CN116079700A - Artificial muscle module with body feedback function - Google Patents
Artificial muscle module with body feedback function Download PDFInfo
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- CN116079700A CN116079700A CN202310136714.4A CN202310136714A CN116079700A CN 116079700 A CN116079700 A CN 116079700A CN 202310136714 A CN202310136714 A CN 202310136714A CN 116079700 A CN116079700 A CN 116079700A
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 113
- 230000009471 action Effects 0.000 claims abstract description 25
- 229910052751 metal Inorganic materials 0.000 claims description 21
- 239000002184 metal Substances 0.000 claims description 21
- CSCPPACGZOOCGX-UHFFFAOYSA-N Acetone Chemical compound CC(C)=O CSCPPACGZOOCGX-UHFFFAOYSA-N 0.000 claims description 18
- 238000007789 sealing Methods 0.000 claims description 17
- 239000007788 liquid Substances 0.000 claims description 12
- 230000006698 induction Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 230000001953 sensory effect Effects 0.000 claims description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims 2
- 239000000741 silica gel Substances 0.000 claims 2
- 229910002027 silica gel Inorganic materials 0.000 claims 2
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 6
- 230000001105 regulatory effect Effects 0.000 description 6
- 229910001338 liquidmetal Inorganic materials 0.000 description 5
- 229920001296 polysiloxane Polymers 0.000 description 5
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 description 2
- 238000001035 drying Methods 0.000 description 2
- 229920001746 electroactive polymer Polymers 0.000 description 2
- 229910052733 gallium Inorganic materials 0.000 description 2
- 229910052738 indium Inorganic materials 0.000 description 2
- APFVFJFRJDLVQX-UHFFFAOYSA-N indium atom Chemical compound [In] APFVFJFRJDLVQX-UHFFFAOYSA-N 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
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- 150000002739 metals Chemical class 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000000663 muscle cell Anatomy 0.000 description 1
- 230000000272 proprioceptive effect Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention discloses an artificial muscle module with a body feedback function, which comprises a feedback sensing unit, a muscle driving unit, a control unit and an artificial muscle unit, wherein the muscle driving unit receives a driving instruction transmitted by a control model of the control unit, so that the muscle driving unit drives an artificial muscle bundle of the artificial muscle unit to perform driving actions matched with the driving instruction. According to the artificial muscle module with the body feedback function, the feedback sensing unit is embedded and installed in the artificial muscle unit, so that the muscle driving unit drives the artificial muscle unit to act, and the feedback sensing unit feeds back generated deformation data to the control unit, so that the driving degree of the current artificial muscle is obtained, the artificial muscle bundle can be driven to act in a driving mode matched with a target, and the artificial muscle module has the advantages of being intelligent, integrated, stable in structure and the like.
Description
Technical Field
The invention belongs to the technical field of artificial muscles, and particularly relates to an artificial muscle module with a body feedback function.
Background
For driving of artificial muscles, it is often necessary to feed back controlled parameters of the robot in real time, and in the existing scheme, an encoder is used, but the encoder and a driver (TCA executor) encoder device of the artificial muscles are large and are not easy to be directly connected to the robot, and in the other scheme, an external camera is used, so that the action degree of the robot is known through visual recognition, but the device is complex and high in cost, and the practical feasibility is low.
Accordingly, the above problems are further improved.
Disclosure of Invention
The invention mainly aims to provide an artificial muscle module with a body feedback function, which embeds and installs a feedback sensing unit in an artificial muscle unit, so that when a muscle driving unit drives the artificial muscle unit to act, the feedback sensing unit feeds back generated deformation data to a control unit, thereby obtaining the driving degree of the current artificial muscle, and the artificial muscle bundle can be driven to act in a driving mode matched with a target, and the artificial muscle module has the advantages of intelligence, integration, stable structure and the like.
In order to achieve the above object, the present invention provides an artificial muscle module having a proprioceptive feedback function, comprising a feedback sensing unit, a muscle driving unit, a control unit and an artificial muscle unit, wherein:
the muscle driving unit receives driving instructions transmitted by the control model of the control unit, so that the muscle driving unit drives artificial muscle bundles (preferably electroactive polymers) of the artificial muscle unit to perform driving actions matched with the driving instructions;
the feedback sensing unit is embedded in the artificial muscle bundle and is used for generating deformation and detecting deformation data of the feedback sensing unit by the control unit when the artificial muscle bundle makes driving action, the driving degree of the muscle driving unit is obtained after processing, and the driving degree is fed back to the control model, so that the control model adaptively adjusts driving instructions transmitted to the muscle driving unit, the artificial muscle bundle is enabled to make driving action matched with a target (for example, an artificial arm formed by the artificial muscle unit, when the target is grabbed, the feedback of the feedback sensing unit can learn that the target can be touched and grabbed when the artificial muscle bundle reaches a proper matched driving action amplitude, the muscle driving unit can be stopped to continue driving the grabbing force of the artificial muscle unit to damage the target or feed back when the deformation limit of the feedback sensing unit is reached, the feedback sensing unit and the artificial muscle unit are protected from being excessively deformed to damage, and when the same target is grabbed next time, the control unit directly outputs the driving instructions matched with the target (for example, when the artificial muscle unit grabs the target is grabbed), the driving instructions can be automatically output, and the driving instructions can be controlled by the control unit, and the driving mechanism can be driven by the driving mechanism at the most appropriate speed.
As a further preferable technical solution of the above technical solution, the feedback sensing unit includes a base layer, a micro channel, and an inductive (liquid) metal, a first connector, and a second connector, the base layer includes a first base layer and a second base layer, wherein:
the first base layer is in sealing connection with the second base layer, the micro channel is formed between the first base layer and the second base layer, the sensing metal is filled in the micro channel, the first connector is fixedly arranged at one end of the base layer in a sealing manner, and the second connector is fixedly arranged at the other end of the base layer in a sealing manner;
when the artificial muscle bundles perform driving actions, the first connector and the second connector are influenced by the driving actions to cause deformation of the base layer connected to the middle (including stretching or retracting, the first connector and the second connector can be arranged at two ends of the artificial muscle bundles, when the artificial muscle bundles are driven to bend and stretch, the base layer is stretched) and cause corresponding deformation of the micro-channels, so that the micro-channels are liquid at normal temperature (the advantage of liquid metal is that the upper induction limit is high, the flexible metal can be stretched, but can be broken up to a certain threshold value, and the induction metal (preferably composed of 80% gallium and 20% indium) which cannot be used by the liquid metal) flows due to the deformation of the micro-channels, and further the length between the first connector and the second connector is changed;
the first connector is externally connected with a first wire and the first wire is connected with one end of the micro-channel, the second connector is externally connected with a second wire and the second wire is connected with the other end of the micro-channel, and the first wire and a plurality of second wires are connected with the control unit, so that when the length of the sensing metal changes, the control unit obtains the deformation degree (the resistance data between the metals can reflect the deformation degree) of the feedback sensing unit, and further obtains the driving degree of the muscle driving unit for driving the artificial muscle unit.
As a further preferable technical solution of the above technical solution, the manufacturing process of the feedback sensing unit is specifically implemented as the following steps:
step S1: applying liquid silicone gel to a set area of a mold by an applicator and curing the gel in an oven at a first temperature (50 ℃ -70 ℃) for a first time (20-30 minutes) to form a first base layer;
step S2: printing a microchannel pattern (preferably made of ABS material) by a 3D printer and placing the microchannel pattern on one side of the first base layer, then applying liquid silicone gel to the side of the first base layer on which the microchannel pattern is placed (to form a second base layer) by an applicator, and placing in an oven (50-70 ℃) for a second time (1 hour) at a second temperature, thereby forming a base layer with the microchannel pattern;
step S3: cutting both ends of the base layer so that both sides of the micro channel pattern between the first and second base layers are exposed, and immersing the cut base layer in an acetone solution so that the micro channel pattern is dissolved in the acetone solution, thereby forming micro channels between the first and second base layers, (after taking out the base layer), injecting the acetone solution into the micro channels by means of an injector to remove the residual micro channel pattern (and drying for 2 hours);
step S4: and the first connector is fixedly arranged at one end of the base layer in a sealing way, induction metal is injected into the micro-channel at the other end of the base layer through a syringe, and then the second connector is fixedly arranged at the other end of the base layer in a sealing way, and is externally connected with a first lead wire and is externally connected with a second lead wire, so that a feedback sensing unit is formed.
As a further preferable aspect of the above technical solution, the artificial muscle unit further includes an execution end mounted at one end of the artificial muscle bundle, the execution end being configured to contact a target object to thereby complete a driving action matched with the driving instruction, wherein:
the executing end is provided with a sensor (including a pressure sensor and the like), the sensor obtains sensing data (including pressure and the like) when contacting with a target object and feeds back the sensing data to a control model of the control unit, so that the control model is combined with deformation data of the feedback sensing unit and then combined with the sensing data, and driving instructions transmitted to the muscle driving unit are adaptively adjusted, so that the artificial muscle bundles perform driving actions matched with the target object (as an example, the artificial muscle bundles of the finger can be enabled to quickly touch the target object when the finger grabs the target object by combining with the deformation data of the feedback sensing unit, but the force for grabbing the target object is not limited enough, the target object can be damaged due to overlarge grabbing amplitude or the target object cannot be grabbed due to overlarge amplitude, and after secondary feedback is performed by combining with the sensor, the proper force of the current target object can be known, and the target object can not be damaged when the target object is grabbed.
As a further preferable technical solution of the above technical solution, the feedback sensing unit is provided with a plurality of micro channels and the first connector and the second connector are each provided with an accuracy adjustment switch, the number of micro channels communicating between the first wire and the second wire is changed by changing the level of the accuracy adjustment switch, so as to change the accuracy corresponding to the deformation data of the feedback sensing unit, wherein:
the first connector and the second connector are respectively provided with poles the same as the number of the micro-channels and are positioned at two ends of the micro-channels, and the precision regulating switches of the first connector and the second connector are regulated simultaneously, so that the grades of the two precision regulating switches are the same, the number of the poles connected by the first wire is the same as the number of the poles connected by the second wire, and the number and the sequence of the micro-channels connected by the first wire and the second wire are the same (preferably, for feedback with no strict requirement on precision, the first wire and the second wire can be connected with two micro-channels, one micro-channel still can continue to work when the other micro-channel fails, for feedback with strict requirement on precision, the first wire and the second wire are simultaneously connected with a plurality of micro-channels, the lengths of the micro-channels are simultaneously changed, so that the built-in sensing metal is simultaneously changed, the comprehensive data change is large, and when the micro-channels change the same length, the data changed by three micro-channels are changed by the aid of the micro-channels are more sensitive to the detection unit in the detection of the data change in the large-channel detection unit.
Drawings
Fig. 1 is a schematic diagram of an artificial muscle module with a body feedback function according to the present invention.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
In a preferred embodiment of the invention, the person skilled in the art shall note that artificial muscle bundles and the like to which the invention relates may be regarded as prior art.
Preferred embodiments.
The invention discloses an artificial muscle module with a body feedback function, which has a body sensory feedback function and comprises a feedback sensing unit, a muscle driving unit, a control unit and an artificial muscle unit, wherein:
the muscle driving unit receives driving instructions transmitted by the control model of the control unit, so that the muscle driving unit drives artificial muscle bundles (preferably electroactive polymers) of the artificial muscle unit to perform driving actions matched with the driving instructions;
the feedback sensing unit is embedded and installed in the artificial muscle bundles (in a detachable mode, the artificial muscle bundles are convenient to install and replace, and can be suitable for different artificial muscle bundles) and when the artificial muscle bundles make driving actions, the feedback sensing unit follows to generate deformation and the control unit detects and obtains deformation data of the feedback sensing unit, the driving degree of the muscle driving unit is obtained after processing, and the driving degree is fed back to the control model, so that the control model adaptively adjusts and transmits driving instructions to the muscle driving unit, the artificial muscle bundles make driving actions matched with targets (for example, artificial arms formed by the artificial muscle units, when the targets are grabbed, feedback of the feedback sensing unit can learn that when the artificial muscle bundles reach a proper matched driving action amplitude, the targets can be touched and grabbed, the muscle driving unit can be stopped to continuously drive grabbing force of the artificial muscle units to damage the targets or feed back when the deformation limit of the feedback sensing unit is reached, the feedback sensing unit is protected, the feedback sensing unit and the artificial muscle units cannot damage, the control model is adaptively adjusted to the driving instructions to the muscle units, and the driving instructions can be directly grabbed by the same muscle units after the next time, and the driving instructions can be directly adjusted to the target can be grabbed by the artificial muscle units.
Specifically, the feedback sensing unit includes a base layer, a micro channel, and an inductive (liquid) metal, a first connector, and a second connector, the base layer including a first base layer and a second base layer, wherein:
the first base layer is in sealing connection with the second base layer, the micro channel is formed between the first base layer and the second base layer, the sensing metal is filled in the micro channel, the first connector is fixedly arranged at one end of the base layer in a sealing manner, and the second connector is fixedly arranged at the other end of the base layer in a sealing manner;
when the artificial muscle bundles perform driving actions, the first connector and the second connector are influenced by the driving actions to cause deformation of a base layer connected in the middle (including stretching or retracting, the first connector and the second connector can be arranged at two ends of the artificial muscle bundles, when the artificial muscle bundles are driven to bend and stretch, the base layer is stretched) and cause corresponding deformation of the micro-channels, so that the artificial muscle bundles are liquid at normal temperature (the advantage of liquid metal is that the upper induction limit is high, the flexible metal can be stretched but can be broken up to a certain threshold value, the liquid metal can not be stretched, the liquid metal has small hysteresis, and the reaction speed is high), and the induction metal (preferably composed of 80% gallium and 20% indium) flows by the deformation of the micro-channels, so that the length between the first connector and the second connector is changed;
the first connector is externally connected with a first wire and the first wire is connected with one end of the micro-channel, the second connector is externally connected with a second wire and the second wire is connected with the other end of the micro-channel, and the first wire and a plurality of second wires are connected with the control unit, so that when the length of the sensing metal changes, the control unit obtains the deformation degree (the resistance data between the metals can reflect the deformation degree) of the feedback sensing unit, and further obtains the driving degree of the muscle driving unit for driving the artificial muscle unit.
More specifically, the manufacturing process of the feedback sensing unit is implemented as the following steps:
step S1: applying liquid silicone gel to a set area of a mold by an applicator and curing the gel in an oven at a first temperature (50 ℃ -70 ℃) for a first time (20-30 minutes) to form a first base layer;
step S2: printing a microchannel pattern (preferably made of ABS material) by a 3D printer and placing the microchannel pattern on one side of the first base layer, then applying liquid silicone gel to the side of the first base layer on which the microchannel pattern is placed (to form a second base layer) by an applicator, and placing in an oven (50-70 ℃) for a second time (1 hour) at a second temperature, thereby forming a base layer with the microchannel pattern;
step S3: cutting both ends of the base layer so that both sides of the micro channel pattern between the first and second base layers are exposed, and immersing the cut base layer in an acetone solution so that the micro channel pattern is dissolved in the acetone solution, thereby forming micro channels between the first and second base layers, (after taking out the base layer), injecting the acetone solution into the micro channels by means of an injector to remove the residual micro channel pattern (and drying for 2 hours);
step S4: and the first connector is fixedly arranged at one end of the base layer in a sealing way, induction metal is injected into the micro-channel at the other end of the base layer through a syringe, and then the second connector is fixedly arranged at the other end of the base layer in a sealing way, and is externally connected with a first lead wire and is externally connected with a second lead wire, so that a feedback sensing unit is formed.
It should be noted that, by placing the microchannel pattern first, then dissolving and removing the microchannel pattern, and finally forming the ordered microchannel, namely forming an integral base layer first, if the first base layer and the second base layer are respectively provided with half of the microchannel, then sealing the two, not only considering whether the microchannels are aligned, but also considering whether the liquid silicone for sealing flows into the microchannels, so as to block, therefore, the microchannel manufacturing process of the invention does not generate the problems, and the microchannels are complete and ordered.
Further, the artificial muscle cell further includes an execution end mounted to one end of the artificial muscle bundle, the execution end being for contacting a target object to thereby complete a driving action matched with a driving instruction, wherein:
the executing end is provided with a sensor (including a pressure sensor and the like), the sensor obtains sensing data (including pressure and the like) when contacting with a target object and feeds back the sensing data to a control model of the control unit, so that the control model is combined with deformation data of the feedback sensing unit and then combined with the sensing data, and driving instructions transmitted to the muscle driving unit are adaptively adjusted, so that the artificial muscle bundles perform driving actions matched with the target object (as an example, the artificial muscle bundles of the finger can be enabled to quickly touch the target object when the finger grabs the target object by combining with the deformation data of the feedback sensing unit, but the force for grabbing the target object is not accurately matched and limited enough, the target object can be damaged due to overlarge grabbing amplitude or the target object cannot be grabbed due to overlarge amplitude, and after secondary feedback is combined with the sensor, the proper force of the current target object can be known, and the target object can not be damaged when the target object is grabbed.
Still further, the feedback sensing unit is provided with a plurality of micro channels and the first connector and the second connector are each provided with an accuracy adjustment switch, and the accuracy corresponding to deformation data of the feedback sensing unit is changed by changing the number of the micro channels communicated between the first wire and the second wire by changing the level of the accuracy adjustment switch, wherein:
the first connector and the second connector are respectively provided with poles the same as the number of the micro-channels and are positioned at two ends of the micro-channels, and the precision regulating switches of the first connector and the second connector are regulated simultaneously, so that the grades of the two precision regulating switches are the same, the number of the poles connected by the first wire is the same as the number of the poles connected by the second wire, and the number and the sequence of the micro-channels connected by the first wire and the second wire are the same (preferably, for feedback with no strict requirement on precision, the first wire and the second wire can be connected with two micro-channels, one micro-channel still can continue to work when the other micro-channel fails, for feedback with strict requirement on precision, the first wire and the second wire are simultaneously connected with a plurality of micro-channels, the lengths of the micro-channels are simultaneously changed, so that the built-in sensing metal is simultaneously changed, the comprehensive data change is large, and when the micro-channels change the same length, the data changed by three micro-channels are changed by the aid of the micro-channels are more sensitive to the detection unit in the detection of the data change in the large-channel detection unit.
It should be noted that technical features such as artificial muscle bundles related to the present application should be regarded as the prior art, and specific structures, working principles, and control modes and spatial arrangement related to the technical features may be selected conventionally in the art, and should not be regarded as the point of the present application, which is not further specifically described in detail.
Modifications of the embodiments described above, or equivalents of some of the features may be made by those skilled in the art, and any modifications, equivalents, improvements or etc. within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. An artificial muscle module with a body feedback function, having a body sensory feedback function, comprising a feedback sensing unit, a muscle driving unit, a control unit and an artificial muscle unit, wherein:
the muscle driving unit receives driving instructions transmitted by the control model from the control unit, so that the muscle driving unit drives the artificial muscle bundles of the artificial muscle unit to perform driving actions matched with the driving instructions;
the feedback sensing unit is embedded and installed in the artificial muscle bundle, when the artificial muscle bundle makes driving action, the feedback sensing unit generates deformation in a following way, the control unit detects deformation data of the feedback sensing unit, the driving degree of the muscle driving unit is obtained after processing, and the driving degree is fed back to the control model, so that the control model adaptively adjusts driving instructions transmitted to the muscle driving unit, and the artificial muscle bundle makes driving action matched with a target.
2. The artificial muscle module with body feedback function according to claim 1, wherein the feedback sensing unit comprises a base layer, a micro-channel and sensing metal, a first connector and a second connector, the base layer comprising a first base layer and a second base layer, wherein:
the first base layer is in sealing connection with the second base layer, the micro channel is formed between the first base layer and the second base layer, the sensing metal is filled in the micro channel, the first connector is fixedly arranged at one end of the base layer in a sealing manner, and the second connector is fixedly arranged at the other end of the base layer in a sealing manner;
when the artificial muscle bundles perform driving actions, the first connector and the second connector are influenced by the driving actions to cause deformation of a base layer connected to the middle and cause corresponding deformation of the micro channels, so that the induction metal which is liquid at normal temperature flows by the deformation of the micro channels, and the length between the first connector and the second connector is changed;
the first connector is externally connected with a first wire and the first wire is connected with one end of the micro-channel, the second connector is externally connected with a second wire and the second wire is connected with the other end of the micro-channel, and the first wire and a plurality of second wires are connected with the control unit, so that when the length of the induction metal changes, the control unit obtains the deformation degree of the feedback sensing unit, and further obtains the driving degree of the muscle driving unit for driving the artificial muscle unit.
3. The artificial muscle module with the body feedback function according to claim 2, wherein the manufacturing process of the feedback sensing unit is implemented as the following steps:
step S1: applying liquid silica gel to a set area of a mold through an applicator and placing the mold into an oven to cure for a first time at a first temperature, thereby forming a first base layer;
step S2: printing a micro-channel pattern by a 3D printer, placing the micro-channel pattern on one side of the first base layer, smearing liquid silica gel on one side of the first base layer on which the micro-channel pattern is placed by an applicator, and placing the first base layer into an oven for fixing for a second time at a second temperature so as to form the base layer with the micro-channel pattern;
step S3: cutting both ends of a base layer to expose both sides of a micro channel pattern between the first base layer and the second base layer, and immersing the cut base layer in an acetone solution to dissolve the micro channel pattern in the acetone solution, thereby forming micro channels between the first base layer and the second base layer, injecting the acetone solution into the micro channels by an injector to remove the residual micro channel pattern;
step S4: and the first connector is fixedly arranged at one end of the base layer in a sealing way, induction metal is injected into the micro-channel at the other end of the base layer through a syringe, and then the second connector is fixedly arranged at the other end of the base layer in a sealing way, and is externally connected with a first lead wire and is externally connected with a second lead wire, so that a feedback sensing unit is formed.
4. An artificial muscle module with a body feedback function as claimed in claim 3, wherein the artificial muscle unit further comprises an executing end mounted to one end of the artificial muscle bundle for contacting a target object to perform a driving action matched with a driving command, wherein:
the execution end is provided with a sensor, the sensor obtains sensing data when contacting a target object and transmits the sensing data to a control model of the control unit in a feedback manner, so that the control model is combined with deformation data of the feedback sensing unit and then combined with the sensing data, and driving instructions transmitted to the muscle driving unit are adaptively adjusted, and therefore the artificial muscle bundles perform driving actions matched with the target object.
5. An artificial muscle module with a body feedback function according to claim 4, wherein the feedback sensing unit is provided with a plurality of micro-channels and the first connector and the second connector are each provided with an accuracy adjustment switch, the accuracy of the deformation data correspondence of the feedback sensing unit is changed by changing the level of the accuracy adjustment switch to thereby change the number of micro-channels communicating between the first wire and the second wire, wherein:
the first connector and the second connector are respectively provided with poles the same as the number of the micro-channels and are positioned at two ends of the micro-channels, and the precision adjusting switches of the first connector and the second connector are adjusted simultaneously, so that the grades of the precision adjusting switches are the same, the number of the first wire connecting poles is the same as the number of the second wire connecting poles, and the number and the sequence of the first wire connecting the micro-channels and the second wire connecting the micro-channels are the same.
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| CN202310136714.4A CN116079700A (en) | 2023-02-10 | 2023-02-10 | Artificial muscle module with body feedback function |
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| CN202310136714.4A CN116079700A (en) | 2023-02-10 | 2023-02-10 | Artificial muscle module with body feedback function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117681249A (en) * | 2023-12-12 | 2024-03-12 | 中国人民解放军国防科技大学 | Biological muscle driver synchronous construction system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117681249A (en) * | 2023-12-12 | 2024-03-12 | 中国人民解放军国防科技大学 | Biological muscle driver synchronous construction system and method |
| CN117681249B (en) * | 2023-12-12 | 2024-05-31 | 中国人民解放军国防科技大学 | Biological muscle driver synchronous construction system and method |
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