KR100845655B1 - Artificial muscle unit and artificial muscle module - Google Patents

Artificial muscle unit and artificial muscle module Download PDF

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Publication number
KR100845655B1
KR100845655B1 KR1020070043394A KR20070043394A KR100845655B1 KR 100845655 B1 KR100845655 B1 KR 100845655B1 KR 1020070043394 A KR1020070043394 A KR 1020070043394A KR 20070043394 A KR20070043394 A KR 20070043394A KR 100845655 B1 KR100845655 B1 KR 100845655B1
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South Korea
Prior art keywords
artificial muscle
tube
fluid
unit
net structure
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KR1020070043394A
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Korean (ko)
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양 원 김
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양 원 김
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS 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
    • A61F2/00Filters 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
    • A61F2/50Prostheses not implantable in the body
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0006Exoskeletons, i.e. resembling a human figure
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • B25J9/0012Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/108Bearings specially adapted therefor

Abstract

An artificial muscle unit and an artificial muscle module using the same are provided to realize an articulation action and delicate change of a skin tissue by supplying fluid using an expandable tube. An artificial muscle unit comprises a sealing tube(10) and a net structure(20) surrounding the sealing tube. An on-off block(30) having a ring shape and a valve(40) are installed in the sealing tube. The sealing tube is made from an elastic material and has at least one fluid inlet/outlet port(11) for supplying or exhausting fluid. The net structure is made from a non-elastic material. The net structure is formed with a plurality of lattice cells having polygonal shapes. Connection strands are provided at both ends of the net structure.

Description

Artificial muscle unit and artificial muscle module using the same {Artificial muscle unit and artificial muscle module}

1 is a schematic perspective view of the artificial muscle unit.

Figure 2 is a cross-sectional view showing the internal structure of the artificial muscle unit.

Figure 3 is a cross-sectional view showing a change state when the pressure fluid is supplied and expanded into the artificial muscle unit.

4 is a partial cutaway perspective view showing an example of an artificial muscle module.

Figure 5 is an exploded perspective view showing a state before coupling of a number of artificial muscle units constituting one artificial muscle module.

Figure 6 is a cross-sectional view of the artificial muscle module in the engaged state.

<Description of Major Symbols Used in Drawings>

10: sealed tube 11: fluid outlet

20: net structure 21: connecting strand

30: opening and closing block 40: valve body

41: Body 42: Arm

50: fixed band

100: artificial muscle bunch 200: introduction tube

300: integrated tube 310: branch tube

400: integrated net structure 410: connecting strand

420: auxiliary strand

The present invention relates to artificial muscles, and more particularly, to a technique for displaying a behavior similar to actual muscle function by using a fluid including air to be applicable to a robot.

Humans and animals can freely behave and display various expressions because they are organically connected to bones, muscles, nerves and brain.

Expression changes and joint movements occur as the muscle contracts and relaxes, and muscle contraction is known to be performed by sliding. The slide theory is that muscle contraction and relaxation are achieved by sliding the actin and myosin.

Furthermore, according to the research of the present inventors, it is reasonable that the source of muscle movement is muscle contraction due to sequential combined movement of actin and myosin head and expansion of myoplasmic reticulum caused by intramuscular fluid inflow. The present inventor will call this mechanism "myofiber mycelial reticulation theory", and the present invention has been developed based on this theory.

With the development of technology, robots are becoming more realistic and utilized in various fields, and artificial robots, including industrial robots, are also appearing. Recently, robots that can walk like humans and move limb joints freely have been released.

Meanwhile, with the development of the film industry, a model such as a dinosaur is produced and used, so that it is precisely manufactured to enable a minute expression change. However, in the existing robot, since various mechanical parts are implemented, numerous parts must be assembled, and the weight increases and there are many problems. In addition, there have been many difficulties in producing software for controlling a large number of motors and the like, and the processing power and processing speed of computers have to be increased.

The robot industry is in the spotlight as a new growth engine that can create high added value. In particular, intensive investment and R & D are underway in Japan and the United States. Therefore, in order to have a national competitiveness in the robot field, it is necessary to secure a technology that can be manufactured at low cost and expresses minute details similar to real life in the shape of each muscle in an environment like real life. .

In order to solve the problems as pointed out, the present invention aims to provide artificial muscles that can realize the movement of the joints or minute changes of the skin tissue by supplying a fluid using an expandable tube or the like so that it can be manufactured inexpensively. .

The present invention for achieving the object as described above, the sealing material and the elastic material is formed with one or more fluid outlet inlet; A net structure coupled to surround the outer surface of the sealing tube; A ring-shaped opening / closing block formed on the inner surface of the sealing tube and installed to have a plurality of separation distances therebetween; Having a body having an inclined surface in contact with the inner diameter surface of the opening and closing block and a plurality of arms protruding from one side end of the body, the arm is connected to the sealing tube inner diameter surface adjacent to the adjacent opening and closing block and the body It relates to an artificial muscle unit, characterized in that it comprises a; valve body installed in a state fitted to the opening and closing block.

Preferably, in the artificial muscle unit of the present invention, a fixed band is coupled to the outside of the mesh structure to form a narrow node corresponding to the point where the opening and closing block is formed. do. In other words, when the muscle contracts, the length of each eradication unit is shortened to show the maximum force at the optimal length. In the present invention, by providing a fixed band forming a node on the outer side of the net structure is provided a plurality of chambers corresponding to several eradication units and the fluid is moved to each chamber sequentially.

Preferably, in the artificial muscle unit of the present invention, the opening and closing block is made of an elastic material, the valve body is preferably made of an inelastic material.

Preferably, the opening and closing block in the artificial muscle unit of the present invention is suitable to form an obliquely inclined inner surface.

Preferably, the artificial muscle unit of the present invention may be different depending on the actual mobility of each muscle to be paired with the opening and closing direction of the plurality of opening and closing blocks to mate.

And the present invention is a bundle of any one of the artificial muscle unit mentioned, but the artificial muscle bunch consisting of connecting the fluid outlet in communication with each other; A plurality of inlet pipes connected to any one of the artificial muscle units to form a flow path through which fluid is supplied from the outside; An integration tube surrounding the artificial muscle bundle and having one or more branch tubes through which fluid flows in and out; It also relates to an artificial muscle module comprising a; integrated net structure coupled to surround the integrated tube.

Preferably, the artificial muscle module of the present invention is characterized in that both end strands of the net structure constituting the artificial muscle unit are exposed to the outside through the integration tube.

Preferably, in the present invention, the integrated net structure is suitable to be pulled out at an appropriate position to serve to connect the muscles and skin movement of the living body to mimic the polygonal grid cells forming the net.

In addition, the polygonal lattice cells forming the integrated net structure in the artificial muscle module of the present invention can implement various movements as in actual muscles by varying the size and shape of the lattice cells according to the shape and function of the living muscles to be imitated. This is preferred.

The artificial muscle module is preferably a fluid material is filled in the space between the integration tube and the plurality of artificial muscle units.

And it is more preferable that the artificial muscle module is made to go in and out of the fluid through the introduction pipe and the branch pipe to each other.

In the artificial muscle module, the auxiliary strand is preferably configured to have a plurality of side strands or a plurality of auxiliary strands connected to each other.

In addition, the closure tube in the artificial muscle unit is preferably shorter than the length of the net structure in a relaxed state.

The artificial muscle unit according to the present invention may be one part constituting the artificial muscle module, and may change a specific shape of the artificial muscle unit, etc. according to a site to be applied.

In addition, the artificial muscle unit and the artificial muscle module according to the present invention can be applied to various robots for industrial and experimental use, as well as technologies that can be applied to fields such as prostheses and prostheses for the disabled.

Furthermore, when the human body model (commonly referred to as "dummy") used in the collision test of the vehicle is tested, it is made of the material most similar to the human body. The effect on your body will be more accurate.

Hereinafter, a detailed description will be given of the present invention, and first, the artificial muscle unit will be described. Reference is made to the accompanying drawings to help understand the technical spirit of the present invention. However, the drawings are shown in one embodiment that embodies the present invention, the scope of the drawings itself is not limited.

The artificial muscle unit of the present invention includes a closed tube, a net structure, an opening / closing block, and a valve body as main components, FIG. 1 shows a schematic perspective view of the artificial muscle unit, and FIG. 2 shows an internal structure of the artificial muscle unit. It is a cross section showing. And Figure 3 corresponds to a cross-sectional view showing a change state when the fluid is supplied to expand the artificial muscle unit.

As shown, a net structure 20 is formed to surround the outer surface of the hermetic tube 10, and the opening / closing block 30 and the valve body 40 are installed inside the hermetic tube 10.

The hermetic tube 10 is made of an elastic material and can be expanded to have one or more fluid inlets 11. In addition, the shape of the closed tube 10 is not particularly limited and may be variously changed according to a portion to be used. In this embodiment, the shape is elongated, but both ends form a pointed shape. A fluid outlet 11 is provided for supplying and discharging the fluid, and the shape or structure of the fluid outlet is not particularly limited. That is, the fluid outlet 11 may be used, such as a connector commonly used in pneumatic devices.

The outer surface of the hermetic tube 10 is installed in a form surrounding the hermetic tube 10, the net structure 20 is formed in a net form is preferably to use an inelastic material. However, the unit strands constituting the net structure 20 may have some elasticity. The kind of unit strands is a problem that can be selectively used depending on the site where artificial muscle units are to be used.

In addition, the mesh-shaped net structure 20 forms a plurality of lattice cells, and the shape of the lattice cells is suitable to form a polygon, and in this example, the lattice cells form a hexagon as shown. In addition, it is preferable to have a connecting strand 21 extending at both ends of the net structure 20, the connecting strand 21 is connected to the net structure 20 and extends according to the actual muscle to be copied The number and length of connecting strands can vary.

The closed tube 10 is convexly expanded when fluid is supplied to the elastic body, whereas the net structure 20 surrounding the closed tube 10 is made of an inelastic material or is significantly elastic in comparison with the closed tube 10. It is made of a falling material to limit the degree of expansion of the closed tube (10). When the airtight tube 10 is expanded, the left and right lengths of the airtight tube are shortened, which corresponds to the contractile motion of the muscles. The hermetic tube 10 is not expanded indefinitely, the maximum degree of expansion is limited by the net structure (20).

And the length of the maximum relaxation (the fluid is not supplied) of the closed tube 10 and the net structure 20 can be set differently depending on the muscle to be imitated, the length of the closed tube than the length of the net structure It can be configured shortly. Of course, in some cases, it does not exclude the situation that the length of the closed tube is formed longer than the length of the net structure. As a specific example, the left and right lengths of the closed tube 10 may be about 60% as compared to the left and right lengths of the net structure 20. This may be determined in consideration of the movement characteristics of the muscle part to be achieved. The ratio is not limited to a specific ratio.

A plurality of opening and closing blocks 30 having a ring shape are installed on the inner surface of the sealing tube 10, and the opening and closing blocks 30 may be installed at regular intervals or may be installed at different intervals as necessary. In addition, the opening and closing block 30 is preferably formed of a material such as rubber having elasticity, and the inner diameter surface of the opening and closing block 30 is suitable to form an oblique inclined surface. On the other hand, the inner diameter inclined surface of the opening and closing block 30 may vary the inclination angle according to the actual mobility of the muscle portion to be copied, the inclined surface may be a curved shape instead of a straight shape. Moreover, the shape of the body 41 which comprises the valve body 40 mentioned later can also change suitably a dimension and a shape according to the change of the inner diameter inclined surface of the said opening-closing block 30. As shown in FIG. This makes it possible to control the flow rate and volume of the fluid.

Putting diversity in the shape of the opening and closing block 30 and the body 41 of the valve body 40 allows to implement the role of the muscles and muscles in the actual skeletal muscle to the situation to show the similar to the actual movement will be.

In addition, a valve body 40 is installed inside the hermetic tube 10, and the valve body 40 is present as many as the number of opening and closing blocks 30. The valve body 40 is composed of two parts, and consists of a body 41 and an arm 42. As shown, the body 41 has an oblique inclined surface and has a shape that can be in contact with the inner diameter surface of the opening and closing block 30, preferably as having a substantially conical shape as mentioned above The inclined surface of the body 41 may have a straight or curved shape. The body 41 is installed in a state of being fitted to the opening and closing block 30 and a plurality of arms 42 protrude long from one side end of the body 41 is closed tube in a position adjacent to the adjacent opening and closing block 30 (10) It is installed to connect with the inner diameter surface. In particular, the valve body 40 is preferably made of inelastic material, and in the state before the sealing tube 10 is inflated, the inner diameter of the opening and closing block 30 is in contact with the outer surface of the body 41 to achieve a state.

And the arrangement of the arms 42 can be configured symmetrically, as well as asymmetrical arrangements. In addition, it is also possible to control the flow of fluid by varying the length of the arm 42 according to the muscle part to be copied. On the other hand, the arm 42 is connected to the body 41 does not exclude to have some fluidity between each other, which depends on the movement tendency according to the application site of the specific artificial muscle unit.

In constituting the artificial muscle unit according to the present invention, it is more preferable that the fixing band 50 is combined to form a narrow node from the outside of the net structure 20. The nodes between the nodes correspond to one erasure unit in the actual muscle and constitute separate chambers. When the first chamber in which the fluid is supplied is expanded to reduce its length, the fluid flows to the adjacent chambers sequentially and expands.

More specifically, the fixing band 50 is installed at the same point as the opening / closing block 30 formed on the inner diameter surface of the sealing tube 10 so that the inner diameter of the sealing tube 10 is closed at the opening / closing block 30. Make sure the size is minimal. In addition, the fixing band 50 is preferably made of an inelastic material. Therefore, even when the sealing tube 10 is inflated, the fixing band 50 does not change in the diameter of the fixing band because the fixing band 50 is installed. Keep it. As shown in FIG. 3, the convex expansion is sequentially performed in an area between adjacent fixing bands.

In addition, in configuring the artificial muscle unit according to the present invention, a plurality of fluid outlets 11 may be formed at different positions, and the opening / closing block 30 and the valve body 40 installed inside the sealing tube 10 may be provided. The direction of installation can be the same or partially different. In the present embodiment, as shown in FIG. 2, one fluid outlet inlet 11 is provided, but the opening and closing block 30 and the valve body 40 are installed to form opposite directions to the left and right of the fluid outlet 11. Shows. In addition, the installation direction of the opening and closing block 30 and the valve body 40 can be different by dividing the section, and the installation directions of all the opening and closing block 30 and the valve body 40 can be formed in the same manner over the entire area. will be. This can be suitably changed according to the specific use including the site of use of the artificial muscle unit.

Next, the specific principle of operation of the artificial muscle unit consisting of the components as described above will be described.

When the fluid is supplied through the fluid outlet 11, the artificial muscle unit in the relaxed state is expanded by the fluid pressure. In the artificial muscle unit which was in the first relaxed state, the body 41 of the valve body 40 is in contact with the opening / closing block 30, and the first chamber C1 (neighboring opening / closing valve) through which fluid is first introduced. It means the space between the on-off valve, and when the fluid is filled in the individual space region is referred to as the first chamber, the second chamber, the second 'chamber, etc.), the sealed tube 10 is inflated and the net structure 20 ), The left and right lengths of the first chamber C1 are shortened. As the length is shortened by the expansion of the first chamber C1, the horizontal distance between the opening and closing blocks 30 attached to the inner surface of the sealing tube 10 is also shortened. At this time, since the position of the valve body 40 does not change significantly, the opening / closing block 30 that is initially blocked is opened and the fluid moves to the adjacent second chamber C2 and the second 'chamber C2'.

When the fluid injection amount is increased, the chamber is opened sequentially so that the total length of one artificial muscle unit is kept to a minimum and expanded state. The artificial muscle unit expanded by fluid injection corresponds to the case where muscle contraction occurs in the actual muscle. On the contrary, when the injected fluid is discharged, the artificial muscle unit returns to the initial state and shows that the total length is increased. This corresponds to the case where the muscles are relaxed.

The artificial muscle unit as described above can be utilized to control joint movements or fine movements of the skin by connecting to a skeleton such as a robot or a model or connecting to artificial skin tissue.

Next, the artificial muscle module manufactured using the above-described artificial muscle unit will be described.

4 is a partial cutaway perspective view showing an example of the artificial muscle module, it may be a specific application example of the artificial muscle unit in the form of spindle muscle. And Figure 5 corresponds to an exploded perspective view showing a state before coupling of a number of artificial muscle units that constitute one artificial muscle module.

Artificial muscle module according to the present invention is configured to include the artificial muscle bundle 100, the introduction tube 200, the integration tube 300 and the integrated net structure 400. The artificial muscle bunch 100 is made of a number of artificial muscle units (U) as mentioned, and makes a bundle. And the plurality of artificial muscle unit (U) is connected to each other in communication with each other is coupled to make the supply of fluid.

One artificial muscle unit (U) is provided with one or more fluid outlet 11 so that the fluid outlet 11 is connected to each other to enable the movement of the fluid.

Figure 6 shows a cross-sectional view of the artificial muscle module in a combined state, with a single artificial muscle unit in the center and arranged a plurality of artificial muscle units as a circle around the artificial muscle unit located in the center and each fluid Connect through the outlet.

On the other hand, the inlet pipe 200 is connected to at least one of the plurality of artificial muscle units (U) to form a flow path for supplying the fluid from the outside in order to supply the fluid from the outside to the artificial muscle bunch 100 (200) ) Is provided. In this embodiment, one inlet pipe 200 is connected to the artificial muscle unit U located at the center, and the fluid introduced through the inlet pipe 200 is connected to the other outlet fluid inlet 11. Distributed into muscle monomers.

An integration tube 300 is formed outside the artificial muscle bundle 100 so as to surround the artificial muscle bundle 100 forming a bundle, and the integration tube 300 is elastic and maintains a closed state. In addition, the integration tube 300 is provided with one or more branch pipes 310 to supply the fluid into the integration tube (300). In other words, the fluid supply to the integration tube 300 can be configured separately from the fluid supply to the plurality of artificial muscle units U wrapped in the integration tube 300.

Of course, it is possible to use the fluid supply only to the artificial muscle unit (U) without supplying the fluid to the integration tube 300, but in order to move closer to the actual muscles need to be supplied to the integration tube (300). There is.

On the other hand, an empty space is formed inside the integrated tube 300 surrounding the artificial muscle bunch 100, the space portion is preferably filled with a flexible resin having fluidity in the form of a gel with a fluid material (F). When the fluid material (F) as described above is inserted into the integrated tube 300, the empty space portion formed to expand when the artificial muscle module is expanded can be efficiently filled to maintain its shape stably, and the artificial muscle unit (U) It can also provide the advantage of acting as a lubricant in between.

More specifically, the fluid supply method through the introduction pipe 200 and the branch pipe 310 is as follows. When the fluid is supplied to the artificial muscle unit (U) through the introduction pipe (200) and the artificial muscle bundle (100) is expanded, a sudden volume change occurs so that the integrated tube through the branch pipe (310) to correct this Allow fluid to exit from 300. On the contrary, when the fluid is discharged from the artificial muscle unit (U) through the introduction pipe (200) and is in a relaxed state, the fluid is supplied to the integration tube (300) through the branch pipe (310) to correct the volume change due to rapid relaxation. Do it.

On the other hand, the outer surface of the integration tube 300, the integrated mesh structure 400 is coupled to surround the integrated tube 300, the integrated mesh structure 400 is a net structure constituting the artificial muscle unit (U) mentioned ( You can use materials similar to 20) and have the same net structure. In this example, the hexagonal lattice cells have a continuous shape, but the shape and size of the lattice cells can be changed in various ways. The shape or size of the grating cell may be partially different in one integrated net structure 400, and may be adjusted to have a suitable shape and size in consideration of the actual muscle motility to be imitated. Since the change structure of the integrated net structure 400 has a myriad of cases can provide infinite possibilities to mimic the complex and various actual muscle movements.

Both ends of the net structure 20 provided in each artificial muscle unit (U) wrapped inside the integration tube (300) forms one or more connecting strands (21) through the integration tube (300) outside It is preferable to configure so as to expose.

And both ends of the integrated net structure 400 is also formed to extend to one or a plurality of connecting strands (410).

More preferably, it is suitable to have one or more auxiliary strands 420 protruding and extending in a polygonal grid cell forming the integrated mesh structure 400. One or more auxiliary strands 420 may be formed per grid cell or may be formed only in a part of the grid cells. Furthermore, each of the auxiliary strands 420 is preferably formed with a plurality of side strands 425 branching in the same shape as a tree root, it may be configured to connect a plurality of auxiliary strands 420 into one.

Each of the connecting strands 21 and 410 extending from both ends of the net structure 20 and the integrated net structure 400 is connected to the skeleton or the skin tissue, and in particular, the auxiliary strand 420 needs a facial expression change such as facial muscle tissue. It is very useful to be able to implement microscopic changes by connecting to sites. In addition, when the side strands 425 or a plurality of auxiliary strands 420 are connected to each other, the parts such as changes in adjacent skin tissues moving in association with each other can be expressed. Furthermore, the auxiliary strand 420 may be formed of a different material from the integrated net structure 400, and may give elasticity to the auxiliary strand 420 according to the skin tissue or the degree of movement to be expressed and the elasticity. It can also be configured in various ways.

The overall operating principle of the artificial muscle module is as follows.

The fluid is supplied to the artificial muscle module, which was in the first relaxed state, through the introduction tube 200, and the fluid is filled and expanded in the artificial muscle unit U. As the number of artificial muscle units (U) is expanded, the integration tube 300 is also gradually expanded, the overall left and right length of the artificial muscle module is shortened. In addition, since the artificial muscle module is connected to a specific skeletal part or skin tissue, movement may occur in the joint area according to the expansion and change in the length of the artificial muscle module, and at the same time, minute changes may occur in the skin tissue.

The artificial muscle module can be manufactured in various sizes and shapes according to the site to be used, the number of the introduction tube 200 or the number and the specific internal structure of the artificial muscle unit (U) accommodated inside the integration tube 300 Accordingly, the operating characteristics can be variously controlled. In addition, by using the amount of fluid introduced or the amount of fluid to be discharged after the expansion and the discharge rate and the like can also implement a fine motion or facial expression change. And the artificial muscle module can implement a variety of complex movement in a combination of a plurality of series or parallel or parallel.

The artificial muscle module according to the present invention may be artificial muscle forming one minimum unit for joint movement or movement of skin tissue, and thus the shape of the corresponding muscle of a human or animal to actually mimic such artificial muscle module. It can be used in the production of humanoid robots or animal models that can be manufactured in the same size and attached to the skeleton or skin to enable precise control of the actual human or animal movement patterns.

Furthermore, since the artificial muscle module according to the present invention can be manufactured to obtain greater contractile force than human's actual biological muscle, there is a possibility that it can be used in fields such as prostheses or prostheses of patients with disabilities in the future.

Artificial muscle unit and artificial muscle module according to the present invention is a technology that is very likely to be used in the industry because it can be manufactured inexpensively and easy to apply to robots, such as low cost control.

In addition to the joint movement of the robot, such as microscopic changes in the skin tissue can be implemented, there is an effect that can be the basis for manufacturing a robot close to the human.

In addition, the present invention is likely to be variously utilized and applied as a basic technology of the robot industry that is gradually realized, and is expected to be applied to areas such as partial muscles or prostheses or prostheses in medical aspects.

Claims (13)

  1. An airtight tube that is elastic and has at least one fluid outlet;
    A net structure coupled to surround the outer surface of the sealing tube;
    A ring-shaped opening / closing block formed on the inner surface of the sealing tube and installed to have a plurality of separation distances therebetween;
    Having a body having an inclined surface in contact with the inner diameter surface of the opening and closing block and a plurality of arms protruding from one side end of the body, the arm is connected to the sealing tube inner diameter surface adjacent to the adjacent opening and closing block and the body The artificial muscle unit, characterized in that it comprises a; valve body installed in the state fitted to the opening and closing block.
  2. The method of claim 1,
    The artificial muscle unit is,
    An artificial muscle unit, characterized in that the fixing band is coupled to the outside of the net structure to form a narrow node corresponding to the point where the opening and closing block is formed.
  3. The method of claim 1,
    The opening and closing block is made of an elastic material, the valve body is an artificial muscle unit, characterized in that made of an inelastic material.
  4. The method of claim 1,
    The opening and closing block is,
    Artificial muscle unit, characterized in that to form an obliquely inclined inner surface.
  5. The method of claim 1,
    The artificial muscle unit is,
    The artificial muscle unit, characterized in that the installation direction of the plurality of paired opening and closing blocks and the valve body are all constant or partially different.
  6. Claims 1 to 5 of the artificial muscle unit of any one of a bundle, but the artificial muscle bunch consisting of connecting the fluid outlet in communication with each other;
    A plurality of inlet pipes connected to any one of the artificial muscle units to form a flow path through which fluid is supplied from the outside;
    An integration tube surrounding the artificial muscle bundle and having one or more branch tubes through which fluid flows in and out;
    An artificial muscle module comprising a; integrated net structure coupled to surround the integrated tube.
  7. The method of claim 6,
    The artificial muscle module,
    Both end strands of the net structure constituting the artificial muscle unit is exposed to the outside through the integration tube.
  8. The method of claim 7, wherein
    The integrated net structure,
    Artificial muscle module, characterized in that the auxiliary strands are connected in part to form a polygonal grid cells forming a net.
  9. The method of claim 8,
    The polygonal grid cell,
    Artificial muscle module, characterized in that the size and shape can be varied in accordance with the actual muscle area to be copied.
  10. The method of claim 8,
    The artificial muscle module,
    Artificial muscle module, characterized in that the fluid is filled in the space between the integration tube and the plurality of artificial muscle units.
  11. The method of claim 6,
    The artificial muscle module,
    Artificial muscle module, characterized in that the inlet and out of the fluid through the introduction pipe and the branch pipe.
  12. The method of claim 8,
    The auxiliary strands,
    Artificial muscle module, characterized in that having a plurality of side strands or a plurality of auxiliary strands are configured to be connected to each other.
  13. The method according to any one of claims 1 to 5,
    The sealed tube,
    An artificial muscle unit, characterized in that shorter than the length of the net structure in the relaxed state.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101563105B1 (en) * 2015-01-07 2015-10-26 성균관대학교산학협력단 Parallel type pneumatic artificial muscles actuator
KR101814676B1 (en) * 2016-07-25 2018-01-04 이동찬 Wearable soft exoskeleton apparatus

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