KR20220019191A - Texitile actuator using fabric patterns - Google Patents

Abstract

A textile actuator is disclosed. The textile actuator according to the present invention comprises at least one textile made of at least one functional fiber. The textile is configured to be deformed by at least one functional fiber, which is patterned in at least one shape of a chain or a loop. Accordingly, unrestricted actuation of textile can be done through the shape deformation of a functional fiber by itself, without a need to add a mechanical element thereto.

Description

Textile Actuator {TEXITILE ACTUATOR USING FABRIC PATTERNS}

The present invention relates to a textile actuator, and more particularly, to a textile actuator capable of two-dimensional and three-dimensional driving by using the shape deformation of the textile itself patterned with functional fibers.

The drive system, which has been developed in the past, can be deformed only through mechanical drive elements. Therefore, it is difficult to apply the drive system to the human body in fields such as textiles, clothing, and medical care. In order to apply the driving system for the human body, a method of separately attaching or inserting a separate driving system capable of shape deformation to clothes or devices worn on the human body may be applied, but has a driving limit. In particular, in the case of the conventional drive system, as a mechanical drive element similar to a joint is essential, there is a limit to the deformation of the two-dimensional or three-dimensional shape.

For this reason, in recent years, research on various driving systems to improve the existing driving limits, such as generating pressure that exceeds the allowable limit of driving of the human body or limiting the range of motion when applied to the human body, is a trend that is continuously required. .

Republic of Korea Patent Publication No. 1357462 Japanese Laid-Open Patent Publication No. 207-170326

It is an object of the present invention to provide a textile actuator capable of two-dimensional and three-dimensional driving through the shape transformation of the textile patterned with functional fibers.

The textile actuator according to the present invention for achieving the above object includes at least one textile provided with at least one functional fiber capable of shape deformation, wherein the at least one functional fiber is a chain or a ring It is patterned into at least one shape of (Loop) and deformed.

In addition, the at least one functional fiber may be patterned with at least one of the chains and at least one of the rings respectively or simultaneously connected to the at least one chain.

In addition, in the at least one fiber, the chain may be provided in a two-dimensional or three-dimensional shape, and the textile may be driven by a two-dimensional or three-dimensional shape deformation.

In addition, the at least one fiber may be driven by torsion and bending deformation in the chain and the ring, respectively.

In addition, the at least one textile may be provided by crochet knitting in which the at least one fiber is patterned to have a chain and loop shape.

In addition, the at least one textile may be provided with an Afghan knitting pattern in which the at least one fiber has a chain, a first longitudinal loop, and a second transverse loop shape.

In addition, in the at least one textile, the at least one functional fiber may be connected such that one ring is arranged between a pair of chains.

In addition, the at least one functional fiber may be connected to the at least one textile so that the ring is pulled out once by hooking the ring to the starting chain, and then a loop is generated once more to be drawn out into the chain.

In addition, the at least one textile may be connected to the at least one functional fiber so that after the loop is pulled out from the starting chain, the loop is created at least twice and pulled out into the chain.

In addition, in the at least one textile, the at least one functional fiber may be connected to generate the ring by repeating it three or more times to draw it out into the chain.

In addition, the at least one functional fiber may be connected to the at least one textile so that the Afghan knitting is continuously arranged in a longitudinal direction or a transverse direction.

In addition, the at least one textile may be connected to the at least one functional fiber so as to form the ring by holding the chain in the longitudinal direction.

In addition, the at least one textile is provided with an Afghan knitting method in which the at least one functional fiber is patterned to have the shape of the chain, the first longitudinal loop and the second horizontal loop shape, wherein the Afghan knitting is performed in the vertical direction or The at least one functional fiber may be connected to each other to generate an Afghan knitted knit that is continuously arranged in the transverse direction and an Afghan knitted knit that makes the loop by grabbing the first loop in the adjacent longitudinal direction.

The textile actuator according to another preferred aspect of the present invention includes at least one textile provided with at least one functional fiber that is deformed in shape by itself, and the at least one functional fiber is patterned in a loop shape.

In addition, the at least one fiber is patterned to have a shape of a chain connected to the ring and the ring, respectively or simultaneously, and the chain is provided in a two-dimensional or three-dimensional shape, so that the textile is two-dimensional or three-dimensional. It can be driven by shape deformation.

Also, the at least one fiber may be driven by torsion and bending deformation in the chain and the ring, respectively.

In addition, the at least one textile may be prepared by patterning the at least one fiber in a Crochet or Afghan knitting method.

In addition, the at least one textile is a crochet single method, a crochet half-double method, a crochet double method, and a crochet double knitting the at least one functional fiber. It may be prepared by patterning in at least one of Crochet cluster method, Afghan plain method, Afghan purl method, and Afghan seed method.

According to the present invention having the above configuration, first, through the shape deformation of the functional fiber itself, two-dimensional and three-dimensional driving deformation of the textile patterned with the functional fiber is possible.

Second, it is possible to induce flexible driving of the textile itself prepared with functional fibers without a mechanical driving element or a separate attachment or insertion.

Third, it is possible to design various types of driving deformation through the deformation of the knitting method of the functional fiber, so it can be expected to expand the applicability applicable to various fields.

1 is a configuration diagram schematically showing a textile actuator in a preferred embodiment of the present invention.
FIG. 2 is a diagram schematically illustrating a first textile of the textile driver shown in FIG. 1 .
FIG. 3 is a diagram schematically illustrating a second textile of the textile driver shown in FIG. 1 .
FIG. 4 is an image schematically illustrating the driving deformation state of the first textile shown in FIG. 2 .
FIG. 5 is a diagram schematically illustrating a third textile of the textile driver shown in FIG. 1 .
6 is a diagram schematically illustrating various patterns of a crochet method of the textile driver shown in FIG. 1 .
FIG. 7 is a diagram schematically illustrating a fourth textile of the textile driver shown in FIG. 1 .
FIG. 8 is a diagram schematically illustrating a fifth textile of the textile driver shown in FIG. 1 .
FIG. 9 is a diagram schematically illustrating a sixth textile of the textile driver shown in FIG. 1 .
FIG. 10 is a diagram schematically illustrating a seventh textile of the textile driver shown in FIG. 1 .
11 is an image schematically illustrating the driving deformation state of the fourth to seventh textiles to which the crochet method shown in FIGS. 7 to 10 is applied.
FIG. 12 is a diagram schematically illustrating an eighth textile of the textile driver shown in FIG. 1 .
FIG. 13 is a diagram schematically illustrating a ninth textile of the textile driver shown in FIG. 1 .
FIG. 14 is a diagram schematically illustrating a tenth textile of the textile driver shown in FIG. 1 . And,
15 is an image schematically illustrating the driving deformation state of the eighth to tenth textiles to which the Afghan knitting method shown in FIGS. 12 to 14 is applied.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. However, the spirit of the present invention is not limited to such embodiments, and the spirit of the present invention may be differently proposed by adding, changing, and deleting components constituting the embodiment, but this is also included in the scope of the present invention. will become

Referring to FIG. 1 , a textile actuator 1 according to a preferred embodiment of the present invention includes at least one textile 10 patterned by at least one functional fiber 11 .

For reference, the textile driver 1 described in the present invention is exemplified as a driver applied to a wearable device. However, the present invention is not limited thereto, and the textile actuator 1 described in the present invention may include a robot field such as an exoskeleton robot (Soft exosuit) and a wearable robot, and various fields such as a healthcare field including textiles and clothing. Of course, it can be applied to

The textile 10 is provided by patterning at least one functional fiber 11 that can be deformed in shape by itself using a loop (L) as a basic shape. Here, in the present embodiment, in the textile 10, one functional fiber 11 constitutes the textile in the form of a chain (C) and/or a ring (L). In this way, the textile 10 is based on the ring (L), and by combining the ring (L) and the chain (C) in various forms and patterning it, a plurality of textiles 10 each having a plurality of patterns can be prepared. there is.

The plurality of textiles 10 each having a plurality of patterns is driven so that the functional fibers 11 are deformed into a specific shape in response to an external environment or by an external action applied to the functional fibers 11 . The textile 10 having a predetermined pattern is deformed and driven by the interaction of the stress caused by the driving of the functional fiber 11 . The driving operation of the textile 10 will be described later in more detail.

For reference, in this embodiment, one functional fiber 11 is illustrated as interconnected in the form of a chain (C) and/or a ring (L), but is not limited thereto. That is, it is natural that two or more functional fibers 11 are provided and a modified example constituting the textile 10 is also possible.

In addition, the functional fiber 11 constituting the textile 10 is provided with a functional material that is deformed into a predetermined shape according to an external action such as a response to an external environment such as temperature change or an electric signal applied from the outside. Here, the functional material constituting the functional fiber 11 may include a shape memory alloy, a piezoelectric element, an ionic polymer, and a metal composite or a conductive polymer that is deformed according to an external signal such as a temperature change or an external electrical signal. , but is not necessarily limited thereto.

For this reason, the textile 10 can be driven by shape deformation through detection of an external factor of the functional fiber 11 made of a functional material. That is, the functional fiber 11 itself is deformed in shape without a separate stimulus application means. On the other hand, the textile 10 is not limited to self-deformable by an external factor, and a modification in which the textile 10 is deformed by a preset signal regardless of an external factor is also possible. In addition, the textile 10 may be connected to a separate application means (not shown) to receive an external stimulus, and this modified embodiment is not limited.

For reference, although not shown in detail, the functional fiber 11 may be composed of a functional material and a covering material that covers the functional material to protect it.

In the textile 10 of the textile actuator 1 according to the present invention having the above configuration, the functional fiber 11 is patterned based on the chain (C) and the ring (L) as shown in FIGS. 2 to 5 .

First, as shown in FIGS. 2 and 3, the first and second chain patterns 110 based on the chain C, which is one of the basic elements of the Crochet knitting method of the functional fiber 11 ( 120) will be described.

For reference, the crochet knitting method uses a crochet needle with a hook shape on one side to make a knot-shaped loop with the functional fiber 11, and hangs the functional fiber 11 on the hook of the crochet needle to pull it out of the loop. (11) is patterned. At this time, the shape of the pattern may vary depending on the number of times the functional fiber 11 is caught on the hook and pulled out.

As shown in (a) of FIG. 2 , the first chain pattern 110 is patterned with a crochet pattern by extending one functional fiber 11 in the form of a lower chain (C), that is, an outer chain (C). The lower chain (C) of the functional fiber 11 is expressed in a simplified form as shown in Fig. 2 (b), and the knitting symbol is as shown in Fig. 2 (c). At this time, the first chain pattern 110 is connected such that a plurality of lower chains C are extended to each other, whereby the functional fibers 11 are patterned.

In Figure 3 (a), one functional fiber 11 is extended in the form of an upper chain (C), that is, an inner chain (C), and a second chain pattern 120 in which a crochet pattern is patterned is shown. As shown in FIG. 3 , the second chain pattern 120 in which the functional fiber 11 is patterned in the form of the upper chain (C) can be expressed in a simplified form as shown in FIG. 3 (b), and the knit symbol is shown in FIG. Same as (c) of 3 The second chain pattern 120 may also be connected such that a plurality of upper chains C extend to each other.

Meanwhile, the first and second chain patterns 110 and 120 shown in FIGS. 2 and 3 generate torsion in the chain (C). More specifically, the first chain pattern 110 patterned with the lower chain (C) as shown in FIG. It is torsionally deformed as in (b).

Referring to FIG. 5 , a ring pattern 130 is shown to explain the ring L, which is a basic element of the crochet pattern of the functional fiber 11 .

The ring pattern 130 is patterned so that the functional fiber 11 extends in the form of a ring (L) as shown in FIG. 5 (a). The ring (L)-shaped pattern of the functional fiber 11 may be expressed in a simplified shape as shown in FIG. 5(b), and the knitting symbol is as shown in FIG. For reference, the simplified shape of the ring L shown in FIG. 5B has a round head LH and a leg LL extending vertically downward from the head LH.

The ring (L) of the functional fiber 11 can be combined with the chain (C) of the functional fiber 11 as shown in FIG. 5 . At this time, the patterning shape of the functional fiber 11 is changed according to the shape and number of rings (L) of the functional fiber 11 coupled to the chain (C).

For reference, the ring (L) of the functional fiber 11 enhances the driving performance of the chain (C), and affects the physical property change and bending deformation of the functional fiber 11 tissue. In summary, the torsional deformation is generated in the chain (C) pattern of the functional fiber 11, and the bending deformation is generated in the ring (L), so that the textile 10 can be deformed and driven.

As described above, the functional fiber 11 is driven to deform two-dimensionally and three-dimensionally by having various combination patterns as shown in FIG. 6 based on the chain (C) and the ring (L).

More specifically, FIGS. 6 (a) and (b) are a pattern in which one ring (L) and one chain (C) are combined, and (c) to (e) of FIG. 6 are a pair of chains A pattern in which one or more rings (L) are bonded between (C) is schematically shown. Here, in Fig. 6 (c) to (e), the ring (L) is patterned in a pattern extending from one root.

6 (f) and (g) have a pattern in which the roots of the ring (L) connected by one functional fiber 11 extend from different rings (L), respectively. At this time, the number extending from the root of the ring (L) to each other ring (L) is not limited only to the illustrated example, and can be modified.

6 (h) to (k) shows a pattern in which a ring (L) is added in various types of chains (C).

For a circular single chain (C) as shown in (h) of Figure 6, a plurality of rings (L) in the circumferential direction of the chain (C) may be arranged to be spaced apart from each other, and as shown in (i) of Figure 6 A pattern in which a plurality of rings (L) are spaced apart in an overlapping state in the circumferential direction of the chain (C) with respect to the chain (C) is also possible in a pattern arranged in a plurality of bundles. Here, as shown in (i) of Figure 6, the number of rings (L) patterned in a bundle is variable.

In addition, as shown in FIGS. 6 (j) and (k), a plurality of rings (L) are spaced apart one by one in a chain (C) of a three-dimensional shape, or a plurality of rings (L) are arranged in a plurality of bundles so that they are overlapped and spaced apart pattern is also possible. At this time, as shown in (k) of Figure 6, the number of rings (L) patterned as a bundle in one three-dimensional chain (C) is not limited to the illustrated example, it is variable.

In Figure 6 (l), a pattern in which the functional fiber 11 extends only from the ring (L) to the ring (L) is also possible.

As described above, the functional fiber 11 may be patterned in various patterns based on the combination of the chain (C) and the ring (L). The textile 10 having such various patterns is twisted or bent in two or three dimensions, thereby generating a driving force.

7 schematically shows a first textile 140 having a chain (C) and ring (L) pattern as shown in FIG. 6( c ).

The first textile 140 shown in FIG. 7 is a crochet single method in which the functional fibers 11 are connected so that one ring (L) is arranged between a pair of chains (C), that is, a short Patterned by knitting. The first textile 140 patterned with such a short knitting is, as shown in FIG. ) to connect. The loop pattern 130 of such a short knitting pattern is simplified as shown in (b) of FIG. 7 and expressed by a knitting symbol as shown in (c) of FIG.

The first textile 140 thus prepared has a patterning shape as shown in (d) of FIG. 7, and is driven to be deformed as shown in (e) of FIG. 7 by a reaction to an external environment or an external action. That is, the first textile 140 is deformed into a form in which the functional fiber 11 is rolled inward in the diagonal direction, which is the bias direction of the wale and the weft, based on the torsional deformation of the chain C. is driven

FIG. 8 schematically shows a second textile 150 having a chain (C) and ring (L) pattern as shown in FIG. 6(d).

The second textile 150 shown in FIG. 8 is a crochet half-double knitting in which a loop (L) is hung on the starting chain (C) and pulled out once, and then a loop (L) is created once more and taken out with a chain (C). (Crochet half-double method), that is, a medium long knit pattern. This second textile 150 is a medium long knitting pattern by interconnecting the chain (C) and the ring (L) with one functional fiber 11 using one crochet needle (N), as shown in FIG. to pattern

For reference, the medium long knitting, compared to the short knitting shown in FIG. 7, increases the length by about 2 times or more to form a pattern having flexibility, and when driven by the twisted shape of the ring (L), wales and weps The functional fiber 11 is driven in the form of being rolled outward in the diagonal direction, which is the bias direction of the fabric.

Such a medium long knitting pattern is briefly expressed as shown in (b) of FIG. 8, and may be expressed as a knitting symbol as shown in (c) of FIG. Here, the second textile 150 having a medium long knitting pattern responds to an environment such as an external stimulus based on the deformation of the chain C like the first textile 140 having a short knitting pattern shown in FIG. 7 . This causes torsion.

FIG. 9 schematically shows a third textile 160 having a chain (C) and a ring (L) pattern as shown in FIG. 6(e). As shown in Fig. 9 (a), the third textile 160 uses one crochet needle (N) to hook the ring (L) to the starting chain (C), and then creates a ring (L) two more times to create a chain ( C) is patterned with a crochet double method, that is, a long knitting pattern. This third textile 160 is similar to the middle long knit patterning method shown in FIG. 8, but in a form in which the length of the leg (LL) part of the ring (L) is increased, and the ring (L) hung on the chain (C) ) differs in the number of

In FIG. 9(b) , a long knitting method such as the third textile 160 is briefly expressed, and may be expressed as a knitting symbol as shown in FIG. 9(c). The third textile 160 patterned in such a long knitting method is provided as shown in (d) of FIG. 9, and torsional deformation is generated as shown in (e) of FIG. 9 in response to an external environment or an external action. Here, the third textile 160 is deformed in a form in which the functional fibers 11 are rolled outward in the same form as the intermediate long knitting method shown in FIG. It is driven in a more flexible form compared to the second textile 150 shown in FIG.

10 schematically shows a fourth textile 170 . As shown in FIG. 10A , the fourth textile 170 is patterned in a bead-knitting, that is, a crochet cluster method. More specifically, the fourth textile 170 is a patterning method applied to the long knitting process shown in FIG. 9, which is a knitting method in which the loop (L) is repeatedly generated three or more times and pulled out as a chain (C), the fourth It provides an allowance that enables movement of the textile 170 . Such bead knitting can provide a convex type of textile result by creating a chain-shaped ring (L) in the middle, and can provide driving in the form of contraction in the wale direction rather than the bias direction during driving.

The fourth textile 170 to which bead knitting is applied is simplified as shown in Fig. 10 (b), and after being provided as shown in Fig. 10 (c), the deformation as shown in Fig. 10 (d) is generated in response to the external environment. . At this time, the fourth textile 170 is twisted in the chain (C) portion, and contracted in the ring (L) portion.

The first to fourth textiles 140, 150, 160, and 170 prepared in the above-described crochet method are summarized as shown in FIG. 11 . 10 (a) to (d), first to fourth textiles 140, 150, 160, and 170 are respectively shown, and these first to fourth textiles 140, 150, and 160 are shown. A shape deformed in response to the external environment or external action of 170 is also shown. As shown in FIG. 11 , it can be confirmed that the first to fourth textiles 140 , 150 , 160 , and 170 cause two-dimensional deformation such as torsion and contraction based on the chain (C).

12 to 15 , among the patterning methods of the functional fibers 11, the Afghan textiles 180, 190, and 200 to which the Afghan knitting method is applied will be described. Here, the Afghan textiles 180, 190, 200 are provided with a hook-shaped nose at one end, and a needle provided in the form of a pointed needle at the other end, that is, a needle (N) in which a crochet needle and a crochet needle are combined. ) is a knitting method that pattern textiles while pulling them out. At this time, the Afghan knitting method is a crochet knitting method when the loops (L) are pulled out one by one depending on the wale of the textile, and the Afghan knitting method is when the loops (L) are reciprocally removed along the wale. In other words, Afghan knitting is a knitting method that repeats two movements back and forth by mixing knitting using a large needle and crocheting using a crochet needle.

For reference, this Afghan knit is basically composed of a chain (C), a longitudinal loop (L1) and a transverse loop (L2).

The fifth textile 180 to which the Afghan knitting is applied will be described with reference to FIG. 12 . Here, the Afghan surface knitting is an Afghan plain method, and it starts with a single crochet knitting shown in FIG. 7, but when a wale is created, it is doubled in a way that the loop (L) is hung from the back of the textile and returned. It is manufactured in the same form as the textile of

Referring to (a) of FIG. 12 , the fifth textile 180 to which the Afghan knitting method is applied is a form in which a crochet knitting method and a knitting knitting method are used together, and has advantages of both crochet and knitted knitting. The Afghan knitting method composed of the chain (C), the first ring (L) and the second ring (L) can be briefly expressed as shown in FIG. 12 ( b ). On the other hand, Fig. 12 (c) briefly expresses the Afghan knitting that is continuously arranged in the vertical direction, and Fig. 12 (d) shows a simplified expression of the Afghan knitting that is continuously arranged in the horizontal direction.

The fifth textile 180 provided with such Afghan knitting may be patterned as shown in FIG. 12(e), and is deformed and driven as shown in FIG. 12(f) in response to an external environment or an external action. At this time, as shown in (f) of Figure 12, the chain (C) provided at the end of the fifth textile 180 is twisted, and the inner first and second rings (L1) and (L2) bend inward. occurs As a result, the fifth textile 180 undergoes a driving deformation in the form of bending in the weft direction of the textile during driving, that is, in a form in which both ends are rolled toward the center.

Referring to FIG. 13 , the sixth textile 190 patterned with the Afghan purl textile will be described. Here, the Afghan purl method is an Afghan purl method, which is similar to the Afghan purl method shown in FIG. 12, but is not a form in which two chains (C) are pulled up as shown in FIG. It is a form of making a ring (L) by grabbing a chain (C) located vertically next to it. The sixth textile 190 prepared as such an Afghan purl textile produces stripes in the wale direction, and is simplified as shown in FIG. 13(b) . For reference, as shown in (c) and (d) of FIG. 13 , the functional fiber 11 may be patterned so that the Afghan purl can be continuously disposed in the longitudinal and transverse directions.

The sixth textile 190 is patterned as shown in (e) of FIG. 13, and in response to an external environment or an external action, a driving deformation is generated in the form of bending in the weft direction as shown in (f) of FIG. 13 . At this time, twist occurs at the end of the sixth textile 190 by the chain (C), and the inner ring (L) is bent outwardly in the tissue. As a result, the sixth textile 190 has a driving deformation in which both ends are rolled toward the center in the opposite direction to the fifth textile 180 illustrated in FIG. 12(f) .

14 shows a seventh textile 200 patterned by Afghan in situ knitting, that is, Afghan seed method.

As shown in (a) of FIG. 14, the Afghan knit in place produces the Afghan knit and the purl shown in FIGS. 12 and 13 alternately, and the functional fiber 11 is formed alternately for each loop (L). ) is patterned. The seventh textile 200 is simplified as shown in FIG. 14 (b), and can be continuously disposed in the vertical and horizontal directions as shown in FIGS. 14 (c) and (d).

The seventh textile 200 is shown in FIG. 14(e), and the seventh textile 200 is driven as shown in FIG. 14(f) in response to an external environment or an external action. At this time, torsion occurs in the chains C provided at both ends of the seventh textile 200, and bending in the diagonal direction occurs in the first and second rings L1 and L2 inside. Accordingly, the seventh textile 200 is driven by being deformed in a form in which the functional fibers 11 are rolled outward in the diagonal direction, which is the bias direction of the wale and weft.

Referring to FIG. 15 , the driving states of the textiles of the Afghan knitting method described above with reference to FIGS. 12 to 14 , that is, the fifth to seventh textiles 180 , 190 , and 200 are schematically compared. In Fig. 15 (a), the fifth textile 180 patterned with Afghan knitting, Fig. 15 (b) shows the sixth textile 190 patterned with Afghan knitting, and Fig. 15 (c) shows the Afghan in situ A deformed shape of the seventh textile 200 patterned by knitting in response to an external environment and an external action is also shown. As shown in FIG. 15 , the fifth to seventh textiles 180 , 190 , and 200 are twisted and bent based on the chain (C), the first loop (L) and the second loop (L). It can be seen that the dimensional transformation is caused.

Meanwhile, although not shown in detail, as described above, according to the patterning shape of the functional fiber 11 to which the crochet and Afghan knitting methods are applied, it is possible to induce two-dimensional and three-dimensional deformation. That is, as shown in (j) and (k) of 6, it is also possible to provide a driving force through three-dimensional deformation by providing a chain (C) having a three-dimensional shape.

As described above, although described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that it can be done.

1: textile actuator 10: textile
11: Functional fiber C: Chain
L: collar

Claims (18)

It includes at least one textile provided with at least one functional fiber capable of shape deformation,
The textile actuator is a textile actuator in which the at least one functional fiber is patterned into at least one shape of a chain or a loop. According to claim 1,
wherein said at least one functional fiber is patterned with at least one said chain and at least one said ring connected to said at least one chain respectively or simultaneously. According to claim 1,
In the at least one functional fiber, the chain is provided in a two-dimensional or three-dimensional shape, and the textile is driven by a two-dimensional or three-dimensional shape deformation. According to claim 1,
The at least one functional fiber is a textile actuator that is driven by torsion and bending deformation, respectively, in the chain and the ring. According to claim 1,
The at least one textile is a textile actuator provided by knitting the at least one functional fiber with a crochet patterned with the chain and ring shapes. According to claim 1,
The at least one textile is a textile actuator provided with an Afghan knitting pattern in which the at least one functional fiber has the shape of the chain, a first longitudinal loop and a second transverse loop shape. According to claim 1,
The at least one textile actuator is a textile actuator in which the at least one functional fiber is connected such that one ring is arranged between a pair of chains. According to claim 1,
A textile actuator in which the at least one functional fiber is connected so that the at least one textile is pulled out once by hooking the loop to the starting chain, and then the at least one functional fiber is drawn out to the chain by creating a loop once more. According to claim 1,
A textile actuator in which the at least one functional fiber is connected so that the at least one textile generates the loop at least twice after the loop is pulled out from the starting chain and pulled out into the chain. The method of claim 1,
The at least one textile is a textile actuator in which the at least one functional fiber is connected so as to generate the loop by repeating it three or more times and withdraw it into the chain. 7. The method of claim 6,
The at least one textile is a textile actuator to which the at least one functional fiber is connected so that the Afghan knitting is continuously arranged in a longitudinal direction or a transverse direction. According to claim 1,
The at least one textile is a textile actuator to which the at least one functional fiber is connected so as to form the loop by grabbing the chain in the longitudinal direction. According to claim 1,
The at least one textile is provided with an Afghan knitting method in which the at least one functional fiber is patterned to have the shape of the chain, a first longitudinal loop and a second transverse loop shape,
A textile to which the at least one functional fiber is connected so that the Afghan knitting is continuously arranged in the longitudinal or transverse direction, and the Afghan knitting fabric that makes the loop by grabbing the first loop in the adjacent longitudinal direction is crossed actuator. It includes at least one textile provided with at least one functional fiber that is deformed in shape by itself,
The at least one functional fiber is a textile actuator that is patterned in a loop (Loop) shape. 15. The method of claim 14,
The at least one functional fiber is patterned to have a chain shape connected to the ring and the ring, respectively or at the same time,
A textile actuator in which the chain is provided in a two-dimensional or three-dimensional shape, and the textile is driven by a two-dimensional or three-dimensional shape deformation. 16. The method of claim 15,
The at least one functional fiber is a textile actuator that is driven by torsion and bending deformation, respectively, in the chain and the ring. 15. The method of claim 14,
The at least one textile is a textile actuator provided by patterning the at least one functional fiber in a Crochet knitting or Afghan knitting method. 15. The method of claim 14,
The at least one textile may be prepared by using the at least one functional fiber in a crochet single method, a crochet half-double method, a crochet double method, a crochet cluster A textile actuator provided by patterning in at least one of the Crochet cluster method, Afghan plain method, Afghan purl method, and Afghan seed method.

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