3D-printable artificial muscles based on microfluidic microcapacitors

{
  "publication_number": "US11881359B2",
  "country": "US",
  "kind": "B2",
  "title": "3D-printable artificial muscles based on microfluidic microcapacitors",
  "abstract": "A microcapacitor array for providing artificial muscles is described. The microcapacitor array includes a dielectric body with electrode chambers, positive electrodes in positive electrode chambers, the positive electrodes being connected by a first set of channels in the dielectric frame; negative electrodes in negative electrode chambers, the negative electrodes being connected by a second set of channels in the dielectric frame. The first and second set of channels are arranged so that application of a voltage differential between the positive electrodes and the negative electrodes generates an attractive force between each set of adjacent positive and negative electrodes.",
  "claims": [
    "1. A microcapacitor array for providing artificial muscles, the microcapacitor array comprising: a dielectric body with at least four electrode chambers; at least two positive electrodes in at least two positive chambers of the at least four electrode chambers, the at least two positive electrodes being connected by a first plurality of channels in the dielectric frame; and at least two negative electrodes in at least two negative chambers of the at least four electrode chambers, the at least two negative electrodes being connected by a second plurality of channels in the dielectric frame; wherein the first and second plurality of channels are arranged such that application of a voltage differential between the at least two positive electrodes and the at least two negative electrodes generates an attractive force between each set of adjacent positive and negative electrodes in the at least two positive and at least two negative electrodes.",
    "2. The microcapacitor array of claim 1, wherein the at least two positive chambers are arranged in a first plane and the at least two negative chambers are arranged in a second plane, and wherein the first and second planes are substantially parallel.",
    "3. The microcapacitor array of claim 2, wherein the attractive force generates longitudinal contraction and lateral expansion with respect to an axis perpendicular to the first and second planes.",
    "4. The microcapacitor array of claim 3, wherein the longitudinal contraction produces muscle-like action in the microcapacitor array.",
    "5. The microcapacitor array of claim 1, wherein the at least two positive and at least two negative chambers are arranged in a first plane and a second plane so that all adjacent chambers have opposite polarity, and wherein the first and second planes are substantially parallel.",
    "6. The microcapacitor array of claim 5, wherein the attractive force generates longitudinal expansion and lateral contraction with respect to an axis perpendicular to the first and second planes.",
    "7. The microcapacitor array of claim 6, wherein the longitudinal expansion produces counter-muscle-like action.",
    "8. The microcapacitor array of claim 1, wherein the at least two positive and at least two negative chambers are arranged in a first plane and a second plane so that adjacent chambers in each of the first and second planes are approximately separated by a target horizontal distance, and wherein the first and second planes are substantially parallel, and wherein the target horizontal distance is specified by iteratively simulating the application of the voltage differential to maximize a force density of the attractive force.",
    "9. The microcapacitor array of claim 8, wherein the target horizontal distance is approximately 50 μm.",
    "10. The microcapacitor array of claim 1, wherein the at least two positive and at least two negative chambers are arranged in a first plane and a second plane that are substantially parallel, and wherein a target plate thickness of each of the first and second plates is specified by iteratively simulating the application of the voltage differential to maximize a force density of the attractive force.",
    "11. The microcapacitor array of claim 10, wherein the target plate thickness is approximately 100 μm.",
    "12. The microcapacitor array of claim 1, wherein the at least two positive and at least two negative chambers are arranged in a first plane and a second plane that are substantially parallel, wherein a target longitudinal distance between adjacent chambers in different planes is specified by iteratively simulating the application of the voltage differential to maximize a force density of the attractive force.",
    "13. The microcapacitor array of claim 12, wherein the target longitudinal distance is approximately 100 μm.",
    "14. A microcapacitor array for providing artificial muscles, the microcapacitor array comprising: a dielectric body with at least eight electrode chambers; at least four positive electrodes in at least four positive chambers of the at least eight electrode chambers, the at least four positive electrodes being connected by a first plurality of channels in the dielectric frame; at least four negative electrodes in at least four negative chambers of the at least eight electrode chambers, the at least four negative electrodes being connected by a second plurality of channels in the dielectric frame; a first grouping of chambers, wherein at least two positive chambers are arranged within the first longitudinal area in a first plane and at least two negative chambers are arranged in a second plane within the first grouping of chambers, and wherein the first and second planes are substantially parallel; and a second grouping of chambers, wherein at least two positive chambers and at least two negative chambers are arranged within the first and second planes so that all adjacent chambers in the second grouping of chambers have opposite polarity; wherein the first and second plurality of channels are arranged such that application of a voltage differential between the at least four positive electrodes and the at least four negative electrodes generates an attractive force between each set of adjacent positive and negative electrodes in the at least two positive and at least two negative electrodes.",
    "15. The microcapacitor array of claim 14, wherein the attractive force in the first grouping of chambers generates longitudinal contraction and lateral expansion with respect to an axis perpendicular to the first and second planes, and wherein the longitudinal contraction produces muscle-like action in the microcapacitor array.",
    "16. The microcapacitor array of claim 15, wherein the attractive force in the second grouping of chambers generates longitudinal expansion and lateral contraction with respect to the axis perpendicular to the first and second planes, and wherein the longitudinal expansion produces counter-muscle-like action.",
    "17. The microcapacitor array of claim 16, wherein the muscle-like action and counter-muscle-like action can be combined to provide for powered motion in each of the longitudinal expansion and the longitudinal contraction.",
    "18. The microcapacitor array of claim 17, wherein the powered motion in each of the longitudinal expansion and the longitudinal contraction is provided without using a joint."
  ],
  "description_excerpt": "1. Field of the Invention The present disclosure relates to electrostatic actuators in general, and, more particularly, to electrostatic actuators suitable for use in exoskeletons, prosthetics, and vehicle propulsion 2. Description of the Related Art Traditional robotic actuation is done via electric motors or pneumatics/hydraulics. Electromagnetic step motors offer precision, use a convenient form of power, and have some capability for miniaturization, making them the usual choice for small robots and prosthetics. However, these motors are actually electromagnetic (EM) motors, which require a strong magnetic field generated either by strong permanent magnets or solenoids running large currents. Conventional EM motors often choose the latter path and require significant power to operate, while generating excess heat. Pneumatic systems provide more force in large systems, e.g., construction vehicles, industrial assembly lines, the US Army's Mule walking robot, etc., but they require compressors, an spring leaks, and output less force when scaled down for use in compact systems. Furthermore, complex fluid motions are difficult to achieve by pneumatics because pressure is typically either on or off, producing jerky choppy motion that may be acceptable in an industrial robot but impractical in exoskeletons, prosthetics, etc.",
  "cpc": [
    "H01G 5/16",
    "B25J 9/1075",
    "H01G 5/38",
    "H01G 5/40"
  ],
  "ipc": [
    "B25J 9/10",
    "H01G 5/16",
    "H01G 5/38",
    "H01G 5/40"
  ],
  "assignees": [
    "US NAVY",
    "US GOV SEC NAVY"
  ],
  "inventors": [
    "KARTALOV EMIL PASKALEV",
    "COLTELLI MICHELANGELO",
    "CATTERLIN JEFFREY"
  ],
  "filing_date": "2021-07-14",
  "publication_date": "2024-01-23",
  "grant_date": "2024-01-23",
  "priority_date": "2020-07-14",
  "application_number": "US-202117376068-A",
  "family_id": "79293186",
  "citations": [
    "JP2002217060A",
    "US2007170822A1",
    "US2013301101A1",
    "US6530217B1"
  ]
}