor muscle of living things, such as man, is the target of the expansion unit.
  • the invention will be explained in more detail. Show it
  • the artificial muscle according to the invention consists of nano-motors 1 (nano-power-cells), which are formed from symmetrical honeycomb symmetrical individual plates 4 designed as double triangular segments, which are movable in the middle, and an expansion unit 5 in the interior exhibit. The outer ends are welded.
  • each nano-power cell 1 consists of six double triangle segments (individual plates 4), which are arranged in honeycomb form the inner shell 2 and the expansion unit 5 surrounded ( Figure 1).
  • the space between the expansion unit 5 and the triangular segments 4 is filled with a filling compound 6, which leads to the immediate change of the outer shell 8, when the expansion unit 5 expands ( Figure 2 and 3).
  • the length of the Nano-Power-Cell 1 will be about four to six millimeters depending on the application, for example, muscular prosthetic structures.
  • the diameter depends on the number of windings of the plastic film, which forms the expansion unit 5 and is between three and four millimeters in unexpanded status.
  • the circumference increases in the central region of the nano-power cell 1.
  • This expansion creates a train on the outer ends of the triangle segments 4 by the set angle, which for shortening the nano-power cell. 1 leads.
  • the shortening creates the traction for the muscle.
  • the tensile force is indispensable for human and animal skeletal structures in order to realize motion sequences.
  • the expansion unit 5 ( Figures 4 and 5) consists of two helically wound, both sides conductive and easily stretchable plastic films.
  • the plastic films form the field plates (pole 1 and pole 2) 10, 11, between which the liquid crystals 9 are embedded.
  • the effect of the expansion unit 5 is enhanced by the incorporation of the liquid crystals 9 in the helically wound plastic film. This means that between the plastic films and between the winding, the expansion of the liquid crystals 9 takes place.
  • the expansion of the liquid crystals 9 is generated by applying a voltage which causes an electric field to act on the liquid crystals 9.
  • the liquid crystals 9 of the ferroelectric elastomers are rectified by the electric field according to the field strength, whereby the volume expansion 7 is formed by a lever effect of the molecules.
  • the liquid crystals 9 return to a disordered state.
  • the reaction time of the expansion unit 5 is in the millisecond range, therefore, a control unit must be used, which allows a smooth and adapted movement.
  • the supply of the nano-power cell 1 with the control voltage for the electric field is done via connector / coupling 3, which are attached to both ends of the cell.
  • the connectors 3 are connected via a flexible connection line with the expansion unit 5.
  • the ends of the nano-power cell 1 are used as connectors, which also serve as a coupling 3 between the individual nano-power cell's 1.
  • the artificial muscle according to the invention consists of the nano-motors 1 (nano-power-cell), which are formed of radially honeycomb symmetrical arranged as double triangular segments individual plates 4, which are movable in the middle, and inside an expansion unit. 5 exhibit. The outer ends are welded.
  • Each Nano Power Cell 1 consists of six double triangular segments (Individual plates 4) which are arranged honeycomb-shaped, which form the inner shell 2 and the expansion unit 5 surrounded.
  • the space between the expansion unit 5 and the triangle segments 4 provides the space required for the radial expansion of the cylindrical rubber consisting of nematic elastomers (Figure 6).
  • the length of the Nano-Power-Cell 1 will be about four to six millimeters depending on the application, for example, muscular prosthetic structures.
  • Nano-Power-Cell's 1 To bring the Nano-Power-Cell's 1 after expansion in its original state, this is surrounded by an easily compressible material, which also forms the insulator for the applied voltage.
  • a shortening of the nano-power cell 1 is produced by supplying heat or light. Due to the honeycomb structure, the radial circumference of the nano-power cell 1 is enlarged centrally.
  • the shortening creates the traction for the muscle.
  • the tensile force is indispensable for human and animal skeletal structures in order to realize motion sequences.
  • the expansion unit 5 is formed as a contraction rubber consisting of a nematic elastomer winding 13 with inclusions of liquid crystals.
  • the expansion unit 5 has a construction as a cylindrical hollow body. This is all around with at least one along the lateral surface extending nematic elastomeric winding 13 provided.
  • a heating device or laser light source 14 is arranged and connected by means of the electrical connections with the mechanical couplings 3.
  • the hollow body and carrier of the elastomers is positively connected to the outer coupling elements.
  • the effect of the expansion unit 5 is generated by the incorporation of the liquid crystals in the nematic elastomer winding 13.
  • the nematic elastomeric winding 13 By applying a voltage to the heater or laser light source 14, the nematic elastomeric winding 13 is heated or excited, whereby it contracts and a radial extent 12 of the outer shell is formed. By reducing the voltage at the heater or the laser light source 14, the nematic elastomer winding 13 returns to its original state. The nano-power cell 1 is stretched and thus reduces the radial extent 12.
  • the reaction time of the expansion unit 5 is in the 200 millisecond range, therefore, a control unit must be used, which allows a smooth and adapted movement.
  • the connectors 3 are connected to the expansion unit 5 via a flexible electrical connection 15.
  • the ends of the nano-power cell 1 are used as connectors, which also serve as a coupling 3 between the individual nano-power cell's 1.
  • the arrangement of several nano-power cells 1 to complex muscle packages can be implemented in any geometric shapes. It is always to be assumed from the fact that a muscle package can only pull. Each counteraction is to be made by a settled complementary muscle package.
  • control mechanism for all interacting muscle packages is to be fine-scaled accordingly.
  • the nano-motors 1 cause by applying a voltage a volume expansion 7. This causes an expansion of the muscle cell, thereby shortening the muscle cell (nano-power CeII 1) is formed.
  • a very small cell construction is implemented by the use of nano-motor technology.
  • the nano-motors 1 cause upon application of a voltage, a contraction of the elastomeric rubber (elastomer winding 13). This causes a shortening of the muscle cell, thereby resulting in a radial enlargement of the muscle cell (Nano Power Cell 1).
  • the expansion acts on the six diamond-shaped individual plates 4, which are arranged honeycomb-shaped.
  • the combination of the parallel and serial arrangement of the Nano-Power-Cell's 1 makes no physical difference to natural muscles. It is palpable that very similar muscle consistencies can be achieved.
  • the energy requirement for the artificial muscle which consists of a large number of nano-power cells 1, is at a peak power of about 500 watts. This order of magnitude is necessary to avoid the usual force developments, e.g. of man.
  • a fuel cell unit is used, which is available in very small sizes. The accommodation of this fuel cell is possible in the interior of artificial bones.
  • Heat development of the fuel cell is used for warming the artificial muscles to body temperature.
  • Transverse rotations can be implemented by the honeycomb-shaped outer surface, since in this case an inevitable mutual stabilization of the individual elements of the artificial muscle with one another is established and thus large transverse rotation forces can be realized. Due to the distribution of six diamond-shaped tension elements in a honeycomb structure high tensile forces, in particular by the tough behavior of the individual self-stabilizing diamonds, can be implemented.
  • Fast movements can be achieved within a range of 100 milliseconds, which would be very fast for activities of living beings. All movements are controlled so that slow and fast movements can be implemented.
  • the controls for controlling the cells are purely electronic. No mechanical assemblies, such as valves, are necessary for control. All movements are noiseless.
  • the voltages used are less than 25 volts and are harmless to living things such as humans and animals.
  • the processor-controlled computer units which are networked with each other, are moved into the interior of the large bones.
  • the software is used to control continuous motion sequences with self-learning algorithms.
  • This drive is important for bionic applications in order to produce body replacement parts of the latest generation.
  • the advantage of this drive is the high similarity of natural muscular drives of human and animal bodily functions. Using sophisticated control mechanisms,
  • Sensors consisting of hardware and software, the connection to the nervous system, drive energy from hydrogen fuel cells and advanced connections of natural bone parts with artificial materials for artificial bone construction.
  • the field of application is very broad for the artificial muscle. It can be used in prosthetics, internal medicine, robotics, as in general technical applications with longitudinal forces.

Abstract

L'invention concerne un muscle artificiel qui est constitué d'une pluralité de nano-moteurs (dénommés ci-après nano-cellules de puissance), les nano-moteurs étant la plus petite unité pour la fabrication de structures musculaires complexes pour la génération de forces motrices longitudinales. Le muscle artificiel selon l'invention est constitué des nano-moteurs (1) (nano-cellules de puissance) qui sont formés de plaques individuelles (4) symétriques, en forme de double segment triangulaire, disposées en nid d'abeilles, qui sont mobiles au milieu et présentent à l'intérieur une unité d'expansion (5).
EP09775858A 2008-09-03 2009-04-15 Muscle artificiel Withdrawn EP2326467A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102008045554A DE102008045554A1 (de) 2008-05-29 2008-09-03 Künstlicher Muskel
DE202009001086U DE202009001086U1 (de) 2009-01-29 2009-01-29 Künstlicher Muskel
PCT/DE2009/000519 WO2010025691A1 (fr) 2008-09-03 2009-04-15 Muscle artificiel

Publications (1)

Publication Number Publication Date
EP2326467A1 true EP2326467A1 (fr) 2011-06-01

Family

ID=40586310

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09775858A Withdrawn EP2326467A1 (fr) 2008-09-03 2009-04-15 Muscle artificiel

Country Status (4)

Country Link
US (1) US20110224792A1 (fr)
EP (1) EP2326467A1 (fr)
DE (1) DE202009001086U1 (fr)
WO (1) WO2010025691A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2948753B1 (fr) * 2009-07-28 2012-12-28 Thales Sa Dispositif a transfert thermique comprenant des particules en suspension dans un fluide caloporteur
US10028878B1 (en) * 2012-11-28 2018-07-24 Vecna Technologies, Inc. Body worn apparatus
US20180243110A1 (en) * 2017-02-27 2018-08-30 Intel Corporation Robotic apparatus with an actuator formed by fibers
CN107081748B (zh) * 2017-06-16 2023-06-16 洛阳理工学院 一种气体或液体机械肌肉群
CN107097215B (zh) * 2017-06-16 2023-04-11 洛阳理工学院 一种弹性机械肌肉群
US11611293B2 (en) * 2020-03-13 2023-03-21 Toyota Motor Engineering & Manufacturing North America, Inc. Artificial muscles having a reciprocating electrode stack

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3644481A1 (de) 1986-12-24 1988-07-07 Hans Halder Antriebseinrichtung fuer bewegungsmechanismen
US5250167A (en) 1992-06-22 1993-10-05 The United States Of America As Represented By The United States Department Of Energy Electrically controlled polymeric gel actuators
WO2000015157A1 (fr) * 1998-09-14 2000-03-23 Rutgers, The State University Of New Jersey Dispositifs prothetiques, orthetiques et autres dispositifs de readaptation actionnes par des materiaux intelligents
EP1212800B1 (fr) 1999-07-20 2007-12-12 Sri International Générateurs électroactifs polymériques
DE10210332A1 (de) * 2002-03-08 2003-10-02 Festo Ag & Co Kontraktionseinheit mit Positionssensoreinrichtung
ATE521128T1 (de) * 2002-03-18 2011-09-15 Stanford Res Inst Int Elektroaktive polymereinrichtungen für bewegliche fluide
DE50209239D1 (de) * 2002-10-17 2007-02-22 Ford Global Tech Llc Ventileinrichtung für ein Kraftfahrzeug
US20050020871A1 (en) * 2003-07-21 2005-01-27 Piergiorgio Tozzi Artificial contractile tissue
JP4250536B2 (ja) * 2004-01-16 2009-04-08 パナソニック株式会社 導電性高分子アクチュエータ
US7811297B2 (en) * 2005-12-10 2010-10-12 Teledyne Scientific & Imaging, Llc Actuable structures and methods of fabrication and use
US7777399B2 (en) * 2006-07-31 2010-08-17 Boston Scientific Scimed, Inc. Medical balloon incorporating electroactive polymer and methods of making and using the same
WO2008064689A2 (fr) * 2006-11-28 2008-06-05 University Of Tartu Nouvelles utilisations de matériaux polymériques électroactifs

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2010025691A1 *

Also Published As

Publication number Publication date
DE202009001086U1 (de) 2009-04-30
US20110224792A1 (en) 2011-09-15
WO2010025691A1 (fr) 2010-03-11

Similar Documents

Publication Publication Date Title
WO2010025691A1 (fr) Muscle artificiel
DE102009012626B4 (de) Linearführung mit Bremseinrichtung
EP2906174A1 (fr) Appareil de massage
EP2316141B1 (fr) Élément d'actionnement et son utilisation
DE20321645U1 (de) Zwischenwirbelimplantat
CN104254365A (zh) 柔性增强型电极组件和制造方法
EP2191805B1 (fr) Appareil de massage pour l'organ sexuel mâle
EP2775483A1 (fr) Matériau conducteur d'électricité et son utilisation comme électrode dans un composite d'élastomère diélectrique ou en tant que fibre extensible conductrice d'électricité
EP3292885A1 (fr) Système de conducteur d'électrode élastique et implant médical
WO2009121552A1 (fr) Composants en élastomère pouvant être précontraints à l'aide de moyens de pression et procédé pour leur fabrication
WO2016038031A1 (fr) Appareil de stimulation à changement de forme par alliage à mémoire de forme
EP2868345A1 (fr) Agencement électrique comprenant un élément de câble pouvant être implanté
EP3659406A1 (fr) Agencement d'électrodes pour un traitement par plasma diélectriquement entravé
EP2252473B1 (fr) Support de roue réglable
DE102008045554A1 (de) Künstlicher Muskel
DE102018218637B3 (de) Elektroaktive Polymeraktuatoreinrichtung
DE102006059537B3 (de) Verfahren und Vorrichtung zur Erzeugung einer apedalen translatorischen Bewegung
DE10028522A1 (de) Biodegradable Neuroelektrode
DE102016001414A1 (de) Anordnung und Verfahren zur veränderbaren Verformung von Handhabungsgeräten, Werkzeugen und anderen mechanischen Konstruktionen
WO2010037379A1 (fr) Muscle artificiel
DE10027447A1 (de) Fluidischer, peristaltischer Antrieb
EP3797813B1 (fr) Dispositif d'injection cellulaire, procédé de détermination d'un programme de commande pour un dispositif d'injection cellulaire, programme informatique et support de données lisible électroniquement
WO2015077899A1 (fr) Dispositif de progression dans la zone intérieure d'un tube
DE102018114019B4 (de) Vorrichtung zur elektrischen und mechanischen Stimulation von Gewebeproben
DE102006008315A1 (de) Miniaturisierte Transportsysteme aus einem Formgedächtnis-Polymer und Verfahren zur Herstellung

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA RS

17P Request for examination filed

Effective date: 20110312

DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20121101