CN1194818A - Improved artificial tubular muscle and use thereof - Google Patents
Improved artificial tubular muscle and use thereof Download PDFInfo
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- CN1194818A CN1194818A CN98106723A CN98106723A CN1194818A CN 1194818 A CN1194818 A CN 1194818A CN 98106723 A CN98106723 A CN 98106723A CN 98106723 A CN98106723 A CN 98106723A CN 1194818 A CN1194818 A CN 1194818A
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- artificial
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/08—Muscles; Tendons; Ligaments
- A61F2002/0894—Muscles
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Abstract
An improved artificial tubular muscle used for flexible robot, manipulator, bionic limbs, medical apparatus, etc features that its fibres muscle are distributed on the periphery of tube wall and its cavity is improved from one cavity to several individual sections for higher compression strength and sealing performance.
Description
The present invention relates to artificial-muscle, especially a kind of improvement of tubular artificial muscle and application.
Being in the artificial-muscle of development stage at present, generally is the electrochemical properties that utilizes gelinite, does not reach the practical stage as yet." a kind of artificial tubular muscle and the application thereof " of in May, 97 application (number of patent application: 97110134.5) invented a kind of artificial-muscle of practicality: " a kind of artificial tubular muscle is the tubular structure of being made by macromolecular material and fiber; fiber is evenly distributed in the tube wall; tubular structure one end sealing; the other end is connected with pump by interface, flexible pipe, control valve; tubular muscle is at the driving lower edge of pump tubular axis axial stretching; and do not produce lateral magnification, it not only has muscle flexibility and contractile function, and possesses unique brute force extension function.”
Purpose of the present invention is improved this artificial tubular muscle exactly and is expanded its range of application.
The present invention, improved artificial tubular muscle also is the tubular structure of being made by rubber or other macromolecular materials and high strength fibre (comprising the fiber rope that fiber is twisted into).The tubular muscle of former invention " fiber laterally is evenly distributed in the tube wall with respect to tubular axis ", tubular muscle of the present invention, fiber not only can be distributed in the tube wall, also usable fibers, and the tight Horizon of rope that fiber is twisted into or tinsel is around the sebific duct outside.When sebific duct was subjected to internal pressure and upholds, being fettered by twister closely can not lateral magnification, can only longitudinal tensile strain, and the tight twister of circle on sebific duct also upheld thereupon.Fiber rope or tinsel closely are wrapped in the sebific duct outside, can avoid that under high pressure the fiber and the colloid of tube wall inside are peeled off.
The tubular muscle that proposes in the former invention " end sealing, the other end is connected with pump by interface, flexible pipe, control valve " will utilize " adapter " if several sections tubular muscles are connected in series, and structure is complicated.The present invention is separated into several sections with a tubular artificial muscle, every section forms an independently cavity, each cavity all has a flexible pipe that can bear enough pressure, flexible pipe is distributed in the sebific duct, passing each cavity is connected with outside control valve separately, these flexible pipes are crooked twist, make it can be along with tubular muscle is flexible.So just formed incorporate, the more piece tubular artificial muscle that each section can both independent telescope, manufacturability and sealing are all improved, and can be combined into flexible arm and flexible manipulator easily.
Several parallel sebific ducts can be woven in the network that a high strength fibre is made into, the trend of fiber and pipe axially near vertical, such network can only stretch vertically, and can not lateral magnification, has played the effect that fetters sebific duct.These parallel sebific ducts are connected with pump with control valve by interface, flexible pipe, can constitute flexible arm equally.
Diameter can directly link to each other with gas transmission or infusion tube without interface less than 1 millimeter tubular artificial muscle, and flexible pipe can adopt hollow fibre, and hollow fibre inserts the cavity of thin sebific duct, and is tightly connected with sebific duct.This thin tubular artificial muscle diameter can reach below 0.3 millimeter, is fit to myofibrillar form of simulation and function, is called artificial muscle's fiber.Artificial myofibrillar two ends can the implantable artificial skeleton inside.A plurality of independently cavitys are arranged in the artificial bone, and each cavity links to each other with control valve respectively.Artificial muscle's fiber of many parallel connections forms fascicula, and all in the implantable artificial skeleton, hollow fibre and skeleton cavity are tightly connected, and are connected in skeleton as tendon in its end.In the skeleton separately independently cavity connect artificial muscle's fiber of several Shu Butong respectively, by animal or human's the muscle and the connected mode of skeleton, artificial muscle's fiber be connected with artificial bone combine, just can make bionical limbs or bionic animal and people.
Artificial tubular muscle more than three or three is connected in parallel, the rope that high strength fibre of therebetween is woven into, and center fiber rope and each root tubular muscle all are intertwined with high fiber, and with elastic gel bonding or be injection molded into an integral body.Fiber rope can not extend, therefore and the flexible arm that is unified into can only be crooked, can not extend, but because the existence of center fiber rope makes flexible arm can produce great moment, the tension ultimate strength also improves greatly, and when keeping with a kind of attitude, flexible arm can be soft can be hard, as long as suitably regulate the intramuscular pressure of tubulose in proportion, the practicality of flexible mechanical arm and mechanical hand is greatly improved.
The flexible mechanical arm and the mechanical hand that are used for the space operation can be provided with thermal cycle pipeline (available gas or liquid circulation) at its surface parcel one deck elasticity thermal insulation layer in the thermal insulation layer, the assurance artificial-muscle is worked under suitable temperature.The vacuum environment of space does not exist conduction of heat and thermal convection current, with the unique channel of heat exchange with outside be thermal radiation, for this reason can be at the surperficial coated reflective coating of thermal insulation layer, fall the thermal loss that low radiation causes, can prevent that again the excessive temperature rise that sun acute irradiation causes and the width of cloth from penetrating the infringement (wearing out) to artificial-muscle.Also can lay one deck reflexive scute, replace the effect of reflective coating, protect the bump that artificial-muscle is avoided cosmos space dust simultaneously again on the thermal insulation layer surface.
Space flexible mechanical arm and mechanical hand can be assisted airship butt joint, discharge and collect satellite, the space engineering construction: as the construction of space station, assembly unit etc.
Can make the space flexible robot of multi-arm---space Octopus with space flexible mechanical arm and mechanical hand.The space Octopus is made up of head and tentacle, head capsule is the high-pressure bottle made from the high-strength light alloy, the tentacle of making by space flexible mechanical arm and mechanical hand, directly link to each other with head, the cavity of tubular muscle communicates with high-pressure bottle by control valve, and computer, remote control, remote signalling equipment and temperature control system are loaded on the shell of high-pressure bottle.Nozzle by computer control also is housed on the high-pressure bottle, and the thrust that nozzle produces can make the space Octopus do maneuvering flight, and high-pressure bottle is full of gases at high pressure, as the drive source of artificial-muscle and the source of the gas of nozzle.For increasing the persistency of power, high-pressure bottle can be separated out certain space, wherein fills the high pressure liquid activating QI, with the gases at high pressure of supplement consumed.
The eyes of space Octopus---a pair of remote control camera can be installed on the end of a pair of tentacle of Octopus, so that adjust the visual field neatly, the pictorial information of picked-up mails to the telemonitoring terminal, forms exploded view, is convenient to remote control manipulator's operation.
The space Octopus can be divided into cable type and no cable type, and no cable type relies on the power of self to move in space fully and operates.
It is a high-intensity cablet rope that the cable type is arranged, when catching distant object, as harpoon in tow heaving pile gone out by projection, restart the maneuver control system of itself during near target,, open tentacle and capture target, and rely on hawser to tow back to airship near target with suitable angle and speed.
Tubular artificial muscle can be used for making controlled flexible pipe: with tinsel or have certain degree of hardness and elastic polymeric material turns to solenoid, artificial tubular muscle is wrapped solenoid abreast, the trend of tubular muscle is parallel to solenoidal tubular axis, twine with high strength fibre the outside, and with elastic gel solenoid and artificial tubular muscle and fiber bonding or be injected into one, form controlled flexible pipe, this flexible pipe can be used as the flexible pipe of medical endoscope.
Can be made into a kind of elongated flexible robot with artificial tubular muscle, be referred to as flexible machine insect.The worm body is that the more piece tubular muscle by parallel connection constitutes, and the outside of worm body is installed with sucker, and the head of machine insect is installed with microcam and transmitter.Flexible machine insect can be divided into tail type and tailless model: have the tail type to link to each other with pump by control valve with the flexible pipe of towing, pump and valve and worm body are splits.The pump of tailless model and valve all are microminiaturized, are installed on the middle part or the afterbody of worm body.
Be exclusively used in the inner machine insect of surveying in dress road and also sucker can be installed, and near worm head and afterbody an air bag is being installed respectively, air bag links to each other with pump by flexible pipe, control valve.Can compress tube wall after airbag aeration swells, replace the effect of sucker.
Flexible machine insect can be used for pipe interior, the detection of unapproachable tortuous small space such as narrow slit.Can also be used for the inspection of digestion or urinary system after machine insect is fully microminiaturized.
Make warp and parallel can also be woven into flexible blanket or flexible cloth with thin artificial tubular muscle or artificial muscle's fiber, warp is controlled with the valve that links to each other separately with parallel.This fabric bonding or be injection molded into whole piece, just form a kind of waterproofly, airtight with elastic gel, the flexible membrane of shape and controlled amount can be made controlled artificial valve and flexible trap with this film.
The improved artificial tubular muscle of the present invention not only structure and manufacturability is more reasonable, also is more convenient for being combined into flexible arm or mechanical hand.Listed every tubular artificial muscle that is applied as enters the practicability stage concrete example is provided.
Below in conjunction with drawings and Examples the present invention is elaborated
Fig. 1. be improved artificial tubular muscle generalized section
Fig. 2. for being woven in the tubular artificial muscle in the transverse fiber network
Fig. 3. the bionical limbs sketch map of making for artificial muscle fiber and artificial bone
Fig. 4. be tubular muscle and center fiber rope and the flexible arm sketch map that is unified into
Fig. 5. be space Octopus structural representation
Fig. 6. be controlled flexible pipe profile
Fig. 7. be flexible machine insect structural representation
Embodiment 1: improved artificial tubular muscle
As shown in Figure 1, its outside of sebific duct (1) of being made by rubber or other macromolecular materials closely winds up with fiber rope (4), and fiber rope (4) and tube wall are sticked to one with elastic gel (5), the inside of sebific duct is separated into three independently cavitys with batcher (2), each cavity all has pressure hose (3) to pass batcher to link to each other with the control valve of outside, valve is connected to pump (valve and pump do not draw among the figure), and pressure hose is that helically bent distributes in cavity.During fabrication, batcher and pressure hose can be made assembly in advance, the whole implantation in the sebific duct, and batcher and tube wall are sealing adhesive firmly.
Embodiment 2: be woven in the tubular artificial muscle in the transverse fiber network
As shown in Figure 2, parallel sebific duct (7) is side by side laterally twined by high strength fibre (6), the multiply fiber is 8 font winding and twines between sebific duct (7) side by side, all parallel sebific ducts are all woven in one network, because the trend of fiber is axially vertical substantially with sebific duct, so sebific duct can't lateral magnification when being subjected to internal pressure, can only longitudinal tensile strain.(each sebific duct can pass through flexible pipe, control valve is connected with pump.) with elastic gel (5) network and sebific duct bonding or be injection molded into one.
Embodiment 3: the bionical limbs that artificial muscle's fiber and artificial bone are made
As shown in Figure 3: the artificial bone of hollow (8) is interconnection by joint (10), artificial muscle's fiber and the fascicula (11) that is unified into, cavity (9) in the hollow fiber bundle implantable artificial skeleton (8) of its end, be tightly connected with cavity formation, cavity (9) is not by multi-way control valve (12) link to each other with pump (pump draws), the other end of fascicula (11) is implanted another root artificial bone, multi beam artificial muscle fiber couples together two artificial bones at corresponding site, skeleton is coupled together by tendon as people's muscle.
Embodiment 4: tubular artificial muscle and center fiber rope and the flexible arm that is unified into
As shown in Figure 4, three tubular artificial muscle (14) are connected in parallel, the rope (13) of a high strength fibre braiding of therebetween, fiber rope (13) all uses high strength fibre (6) to be intertwined respectively with each root tubular artificial muscle, also twine with high strength fibre the periphery, and bond or be injection molded into an integral body with elastic gel (5).Each bar tubular muscle connects mouth, flexible pipe, control valve respectively and links to each other with pump.(not drawing among the figure)
Embodiment 5: the flexible robot who is used for space---the structure of space Octopus
As shown in Figure 5, the space Octopus is made up of head and tentacle.The high-pressure bottle made from the high-strength light alloy (20) constitutes head capsule, and the tentacle of being made by space flexible arm (18) and flexible manipulator (19) directly links to each other with high-pressure bottle (20), and the cavity of tubular muscle communicates with high-pressure bottle (20) by control valve.The central control system of being made up of Computerized remote-control, remote signalling equipment and attemperating unit (16) is contained in the outside of high-pressure bottle (20).Several nozzles (15) by computer control are equipped with at high-pressure bottle (20) rear portion, and a pair of remote control camera (17) is installed on the end of flexible arm (18).High-pressure bottle (20) inside is separated into two parts, and a part is full of gases at high pressure, and another part storage high pressure liquefied gas can be by the gases at high pressure of control valve supplement consumed.
Embodiment 6: controlled flexible pipe
As shown in Figure 6, the solenoid (22) (being depicted as the solenoid cross section) that turns to tinsel or polymeric material, artificial tubular muscle (21) wraps solenoid (22) abreast, its trend is parallel to solenoidal axle center, peripheral reuse high strength fibre (6) compact winding of artificial tubular muscle (21), and solenoid (22), artificial tubular muscle (21) and high strength fibre (6) are bondd or be injected into one with elastic gel (5), form controlled flexible pipe.
Embodiment 7: flexible machine insect
Shown in Fig. 7 .a, more piece tubular muscle by parallel connection constitutes worm body (25), sucker (26) has been installed near two ends in worm body outside, the head of machine insect is installed with the microcam (23) of band transmitter, the tail (27) that the flexible pipe of connection tubulose artificial-muscle and control valve (not shown) is together in parallel and has constituted machine insect.
Fig. 7 .b is exclusively used in the flexible machine insect that pipe interior is walked, and sucker is not installed at the two ends of worm body (25), and replaces elastic bag (24).
With power source (comprising power supply, motor, pump) and the fully microminiaturized worm body inside of can packing into later of control valve, so just do not need tail that constitutes by flexible pipe in tow.
Claims (12)
1, improved artificial tubular muscle is made tubular structure by rubber or other macromolecular materials and fiber, it is characterized in that: fiber not only can be distributed in the tube wall, also can be distributed in outside the tube wall, the cavity of tubular muscle is separated into several sections independently cavitys vertically, each cavity all is connected to control valve by separately pressure-resistant pipeline, is distributed in tubular housing inside these pipe bendings.
2, artificial tubular muscle according to claim 1 is characterized in that: can use fiber, the tight Horizon of rope that fiber is twisted into or tinsel is around the sebific duct outside, and with elastic gel and sebific duct bonding or be injection molded into one.
3, artificial tubular muscle according to claim 1 is characterized in that: several parallel sebific ducts side by side can be woven in the network that high strength fibre constitutes, the trend of fiber and sebific duct is axially vertical substantially in the network.
4, artificial tubular muscle according to claim 1 is characterized in that: available hollow fibre directly is tightly connected with the tubular artificial muscle of diameter less than 1 millimeter as pressure-resistant pipeline, formation artificial muscle fiber.
5, a kind of bionical limbs of making by artificial muscle's fiber and artificial bone, it is characterized in that: the inside of artificial bone (8) has a plurality of independently cavitys (9), these cavitys link to each other with pump by control valve (12) separately, artificial muscle's fiber in parallel forms fascicula (11), the cavity (9) of the hollow fiber bundle implantable artificial skeleton of its end forms firm being tightly connected with artificial bone.
6, artificial tubular muscle according to claim 1, it is characterized in that: can be together the artificial tubular muscle more than three or three (14) parallel connection, a high strength fibre rope of therebetween (13), fiber rope (13) is intertwined with high strength fibre (6) with tubular muscle in parallel, and bonds or be injection molded into one with elastic gel (5).
7, a kind of flexible space mechanical arm and mechanical hand of making by artificial tubular muscle, it is characterized in that: the surface of flexible mechanical arm and mechanical hand is wrapped in one deck elasticity thermal insulation layer, the inside of thermal insulation layer is provided with circulating line, the outer surface coated reflective coating of thermal insulation layer or lay the reflection scute.
8, a kind of space Octopus of making by space flexible mechanical arm and mechanical hand, it is characterized in that: the tentacle of the space Octopus of being made by space flexible mechanical arm (18) and mechanical hand (19) directly links to each other with high-pressure bottle (20), the cavity of tubular muscle is communicated with high-pressure bottle (20) by control valve, and the inside of high-pressure bottle (20) can be separated out certain space storage high pressure liquid activating QI.
9, according to the described space Octopus of claim (8), it is characterized in that: the central control system of being made up of computer, remote control, remote signalling equipment and attemperating unit (16) is contained in the outside of high-pressure bottle (20), several nozzles by computer control are equipped with at the rear portion of high-pressure bottle (20), a pair of remote control camera (17) is installed on the end of flexible mechanical arm (18), and the space Octopus can be connected in space ship with hawser.
10, a kind of controlled flexible pipe of making by artificial tubular muscle, it is characterized in that: the solenoid (22) that turns to tinsel or polymeric material, coated outside parallel tubular artificial muscle (21), and in periphery usefulness high strength fibre (6) winding, reuse elastic gel (5) bonds or is injected into one.
11, a kind of flexible machine insect of being made by artificial tubular muscle is characterized in that: artificial tubular muscle in parallel has constituted worm body (25), and sucker (26) or elastic bag (24) have been installed in the two ends of worm body (25).The head of machine insect has been installed microcam (23).
12, a kind of controlled flexible blanket or flexible cloth of making by artificial tubular muscle, it is characterized in that: make the flexible cloth that warp and parallel are woven into controllable size and shape with thinner artificial tubular muscle or artificial muscle's fiber, can be on fabric bonding one deck elastic film.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN98106723A CN1194818A (en) | 1998-03-04 | 1998-03-04 | Improved artificial tubular muscle and use thereof |
| AU69172/98A AU6917298A (en) | 1997-05-08 | 1998-04-16 | An artificial tubular muscle and application thereof |
| PCT/CN1998/000062 WO1998049976A1 (en) | 1997-05-08 | 1998-04-16 | An artificial tubular muscle and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN98106723A CN1194818A (en) | 1998-03-04 | 1998-03-04 | Improved artificial tubular muscle and use thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1194818A true CN1194818A (en) | 1998-10-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN98106723A Pending CN1194818A (en) | 1997-05-08 | 1998-03-04 | Improved artificial tubular muscle and use thereof |
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| Country | Link |
|---|---|
| CN (1) | CN1194818A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100358683C (en) * | 2004-12-15 | 2008-01-02 | 张帆 | Bionic moving mechanism driven by artificial muscle |
| CN101053146B (en) * | 2005-08-23 | 2010-09-08 | 松下电器产业株式会社 | Polymer actuator |
| CN102579158A (en) * | 2012-03-28 | 2012-07-18 | 李子怡 | Bionic muscle fiber and bionic muscle made of same |
| CN106816074A (en) * | 2017-03-21 | 2017-06-09 | 淮阴师范学院 | A kind of musculature reproduces interface arrangement |
| CN106920450A (en) * | 2017-03-21 | 2017-07-04 | 淮阴师范学院 | Musculature for realizing man-machine interaction reproduces interface arrangement |
| US20180042803A1 (en) * | 2014-12-30 | 2018-02-15 | Ekso Bionics, Inc. | Exoskeleton and Method of Transferring a Weight of a Load from the Exoskeleton to a Support Surface |
| CN108326833A (en) * | 2018-04-13 | 2018-07-27 | 福州大学 | Super redundancy flexible mechanical arm and its application method |
| CN108454131A (en) * | 2017-12-28 | 2018-08-28 | 中国空间技术研究院 | Artificial thews material with fiber |
| CN108502533A (en) * | 2018-04-03 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of reticulated flexible manipulator |
| CN108818607A (en) * | 2018-08-13 | 2018-11-16 | 金华职业技术学院 | A kind of software joint with Coupled Rigid-flexible mechanism |
| CN110293582A (en) * | 2019-07-03 | 2019-10-01 | 吉林大学 | A kind of flexible actuator |
| CN111821140A (en) * | 2020-06-30 | 2020-10-27 | 南京麦澜德医疗科技有限公司 | Wearable software hand function rehabilitation gloves |
| CN113172640A (en) * | 2021-04-15 | 2021-07-27 | 清华大学 | Software driver |
| CN114474029A (en) * | 2022-02-16 | 2022-05-13 | 之江实验室 | Thermal response artificial muscle capable of being driven at high frequency |
-
1998
- 1998-03-04 CN CN98106723A patent/CN1194818A/en active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100358683C (en) * | 2004-12-15 | 2008-01-02 | 张帆 | Bionic moving mechanism driven by artificial muscle |
| CN101053146B (en) * | 2005-08-23 | 2010-09-08 | 松下电器产业株式会社 | Polymer actuator |
| CN102579158A (en) * | 2012-03-28 | 2012-07-18 | 李子怡 | Bionic muscle fiber and bionic muscle made of same |
| CN102579158B (en) * | 2012-03-28 | 2014-12-10 | 李子怡 | Bionic muscle fiber and bionic muscle made of same |
| US20180042803A1 (en) * | 2014-12-30 | 2018-02-15 | Ekso Bionics, Inc. | Exoskeleton and Method of Transferring a Weight of a Load from the Exoskeleton to a Support Surface |
| CN106816074A (en) * | 2017-03-21 | 2017-06-09 | 淮阴师范学院 | A kind of musculature reproduces interface arrangement |
| CN106920450A (en) * | 2017-03-21 | 2017-07-04 | 淮阴师范学院 | Musculature for realizing man-machine interaction reproduces interface arrangement |
| CN108454131A (en) * | 2017-12-28 | 2018-08-28 | 中国空间技术研究院 | Artificial thews material with fiber |
| CN108454131B (en) * | 2017-12-28 | 2024-04-05 | 中国空间技术研究院 | Artificial muscle material with fiber |
| CN108502533A (en) * | 2018-04-03 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of reticulated flexible manipulator |
| CN108326833A (en) * | 2018-04-13 | 2018-07-27 | 福州大学 | Super redundancy flexible mechanical arm and its application method |
| CN108326833B (en) * | 2018-04-13 | 2023-04-18 | 福州大学 | Super-redundant flexible mechanical arm and use method thereof |
| CN108818607A (en) * | 2018-08-13 | 2018-11-16 | 金华职业技术学院 | A kind of software joint with Coupled Rigid-flexible mechanism |
| CN110293582A (en) * | 2019-07-03 | 2019-10-01 | 吉林大学 | A kind of flexible actuator |
| CN111821140A (en) * | 2020-06-30 | 2020-10-27 | 南京麦澜德医疗科技有限公司 | Wearable software hand function rehabilitation gloves |
| CN111821140B (en) * | 2020-06-30 | 2022-06-28 | 南京麦澜德医疗科技股份有限公司 | Wearable software hand function rehabilitation gloves |
| CN113172640A (en) * | 2021-04-15 | 2021-07-27 | 清华大学 | Software driver |
| CN114474029A (en) * | 2022-02-16 | 2022-05-13 | 之江实验室 | Thermal response artificial muscle capable of being driven at high frequency |
| CN114474029B (en) * | 2022-02-16 | 2023-09-01 | 之江实验室 | High-frequency driven thermal response artificial muscle |
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