KR101868265B1 - Coolant circulating type artificial muscle - Google Patents

Coolant circulating type artificial muscle Download PDF

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Publication number
KR101868265B1
KR101868265B1 KR1020170010938A KR20170010938A KR101868265B1 KR 101868265 B1 KR101868265 B1 KR 101868265B1 KR 1020170010938 A KR1020170010938 A KR 1020170010938A KR 20170010938 A KR20170010938 A KR 20170010938A KR 101868265 B1 KR101868265 B1 KR 101868265B1
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KR
South Korea
Prior art keywords
unit
cooling liquid
power
artificial muscle
operation unit
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KR1020170010938A
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Korean (ko)
Inventor
최혁렬
송민근
조경호
정호상
양상율
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성균관대학교산학협력단
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Priority to KR1020170010938A priority Critical patent/KR101868265B1/en
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Publication of KR101868265B1 publication Critical patent/KR101868265B1/en

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    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
    • 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

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Transplantation (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Cardiology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Rehabilitation Therapy (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a circulation artificial muscle of a cooling fluid circulation type, and a cooling fluid circulation artificial muscle according to the present invention includes a hollow body portion having inlet and outlet at both ends thereof; An operating part accommodated in the body part and generating heat upon power application and contracting along the longitudinal direction; A driving unit provided at an end of the body and formed of a flexible material and extending and retracted in association with the operation unit while accommodating the end of the operation unit; A power applying unit for applying power to the operation unit; A supply part for supplying a coolant through the inlet so that the operation part is cooled; And a control unit controlling the supply unit and the power applying unit to adjust the elongation and contraction of the driving unit.
According to the present invention, there is provided a cooling fluid circulation type artificial muscle having an excellent response speed.

Description

{COOLANT CIRCULATING TYPE ARTIFICIAL MUSCLE}

TECHNICAL FIELD The present invention relates to an artificial muscle, and relates to an artificial muscle that rapidly contracts and restores.

Artificial muscle is a term collectively referred to as a device that mimics human muscles using artificial synthetic materials and uses them to perform mechanical actions.

Research on these artificial muscles has been actively carried out for the purpose of using in robots or replacing living muscles. On the other hand, the actuator is an essential part for the operation of the artificial muscle, and the shape memory alloy or the twisted and coiled soft actuator (TCA) is an actuator driven by heat. Since the two actuators are resistors, it is possible to joule-heat by flowing current.

However, it is possible to realize rapid shrinkage motion by rapidly heating the actuator by applying a high current instantaneously. However, there is a problem that it takes a long time to lower the temperature in order to relax the actuator shrunk by heating.

FIG. 1 schematically shows an example of a conventional artificial muscle.

In order to solve such a problem, as shown in Fig. 1, a spring 12 of a shape memory alloy material or a TCA is accommodated in a tube 11 of a stretchable material, and the actuator 12 is heated Artificial muscle 10 technology has been developed that simulates the muscles of the human body by stretching and expanding the tube 11 in a manner that cools the shape memory alloy.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a cooling fluid circulating artificial muscle having an excellent response speed.

According to the present invention, the above object can be accomplished by providing a vacuum cleaner comprising: a hollow body portion having an inlet and an outlet at both ends; An operating part accommodated in the body part and generating heat upon power application and contracting along the longitudinal direction; A driving unit provided at an end of the body and formed of a flexible material and extending and retracted in association with the operation unit while accommodating the end of the operation unit; A power applying unit for applying power to the operation unit; A supply part for supplying a coolant through the inlet so that the operation part is cooled; And a controller for controlling the elongation and contraction of the driving unit by controlling the supplying unit and the power applying unit.

The controller may further include a storage unit that stores the cooling liquid that flows into the body unit and is heat-exchanged with the operation unit and flows out through the outlet. The cooling liquid may be controlled to circulate the storage unit and the body unit.

The apparatus may further include a heat exchanger for cooling the cooling liquid discharged from the outlet.

In addition, the operation unit may be provided in the form of a coil to facilitate heat exchange with the cooling liquid.

In addition, the driving unit may be formed of a material having superior stretchability than the body part.

In addition, the operation unit may be formed of a polymer material coated on the outer surface so as to generate heat by an applied power source.

Further, the actuating part may be provided with a shape memory alloy.

According to the present invention, an artificial muscle having excellent responsiveness can be provided by cooling and expanding the operating part more quickly by cooling the operating part by using the cooling liquid.

Further, the body portion and the driving portion are separately manufactured, and the driving portion is made of a material having a better stretchability than that of the body portion, so that the driving portion is fully lifted by the force generated from the operating portion.

Further, by circulating the cooling liquid, it is possible to more easily control the cooling of the operating portion.

Further, by circulating the cooling liquid after forced cooling from the outside of the body portion, the operating portion can be cooled more rapidly, and thus a more excellent expansion / contraction response characteristic can be ensured.

1 schematically shows an example of a conventionally developed coolant circulation type artificial muscle,
FIG. 2 is a schematic perspective view of a circulating artificial muscle according to an embodiment of the present invention,
Fig. 3 is a view for explaining the principle of the shrinking operation of the driving part of the cooling liquid circulating artificial muscle of Fig. 2,
Fig. 4 is a view for explaining the principle of the expansion (restoration) operation of the driving part of the cooling liquid circulating artificial muscle of Fig. 2;

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG.

2 is a schematic perspective view of a circulating artificial muscle of a cooling fluid according to an embodiment of the present invention.

2, the coolant circulating artificial muscle 100 according to an embodiment of the present invention is excellent in response to expansion and contraction driving through a thermal control method, and includes a body 110, A power supply unit 140, a supply unit 150, a storage unit 160, a controller 170, and a heat exchanger (not shown).

The body portion 110 is provided in the form of a tube having a hollow to accommodate the operation portion 120 to be described later and to allow the cooling liquid to flow therein. An inlet port 111 and an outlet port 112 having a predetermined diameter are formed at both ends of the body portion 110 so that the cooling fluid flows into the inside of the body portion 110 and then flows out in a circulating manner .

The body portion 110 is preferably made of a rigid material so that the body portion 110 can maintain its shape even when the actuating portion 120 is expanded or contracted. That is, the material of the body portion 110 is formed of a material having lower elasticity than the operation portion 120.

In this embodiment, the tubular body portion 110 is made of a urethane material, but it is not limited thereto.

The actuating part 120 is expanded or contracted in a state of being accommodated in the body part 110 to directly control the volume of the driving part 130 described later.

The actuating part 120 has a coil spring structure and one end is mounted on the body part 110 and the other end is installed in the driving part 130 through the end part of the hollow body part 110 , And the driving unit 130 is controlled in cooperation with the operating unit 120.

In an embodiment of the present invention, the operation unit 120 is formed of a shape memory alloy (SMA) material and has a characteristic of generating heat and shrinking when power is applied thereto from a power applying unit 140 described later.

In addition, in another embodiment of the present invention, the operation unit 120 may be provided as a TCA made of a polymer fiber material coated with silver on the surface thereof. When power is applied from the power source application unit 140 And has a characteristic of heating and shrinking.

However, the actuating part 120 of the present invention may be a material which is heated and contracted when power is applied from the power applying part 140, and can be expanded into a circular shape when it is cooled (if necessary, And a material which shrinks during cooling) is not limited to the above-mentioned contents.

The driving unit 130 is provided at an end of the body 110, which is substantially expanded and contracted so that the behavior of the muscles of the human body can be simulated.

When the actuating part 120 is contracted, an end of the actuating part 120 is provided inside the driving part 130 and contracted to interlock with the actuating part 120. When the actuating part 120 expands, it cooperates and expands. Therefore, it is preferable that the driving part 130 is made of a flexible material so that it can be expanded and contracted. Specifically, the driving part 130 is preferably made of a material having superior stretchability than the body part 110 .

The power application unit 140 applies power to the operation unit 120 to generate heat and shrinkage of the operation unit 120 and is controlled by a control unit 170 described later.

The supplying unit 150 supplies the cooling liquid to the inside of the body 110 to cool the operating unit 120 in a heated state. The cooling liquid flows into the inlet port 111 from the supply port 150 at a relatively low temperature to cool the operation port 120 and then is discharged to the outside of the body 110 through the outlet port 112 at a high temperature, The coolant discharged from the body portion 110 is temporarily stored in the storage portion 160 described later.

The storage unit 160 is for temporarily storing the cooling liquid supplied into the body 110 by the supply unit 150. [

Although the supply unit 150 and the storage unit 160 are described as separate components, the supply unit 150 and the storage unit 160 may perform a single function as a single integrated component, .

The control unit 170 controls the expansion and contraction of the driving unit 130. The control unit 170 controls the power application unit 140 to retract the operation unit 120 and controls the supply unit 150 to expand the contracted operation unit 150 to restore the original shape .

That is, the controller 170 controls the length of the actuating part 120 by controlling the power applying part 140 and the supplying part 150, and the driving part is controlled by the length of the actuating part 120. The details of this control method will be described later.

The heat exchanger (not shown) is for forcibly cooling the cooling liquid discharged through the outlet 110 after the temperature rises by heat exchange with the operating part 120.

The heat exchanger may be disposed so that heat exchange with the storage unit 160 may occur or heat exchange may occur with the coolant circulation path outside the body 110.

Hereinafter, an operation method of the circulating artificial muscle 100 according to an embodiment of the present invention will be described with reference to the drawings.

Fig. 3 is a view for explaining the principle of the stretching operation of the driving part of the cooling liquid circulating artificial muscle of Fig. 2;

First, referring to FIG. 3, a description will be given of a case where the coolant circulating artificial muscle 100 of the present embodiment is to be contracted and driven. The control unit 170 controls the power application unit 140 to apply power to the operation unit 120 in order to expand and contract the drive unit 130. [

When the power is applied, the operation part 120 generates heat by itself, and the temperature of the operation part 120 rises itself, and the length of the operation part 120 is shortened due to the characteristics of the material. The driving unit 130, which is made of a material having relatively good stretchability, also contracts due to the contraction force of the actuating unit 120. In other words, although the contracting force of the actuating part 120 reaches both the body part 110 and the driving part 130, the driving part 130 having a relatively high elasticity shrinks, while the relatively shrinking body part maintains a circular shape .

Fig. 4 is a view for explaining the principle of the expansion (restoration) operation of the driving part of the cooling liquid circulating artificial muscle of Fig. 2;

Next, referring to Fig. 4, a description will be given of a case where the cooling fluid circulating artificial muscle 100 of the present embodiment is expanded and restored to a circular shape.

The control unit 170 controls the power application unit 140 to stop applying power to the operation unit 120 and controls the supply unit 150 to be controlled So that the cooling liquid in the low temperature state is supplied into the body 110. [

That is, the supply unit 150 introduces the low-temperature coolant into the body 110 through the inlet, and the coolant cools the high-temperature operating unit 120 heated by the self-heat through the heat exchange. The cooled operating part 120 expands and is restored to a circular shape, and the driving part 130 connected to the operating part 120 also expands.

Since the operation part 120 is provided in the form of a coil spring to secure a large heat exchange area with respect to the volume inside the body part 110, smooth heat exchange between the operation part 120 and the cooling liquid can occur.

Meanwhile, the cooling liquid, which has undergone the heat exchange in the body 110, is discharged to the outside of the body 110 through the outlet 112 at a relatively high temperature, and is temporarily stored in the storage unit 160. At this time, the cooling liquid that has left the outflow opening 112 is cooled again through heat exchange with the outside air, and cooling control is performed by a circulating flow system in which the inside of the body portion is reflowed through the inlet portion 111 via the storage portion 160 .

However, when the cooling liquid temporarily stored in the storage unit 160 is not cooled sufficiently below the predetermined temperature, a separate heat exchanger (not shown) may be operated to cool the cooling liquid in the storage unit 160. [ According to the forced cooling circulation system, the operation part 120 may be cooled more quickly.

Industrial Applicability According to the present invention, an artificial muscle having excellent reactivity and responsiveness as a whole can be provided, because the driving unit can be expanded and contracted more quickly by using a cooling control system through a cooling liquid.

In addition, cooling of the operating portion can be more easily controlled by circulating the cooling liquid.

The scope of the present invention is not limited to the above-described embodiments, but may be embodied in various forms of embodiments within the scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

110: body part 120:
130: driving part 140:
150: supply unit 160: storage unit
170:

Claims (7)

An operation unit which generates heat when power is applied and contracts along the longitudinal direction;
A body formed of a rigid material so as to be capable of maintaining a shape even when the operating portion is expanded or contracted, and having an inlet and an outlet at both ends thereof;
A driving unit provided at an end of the body and formed of a flexible material and extending and retracted in association with the operation unit while accommodating the end of the operation unit;
A power applying unit for applying power to the operation unit;
A supply part for supplying a cooling liquid to the inside of the body through the inlet so that the operation part is cooled;
And a control unit controlling the supply unit and the power applying unit to adjust the elongation and contraction of the driving unit. The method according to claim 1,
Further comprising: a storage unit for storing a cooling liquid that flows into the body and flows through the outlet through heat exchange with the operating unit,
Wherein the cooling liquid is controlled to circulate between the storage part and the body part. The method of claim 2,
And a heat exchanger for cooling the cooling liquid discharged from the outlet. The method according to any one of claims 1 to 3,
Wherein the actuating part is provided in a coil shape to facilitate heat exchange with the cooling liquid. The method of claim 4,
Wherein the driving part is made of a material having superior stretchability than the body part. The method of claim 5,
Wherein the actuating part is formed of a polymer material coated on the outer surface so as to generate heat by an applied power source. The method of claim 5,
Wherein the actuating part is provided with a shape memory alloy.
KR1020170010938A 2017-01-24 2017-01-24 Coolant circulating type artificial muscle KR101868265B1 (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109129452A (en) * 2018-11-15 2019-01-04 黑龙江磐桓科技有限公司 A kind of bionic muscle and manufacturing method based on skeletal muscle model
CN111716339A (en) * 2020-05-22 2020-09-29 吉林大学 Software robot module driven by improved flexible driver and manufacturing method
KR102252111B1 (en) * 2019-12-13 2021-05-17 한국기계연구원 Flexible actuator including air cooling device, wearable robot including the same, and control method therefor
US20210196555A1 (en) * 2019-12-31 2021-07-01 Korea Advanced Institute Of Science And Technology Wearable robot for assisting upper limb movement by using artificial muscle
CN113070896A (en) * 2021-04-13 2021-07-06 中北大学 Electric-heating driving type soft gripper simulating gecko toes and preparation method thereof
KR20210087264A (en) * 2020-01-02 2021-07-12 한국기계연구원 Flexible actuator assembly including an air cooling device through respiration, wearable robot including the same, and control method therefor
KR20210143704A (en) * 2019-12-31 2021-11-29 한국과학기술원 Wrist wearable robot using heat-shrink artificial muscle
CN114367960A (en) * 2021-12-08 2022-04-19 中国人民解放军军事科学院国防科技创新研究院 Multi-beam soft driver and space soft mechanical arm
KR20220063437A (en) * 2020-11-10 2022-05-17 한국과학기술원 Assistive wearable robot for upper limb movement using artificial muscle
KR20220159016A (en) 2021-05-25 2022-12-02 한국과학기술원 Copper nanowire grown shape-memory-alloy , artificial muscle including the same, and manufacturing thereof

Citations (2)

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Publication number Priority date Publication date Assignee Title
JP2005527324A (en) * 2002-05-31 2005-09-15 ニーダス メディカル， エルエルシー Apparatus and method for cooling a body region
KR20160013663A (en) * 2014-07-28 2016-02-05 한국기계연구원 Artificial Muscle Module

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005527324A (en) * 2002-05-31 2005-09-15 ニーダス メディカル， エルエルシー Apparatus and method for cooling a body region
KR20160013663A (en) * 2014-07-28 2016-02-05 한국기계연구원 Artificial Muscle Module

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109129452A (en) * 2018-11-15 2019-01-04 黑龙江磐桓科技有限公司 A kind of bionic muscle and manufacturing method based on skeletal muscle model
KR102252111B1 (en) * 2019-12-13 2021-05-17 한국기계연구원 Flexible actuator including air cooling device, wearable robot including the same, and control method therefor
US20210196555A1 (en) * 2019-12-31 2021-07-01 Korea Advanced Institute Of Science And Technology Wearable robot for assisting upper limb movement by using artificial muscle
KR20210143704A (en) * 2019-12-31 2021-11-29 한국과학기술원 Wrist wearable robot using heat-shrink artificial muscle
US12102585B2 (en) 2019-12-31 2024-10-01 Korea Advanced Institute Of Science And Technology Wearable robot for assisting upper limb movement by using artificial muscle
KR102417805B1 (en) * 2019-12-31 2022-07-06 한국과학기술원 Wrist wearable robot using heat-shrink artificial muscle
KR20210087264A (en) * 2020-01-02 2021-07-12 한국기계연구원 Flexible actuator assembly including an air cooling device through respiration, wearable robot including the same, and control method therefor
KR102276320B1 (en) 2020-01-02 2021-07-13 한국기계연구원 Flexible actuator assembly including an air cooling device through respiration, wearable robot including the same, and control method therefor
CN111716339A (en) * 2020-05-22 2020-09-29 吉林大学 Software robot module driven by improved flexible driver and manufacturing method
KR102515086B1 (en) * 2020-11-10 2023-03-29 한국과학기술원 Assistive wearable robot for upper limb movement using artificial muscle
KR20220063437A (en) * 2020-11-10 2022-05-17 한국과학기술원 Assistive wearable robot for upper limb movement using artificial muscle
CN113070896A (en) * 2021-04-13 2021-07-06 中北大学 Electric-heating driving type soft gripper simulating gecko toes and preparation method thereof
KR20220159016A (en) 2021-05-25 2022-12-02 한국과학기술원 Copper nanowire grown shape-memory-alloy , artificial muscle including the same, and manufacturing thereof
US11692279B2 (en) 2021-05-25 2023-07-04 Korea Advanced Institute Of Science And Technology Copper nanowire grown shape-memory-alloy, artificial muscle including the same, and manufacturing method thereof
CN114367960B (en) * 2021-12-08 2023-10-13 中国人民解放军军事科学院国防科技创新研究院 Multi-beam software driver and space software mechanical arm
CN114367960A (en) * 2021-12-08 2022-04-19 中国人民解放军军事科学院国防科技创新研究院 Multi-beam soft driver and space soft mechanical arm

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