KR102418843B1 - Soft actuator and artificial muscle including the same - Google Patents

Abstract

a first bistable polymer layer; a second bistable polymer layer on the first bistable polymer layer; a first flexible electrode layer on the upper surface of the second bistable polymer layer; a second flexible electrode layer between the first bistable polymer layer and the second bistable polymer layer; a first light absorption heating layer positioned on the first flexible electrode layer and having a temperature increase when light is absorbed; a first voltage supply; Including, wherein the first voltage supply unit is provided with a soft actuator electrically connected to the first flexible electrode layer and the second flexible electrode layer.

Description

Soft actuator and artificial muscle including the same

The present invention relates to a soft actuator and an artificial muscle including the same, and more particularly, to a soft actuator capable of precise control and an artificial muscle including the same.

Artificial muscle refers to a material or device that is artificially created by imitation of an actual muscle and exhibits movement in response to stimuli such as voltage, current, temperature, and pressure. Artificial muscle technology starts with McKibben air muscle, which contracts and relaxes while supplying compressed air inside the tube, and various materials such as shape memory alloy (SMA), electroactive polymer (EAP), yarn structure polymer nano material composite, etc. and structure are being developed. Electroactive polymer is a material that moves when voltage is applied, and has various advantages such as fast response speed, large deformation, low power consumption, and excellent processability, as well as principles and characteristics most similar to those of muscles of the human body. Therefore, despite the limitation of low output, it is the most studied artificial muscle technology. The electroactive polymer can be divided into an ionic electroactive polymer (Ionic EAP) and a field activated electroactive polymer (Field activated EAP) according to the operation method. When a voltage is applied to the ionic polymer, bending deformation (bending) occurs due to the volume difference generated as ions move in the direction of the electrode having opposite charge. Electroactive polymers undergo electronic polarization by an applied electric field and are deformed by electrostatic force caused by electric charges induced in both electrodes. Among them, the dielectric elastomer is an artificial muscle material that is attracting the most attention for its very large amount of deformation and stress, fast response speed, durability, and excellent reproducibility compared to other electroactive polymers.

An object of the present invention is to provide a soft actuator capable of precise control and an artificial muscle including the same.

SUMMARY OF THE INVENTION An object of the present invention is to provide a soft actuator that is small in volume and slim and an artificial muscle including the same.

An object of the present invention is to provide a soft actuator capable of bending with a plurality of curvatures and an artificial muscle including the same.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, a soft actuator according to an embodiment of the present invention includes a first bistable polymer layer; a second bistable polymer layer on the first bistable polymer layer; a first flexible electrode layer on the upper surface of the second bistable polymer layer; a second flexible electrode layer between the first bistable polymer layer and the second bistable polymer layer; a first light absorption heating layer positioned on the first flexible electrode layer and having a temperature increase when light is absorbed; and a first voltage supply unit; Including, wherein the first voltage supply unit may be electrically connected to the first flexible electrode layer and the second flexible electrode layer.

In order to achieve the above object, in the soft actuator according to an embodiment of the present invention, the first light absorption heating layer may include a PEDOT-based material.

In order to achieve the above object, the soft actuator according to an embodiment of the present invention may further include a third flexible electrode layer on the lower surface of the first bistable polymer layer.

In order to achieve the above object, the soft actuator according to an embodiment of the present invention may further include a second light absorption heating layer coupled under the third flexible electrode layer.

In order to achieve the above object, the soft actuator according to an embodiment of the present invention further comprises a second voltage supply, wherein the second voltage supply is electrically connected to the second flexible electrode layer and the third flexible electrode layer. can

In order to achieve the above object, the soft actuator according to an embodiment of the present invention may further include a support structure coupled to an upper surface of the first light absorption heating layer and a side surface of the second bistable polymer layer. .

In order to achieve the above object, an artificial muscle according to an embodiment of the present invention includes a soft actuator; light source; and a control unit; Including, wherein the soft actuator comprises: a first bistable polymer layer; a second bistable polymer layer on the first bistable polymer layer; a first flexible electrode layer on the upper surface of the second bistable polymer layer; a second flexible electrode layer between the first bistable polymer layer and the second bistable polymer layer; a first light absorption heating layer positioned on the first flexible electrode layer and having a temperature increase when light is absorbed; a first voltage supply; and a support structure coupled to an upper surface of the first light absorption heating layer and a side surface of the second bistable polymer layer; including, wherein the first voltage supply unit is electrically connected to the first flexible electrode layer and the second flexible electrode layer, and the control unit may control the light source and the first voltage supply unit.

In order to achieve the above object, an artificial muscle according to an embodiment of the present invention includes a third flexible electrode layer on the lower surface of the first bistable polymer layer; and a second light absorption heating layer coupled under the third flexible electrode layer; may further include.

In order to achieve the above object, the artificial muscle according to an embodiment of the present invention further comprises a second voltage supply, wherein the second voltage supply is electrically connected to the second flexible electrode layer and the third flexible electrode layer. can

In order to achieve the above object, in the artificial muscle according to an embodiment of the present invention, each of the first light absorption heating layer and the second light absorption heating layer may include a PEDOT-based material.

In order to achieve the above object, in the artificial muscle according to an embodiment of the present invention, the light source irradiates light to a first light source that irradiates light to the first light absorption heating layer and the second light absorption heating layer It may include a second light source.

In order to achieve the above object, an artificial muscle according to an embodiment of the present invention includes a soft actuator; and a light source irradiating light to the soft actuator. Including, wherein the soft actuator comprises: a bistable polymer layer; a first flexible electrode layer on the upper surface of the bistable polymer layer; a second flexible electrode layer on the lower surface of the bistable polymer layer; a light absorption heating layer positioned on the first flexible electrode layer and raising a temperature when light is absorbed; and a voltage supply; Including, wherein the voltage supply unit is electrically connected to the first flexible electrode layer and the second flexible electrode layer, the light absorption heating layer is patterned, a portion of the first flexible electrode layer is between the patterned light absorption heating layer may be exposed.

In order to achieve the above object, in the artificial muscle according to an embodiment of the present invention, the light absorption heating layer may include a PEDOT-based material.

In order to achieve the above object, the artificial muscle according to an embodiment of the present invention further includes a support structure coupled to an upper surface of the light absorption heating layer, a side surface of the second bistable polymer layer, or a lower surface of the support layer. may include

Specific details of other embodiments are included in the detailed description and drawings.

According to the soft actuator and the artificial muscle including the same according to an exemplary embodiment of the present invention, precise control may be possible.

According to the soft actuator and the artificial muscle including the same according to an exemplary embodiment of the present invention, the volume may be small and slim.

According to the soft actuator and the artificial muscle including the same according to an exemplary embodiment of the present invention, it can be bent with a plurality of curvatures.

The effects of the present invention are not limited to the above-mentioned problems, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a cross-sectional view showing a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention.
2 is a flowchart illustrating a soft actuator and a method of using an artificial muscle including the same according to an exemplary embodiment of the present invention.
3 and 4 are cross-sectional views sequentially illustrating a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention.
5 is a cross-sectional view illustrating a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention.
6 is a cross-sectional view illustrating a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention.
7 is a cross-sectional view illustrating a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention.
8 is a cross-sectional view illustrating a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention.

In order to fully understand the configuration and effects of the technical idea of the present invention, preferred embodiments of the technical idea of the present invention will be described with reference to the accompanying drawings. However, the technical spirit of the present invention is not limited to the embodiments disclosed below, and may be implemented in various forms and various changes may be made. However, it is provided so that the disclosure of the technical idea of the present invention is complete through the description of the present embodiments, and to fully inform those of ordinary skill in the art to which the present invention belongs, the scope of the invention.

Parts indicated with like reference numerals throughout the specification indicate like elements. Embodiments described in this specification will be described with reference to a block diagram, a perspective view, and/or a cross-sectional view that is an ideal illustration of the technical idea of the present invention. In the drawings, the thickness of the regions is exaggerated for effective description of technical content. Accordingly, the regions illustrated in the drawings have a schematic nature, and the shapes of the illustrated regions in the drawings are intended to illustrate specific shapes of regions of the device and not to limit the scope of the invention. In various embodiments of the present specification, various terms are used to describe various elements, but these elements should not be limited by these terms. These terms are only used to distinguish one component from another. The embodiments described and illustrated herein also include complementary embodiments thereof.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, the terms 'comprises' and/or 'comprising' do not exclude the presence or addition of one or more other components.

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the technical idea of the present invention with reference to the accompanying drawings.

1 is a cross-sectional view showing a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention.

Hereinafter, D1 in FIG. 1 will be referred to as a first direction, D2 intersecting the first direction D1 will be referred to as a second direction, and D3 intersecting the first direction D1 and the second direction D2 will be referred to as a third direction. can

Referring to FIG. 1 , an artificial muscle M may be provided. The artificial muscle M may provide power to move the human body in place of a part of the muscle of the human body. In embodiments, the artificial muscle M may include a soft actuator A, a light source and a controller C, and the like.

The soft actuator (A) may have a function of moving the artificial muscle (M). However, the present invention is not limited thereto, and the soft actuator A may be used for other purposes. In embodiments, the soft actuator (A) is a first bistable polymer layer 13 , a second bistable polymer layer 11 , a first flexible electrode layer 31 , a second flexible electrode layer 33 , and a third flexible electrode layer 35 , a first light absorption heating layer 51 , a second light absorption heating layer 53 , a first voltage supply unit 91 , a second voltage supply unit 93 , and a support structure part 7 , etc. may be included. have.

The first bistable polymer layer 13 may extend in the second direction D2. The first bistable polymer layer 13 may include a material whose stiffness changes according to temperature. For example, the first bistable polymer layer 13 may include a bistable dielectric polymer material whose rigidity decreases as the temperature increases. In embodiments, the bistable dielectric polymer material may refer to a polymer material that can exist in a stable state in two temperature ranges. Therefore, the first bistable polymer layer 13 may exist while maintaining a certain rigidity at a certain temperature, and when the temperature rises and reaches another temperature range, the rigidity may change. That is, when the temperature of the first bistable polymer layer 13 increases, the rigidity of the first bistable polymer layer 13 may change.

The second bistable polymer layer 11 may be positioned on the first bistable polymer layer 13 . More specifically, the second bistable polymer layer 11 may be coupled to the first bistable polymer layer 13 via the second flexible electrode layer 33 . The second bistable polymer layer 11 may extend in the second direction D2. The second bistable polymer layer 11 may include a material whose stiffness changes according to temperature. For example, the second bistable polymer layer 11 may include a bistable dielectric polymer material whose rigidity decreases as the temperature increases.

The first flexible electrode layer 31 may be positioned on the second bistable polymer layer 11 . The first flexible electrode layer 31 may extend in the second direction D2 . The first flexible electrode layer 31 may include a flexible conductive material. Accordingly, the first flexible electrode layer 31 may be bent. The first flexible electrode layer 31 may be electrically connected to the first voltage supply unit 91 .

The second flexible electrode layer 33 may be positioned between the first bistable polymer layer 13 and the second bistable polymer layer 11 . The second flexible electrode layer 33 may extend in the second direction D2 . The second flexible electrode layer 33 may include a material substantially the same as or similar to that of the first flexible electrode layer 31 . Therefore, the second flexible electrode layer 33 may include a conductive material. The second flexible electrode layer 33 may be electrically connected to the first voltage supply unit 91 and/or the second voltage supply unit 93 .

The third flexible electrode layer 35 may be positioned on the lower surface of the first bistable polymer layer 13 . The third flexible electrode layer 35 may extend in the second direction D2 . The third flexible electrode layer 35 may include a material substantially the same as or similar to that of the first flexible electrode layer 31 . Therefore, the third flexible electrode layer 35 may include a conductive material. The third flexible electrode layer 35 may be electrically connected to the second voltage supply unit 93 .

The first light absorption heating layer 51 may be positioned on the first flexible electrode layer 31 . The first light absorption heating layer 51 may extend in the second direction D2 . The first light absorption heating layer 51 may absorb light to increase the temperature. That is, when light is irradiated to the first light absorption and heating layer 51 , the temperature of the first light absorption and heating layer 51 may increase. The first light absorption heating layer 51 may include a material having high absorption for light in the near-infrared wavelength band. For example, the first light absorption heating layer 51 may include a poly(3,4-ethylenedioxythiophene) (PEDOT)-based material. However, the present invention is not limited thereto.

The second light absorption heating layer 53 may be positioned under the third flexible electrode layer 35 . The second light absorption heating layer 53 may extend in the second direction D2 . The second light absorption heating layer 53 may absorb light to increase the temperature. That is, when light is irradiated to the second light absorption and heating layer 53 , the temperature of the second light absorption and heating layer 53 may increase. The second light absorption heating layer 53 may include a material having high absorption for light in the near-infrared wavelength band. For example, the second light absorption heating layer 53 may include a poly(3,4-ethylenedioxythiophene) (PEDOT)-based material. However, the present invention is not limited thereto.

The first voltage supply unit 91 may be electrically connected to the first flexible electrode layer 31 and the second flexible electrode layer 33 . The first voltage supply unit 91 may supply a voltage to the first flexible electrode layer 31 and the second flexible electrode layer 33 . The second bistable polymer layer 11 may be bent by the voltage provided by the first voltage supply unit 91 . Details on this will be described later.

The second voltage supply unit 93 may be electrically connected to the third flexible electrode layer 35 and the second flexible electrode layer 33 . The second voltage supply unit 93 may supply a voltage to the third flexible electrode layer 35 and the second flexible electrode layer 33 . The first bistable polymer layer 13 may be bent by the voltage provided by the second voltage supply unit 93 . Details on this will be described later.

The support structure 7 is a side surface of the first and second bistable polymer layers 13 and 11, the side surfaces of the first to third flexible electrode layers 31, 33, 35 and/or the first and second light absorption heating layers ( 51, 53) on the side and top surfaces. The support structure 7 may be coupled to an external configuration. The soft actuator (A) made of a flexible material by the support structure (7) can be connected to an external configuration.

The light source may irradiate light to the first light absorption heating layer 51 and/or the second light absorption heating layer 53 . In embodiments, a plurality of light sources may be provided. For example, the light source may include a first light source L1 and a second light source L2 . The first light source L1 may be spaced upward from the first light absorption heating layer 51 . The first light source L1 may radiate light toward the first light absorption and heating layer 51 . The second light source L2 may be spaced downward from the second light absorption heating layer 53 . The second light source L2 may radiate light toward the second light absorption and heating layer 53 . Although it has been described above that two light sources are provided, the present invention is not limited thereto. That is, one light source may be provided, or three or more light sources may be provided. In embodiments, a plurality of light sources may be spaced apart from each other in a horizontal direction. That is, the light sources may be disposed to be spaced apart from each other in the second direction D2 and/or the third direction D3 . Light sources spaced apart in the horizontal direction may irradiate light to different portions of the light absorption heating layer. Accordingly, at different points in the horizontal direction within one light absorption heating layer, the light absorption heating layer may be deformed into different shapes. That is, one light absorption heating layer may be bent with various curvatures. Details on this will be described later.

The controller C may control the light sources L1 and L2 and the first and second voltage supply units 91 and 93 . Under the control of the controller (C), the light sources (L1, L2) irradiate light to the first and second light absorption and heating layers (51, 53), or the first and second voltage supply units (91, 93) are first, A voltage may be supplied to the 2, 3 flexible electrode layers 31 , 33 , and 35 .

2 is a flowchart illustrating a soft actuator and a method of using an artificial muscle including the same according to an exemplary embodiment of the present invention.

Referring to FIG. 2 , an artificial muscle driving method S may be provided. The artificial muscle driving method (S) includes irradiating light to the light-absorbing heating layer (S1), lowering the rigidity of the bistable polymer layer (S2), applying a voltage to the flexible electrode layer (S3), and a soft actuator. may include deforming (S4), maintaining the soft actuator in a deformed shape (S5), and restoring the shape of the soft actuator by re-irradiating light (S6). Hereinafter, each step of the artificial muscle driving method S will be described in detail with reference to FIGS. 3 and 4 .

3 and 4 are cross-sectional views sequentially illustrating a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention. Hereinafter, the control unit of FIG. 1 may not be shown in FIGS. 3 and 4 for convenience.

Referring to FIGS. 3 and 2 , in the irradiating light to the light absorption heating layer ( S1 ), the first light source L1 is controlled by the control unit C (refer to FIG. 1 ) to the first light absorption heating layer 51 . ) may include irradiating light to. The first light source L1 may radiate light to the entire first light absorption and heating layer 51 while being spaced apart from the first light absorption and heating layer 51 in the first direction D1 . The first light absorption heating layer 51 may absorb at least a portion of the light irradiated from the first light source L1 . For example, the first light absorption heating layer 51 may absorb light in a near-infrared wavelength region. The temperature of the first light absorption heating layer 51 absorbing the light may increase. The first light absorption heating layer 51 having an increased temperature may radiate heat to the outside. Therefore, heat transfer may occur from the first light absorption heating layer 51 to the second bistable polymer layer 11 .

The lowering of the rigidity of the bistable polymer layer ( S2 ) may include transfer of heat from the first light absorption exothermic layer 51 to the second bistable polymer layer 11 . When heat transfer to the second bistable polymer layer 11 occurs, the temperature of the second bistable polymer layer 11 may increase. When the temperature of the second bistable polymer layer 11 rises above a certain level, at least some of the physical properties of the second bistable polymer layer 11 may change. For example, when the temperature of the second bistable polymer layer 11 rises above a certain level, the stiffness of the second bistable polymer layer 11 may change. More specifically, the rigidity of the second bistable polymer layer 11 may be lowered.

Applying a voltage to the flexible electrode layer (S3) is by the control of the control unit (C, see FIG. 1), the first voltage supply unit 91 is the first flexible electrode layer 31 and the second flexible electrode layer 33 voltage to may include adding When a voltage is applied to the first flexible electrode layer 31 and the second flexible electrode layer 33 , an electrostatic force may be generated. More specifically, the electrostatic force may be generated between the first flexible electrode layer 31 and the second flexible electrode layer 33 .

4 and 2 , the deformation of the soft actuator ( S4 ) may include deformation of the second bistable polymer layer 11 by electrostatic force. The rigidity of the second bistable polymer layer 11 at which the temperature is increased may be weakened. More specifically, the stiffness of the second bistable polymer layer 11 may be lower than that of the first bistable polymer layer 13 . Therefore, when a force is applied to the second bistable polymer layer 11 , the second bistable polymer layer 11 may be physically deformed. Since the rigidity of the first bistable polymer layer 13 bonded to the bottom of the second bistable polymer layer 11 is relatively high, the soft actuator A may be deformed into a convex shape as a whole. The support structure 7 may support or guide the deformation of the soft actuator A.

Although it has been described above that the soft actuator A is convexly upwardly deformed using the first light source L1, the present invention is not limited thereto. That is, when light is irradiated to the second light absorption heating layer 53 using the second light source L2 , the above-described process occurs in the opposite direction, so that the soft actuator A may be deformed convexly downward.

2 and 4 , maintaining the soft actuator in a deformed shape ( S5 ) may include restoring the original stiffness of the bistable polymer layer after the light irradiation by the light source is finished. More specifically, when light irradiation by the first light source L1 is finished, the temperature of the first light absorption heating layer 51 may decrease. When the temperature of the first light absorption heating layer 51 decreases, the temperature of the second bistable polymer layer 11 may also decrease. Accordingly, the rigidity of the second bistable polymer layer 11 may be restored to its original state. In embodiments, the rigidity of the second bistable polymer layer 11 may be increased to the original strength. When the rigidity of the second bistable polymer layer 11 is restored to its original state, the shape of the soft actuator A may be maintained in a bent state. For example, the shape of the soft actuator A may be fixed and maintained in a convex upward state.

Referring to FIG. 2 , restoring the shape of the soft actuator by re-irradiating light ( S6 ) may include re-irradiating light to the light absorption heating layer using a light source. More specifically, the light may be irradiated again toward the first light absorption heating layer 51 using the first light source L1 . Accordingly, the temperature of the first light absorption heating layer 51 may increase. As the temperature of the first light absorption heating layer 51 increases, the temperature of the second bistable polymer layer 11 may also increase. When the temperature of the second bistable polymer layer 11 increases, the rigidity of the second bistable polymer layer 11 may be lowered again. In this process, the voltage application to the first flexible electrode layer 31 and the second flexible electrode layer 33 by the first voltage supply unit 91 may not proceed. Therefore, electrostatic force may not be generated. The shape of the second bistable polymer layer 11 with reduced rigidity may return to its original state. That is, the shape of the second bistable polymer layer 11 may be restored to be flat again, and the shape of the soft actuator A may be restored to its original state.

According to the soft actuator and the artificial muscle including the same according to exemplary embodiments of the present invention, the shape of the soft actuator can be maintained in a deformed state. That is, since the rigidity of the bistable polymer layer changes with temperature, it may be easy to maintain the shape of the bistable polymer layer in a bent state using this.

According to the soft actuator and the artificial muscle including the same according to exemplary embodiments of the present invention, the bistable polymer layer can be deformed by using the characteristic that stiffness varies according to temperature. Thus, it may not be necessary to use complex structures to vary the stiffness. Accordingly, the overall structure of the soft actuator may be simplified and the volume may be reduced. In addition, since it is driven by a slim soft actuator, precise control may be possible.

5 is a cross-sectional view showing a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention.

Hereinafter, descriptions of contents substantially the same as or similar to those described with reference to FIGS. 1 to 4 may be omitted for convenience.

Referring to Figure 5, the artificial muscle (M') is a bistable polymer layer (12), a first flexible electrode layer (31'), a second flexible electrode layer (33'), a light absorption heating layer (5'), a support structure part (7) and a voltage supply unit 91 and the like.

The bistable polymer layer 12 may be similar to the bistable polymer layer described with reference to FIG. 1 and the like. The bistable polymer layer 12 may include substantially the same or similar material to the bistable polymer layer described with reference to FIG. 1 . The first flexible electrode layer 31 ′ may be positioned on the upper surface of the bistable polymer layer 12 . The second flexible electrode layer 33 ′ may be positioned on the lower surface of the bistable polymer layer 12 .

The light absorption heating layer 5 ′ may be positioned on the upper surface of the first flexible electrode layer 31 ′. The light absorption heating layer 5 ′ may include a material substantially the same as or similar to that of the light absorption heating layer described with reference to FIG. 1 . The light absorption heating layer 5 ′ may be patterned. That is, the light absorption heating layer 5 ′ may be patterned to provide patterning holes. The light absorption heating layer 5' may provide a plurality of light absorption heating layers 51', 53', 55', 57' that are horizontally spaced apart from each other with a patterning hole. A portion of the first flexible electrode layer 31 ′ may be exposed through the patterning hole. In other words, a portion of the first flexible electrode layer 31 ′ may be exposed by the patterned light absorption heating layer 5 ′.

The voltage supply unit 91 may be electrically connected to the first flexible electrode layer 31 ′ and the second flexible electrode layer 33 ′.

According to the soft actuator and the artificial muscle including the same according to the exemplary embodiments of the present invention, since the light absorbing heating layer is patterned, when light is irradiated by the light source, only the temperature of some areas may increase. That is, only the temperature of the bistable polymer layer under the place where the light absorption heating layer is disposed may increase. Accordingly, only a partial region of the bistable polymer layer may have a change in stiffness. That is, only a partial region of the bistable polymer layer may be bent. Accordingly, the soft actuator can be bent with multiple curvatures. Accordingly, it may be possible to more accurately simulate the muscle movement of the human body.

According to the soft actuator and the artificial muscle including the same according to the exemplary embodiments of the present invention, it is possible to make a soft actuator that has multiple curvatures and bends only through a simple manufacturing process of patterning the light absorption heating layer. That is, it may be possible to manufacture variously curved artificial muscles through a simple process.

6 is a cross-sectional view illustrating a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention.

Hereinafter, descriptions of contents substantially the same as or similar to those described with reference to FIGS. 1 to 5 may be omitted for convenience.

Referring to FIG. 6 , the artificial muscle M'' includes a support layer 15 , a first deformable layer 14 , a second deformable layer 16 , a first flexible electrode layer 32 , and a second flexible electrode layer 34 . ), the third flexible electrode layer 36 and the fourth flexible electrode layer 38 may include. The support layer 15 may include a material having a higher rigidity than that of the first deformable layer 14 and the second deformable layer 16 . With the support layer 15 interposed therebetween, the first deformable layer 14 and the second deformable layer 16 may face each other. The first deformable layer 14 and the second deformable layer 16 may include a dielectric elastic polymer. The dielectric elastic polymer can be prepared by mixing a prepolymer and a crosslinker. By changing the composition ratio (Crosslinker/Prepolymer, C/P) of the two materials, the stiffness of the dielectric elastic polymer can be controlled. The first flexible electrode layer 32 , the second flexible electrode layer 34 , the third flexible electrode layer 36 , and the fourth flexible electrode layer 38 are the support layer 15 , the first deformable layer 14 and the second deformable layer. It can be coupled to the lower upper / lower surface between (16). When a voltage is applied to the first flexible electrode layer 32, the second flexible electrode layer 34, the third flexible electrode layer 36 and the fourth flexible electrode layer 38, the soft actuator (A'') is convex upward by electrostatic force. It can be curved convexly downward, or curved downward convexly.

7 is a cross-sectional view illustrating a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention.

Hereinafter, descriptions of contents substantially the same as or similar to those described with reference to FIGS. 1 to 6 may be omitted for convenience.

Referring to FIG. 7 , unlike that described with reference to FIG. 6 , the support layer 2 ′ may include a lower support 21 ′ and a plurality of division supports 231 ′, 233 ′, and 235 ′. When a voltage is applied to the first flexible electrode layer 31'' and the second flexible electrode layer 33' by the voltage supply unit 91, the soft actuator A''' may be bent to various curvatures.

8 is a cross-sectional view illustrating a soft actuator and an artificial muscle including the same according to an exemplary embodiment of the present invention.

Hereinafter, descriptions of contents substantially the same as or similar to those described with reference to FIGS. 1 to 7 may be omitted for convenience.

Referring to FIG. 8 , the artificial muscle M'''' is different from that described with reference to FIG. 7 , the support layer 2'' includes the central support 21'', the upper division support 231'', 233 '', 235'') and lower division supports (232'', 235'', 236''). When a voltage is applied to the first flexible electrode layer 31''' and the second flexible electrode layer 33''' by the first voltage supply unit 91, the soft actuator A'''' is convexly curved upward. can get When a voltage is applied to the third flexible electrode layer 35''' and the fourth flexible electrode layer 37''' by the second voltage supply unit 93, the soft actuator A'''' is convex down can be bent

As mentioned above, although embodiments of the present invention have been described with reference to the accompanying drawings, those of ordinary skill in the art to which the present invention pertains can implement the present invention in other specific forms without changing its technical spirit or essential features. You will understand that there is Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

M: artificial muscle
A: soft actuator
11: second bistable polymer layer
13: first bistable polymer layer
31: first flexible electrode layer
33: second flexible electrode layer
35: third flexible electrode layer
51: first light absorption heating layer
53: second light absorption heating layer
L1: first light source
L2: second light source
C: control
7: Support structure
91: first voltage supply unit
93: second voltage supply unit

Claims (14)

a first bistable polymer layer;
a second bistable polymer layer on the first bistable polymer layer;
a first flexible electrode layer on the upper surface of the second bistable polymer layer;
a second flexible electrode layer between the first bistable polymer layer and the second bistable polymer layer;
a first light absorption heating layer positioned on the first flexible electrode layer and having a temperature increase when light is absorbed; and
a first voltage supply; including,
The first voltage supply unit is a soft actuator electrically connected to the first flexible electrode layer and the second flexible electrode layer.
The method of claim 1,
The first light absorption heating layer is a soft actuator comprising a PEDOT-based material.
The method of claim 1,
A soft actuator further comprising a third flexible electrode layer on the lower surface of the first bistable polymer layer.
4. The method of claim 3,
A soft actuator further comprising a second light absorption heating layer coupled under the third flexible electrode layer.
4. The method of claim 3,
Further comprising a second voltage supply,
The second voltage supply unit is a soft actuator electrically connected to the second flexible electrode layer and the third flexible electrode layer.
The method of claim 1,
The soft actuator further comprising a support structure coupled to an upper surface of the first light absorption heating layer and a side surface of the second bistable polymer layer.
soft actuator;
light source; and
control unit; including,
The soft actuator comprises:
a first bistable polymer layer;
a second bistable polymer layer on the first bistable polymer layer;
a first flexible electrode layer on the upper surface of the second bistable polymer layer;
a second flexible electrode layer between the first bistable polymer layer and the second bistable polymer layer;
a first light absorption heating layer positioned on the first flexible electrode layer and having a temperature increase when light is absorbed;
a first voltage supply; and
a support structure coupled to an upper surface of the first light absorption heating layer and a side surface of the second bistable polymer layer; including,
The first voltage supply unit is electrically connected to the first flexible electrode layer and the second flexible electrode layer,
The control unit is an artificial muscle that controls the light source and the first voltage supply unit.
8. The method of claim 7,
a third flexible electrode layer on the lower surface of the first bistable polymer layer; and
a second light absorption heating layer coupled under the third flexible electrode layer; Artificial muscles further comprising a.
9. The method of claim 8,
Further comprising a second voltage supply,
The second voltage supply unit is an artificial muscle electrically connected to the second flexible electrode layer and the third flexible electrode layer.
9. The method of claim 8,
Each of the first light absorption heating layer and the second light absorption heating layer is an artificial muscle comprising a PEDOT-based material.
9. The method of claim 8,
The light source includes a first light source for irradiating light to the first light absorption heating layer and a second light source for irradiating light to the second light absorption heating layer.
soft actuator; and
a light source irradiating light to the soft actuator; including,
The soft actuator comprises:
bistable polymer layer;
a first flexible electrode layer on the upper surface of the bistable polymer layer;
a second flexible electrode layer on the lower surface of the bistable polymer layer;
a light absorption heating layer positioned on the first flexible electrode layer and raising a temperature when light is absorbed; and
voltage supply; including,
The voltage supply unit is electrically connected to the first flexible electrode layer and the second flexible electrode layer,
The light absorption heating layer is patterned, and a portion of the first flexible electrode layer is exposed between the patterned light absorption heating layer.
13. The method of claim 12,
The light-absorbing heating layer is an artificial muscle containing a PEDOT-based material.
13. The method of claim 12,
The artificial muscle further comprising a support structure coupled to the upper surface of the light absorption heating layer or the side surface of the bistable polymer layer.

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