An electrode pair is provided including a first electrode and a second electrode. Each of the first electrode and the second electrode have an outer surface, an inner surface, a first end, a second end, and a lead extending outwardly from the first end. The lead has a first width at the first end. The second end of at least one of the first electrode and the second electrode have a recess formed therein having a first terminus and a second terminus. A second width extends between the first terminus and the second terminus of the recess. The recess is defined by a saw-tooth pattern. When the first electrode is positioned on the second electrode, the recess of the at least one of the first electrode is adjacent the lead of the other electrode.

A clutch mechanism for a mechanical effector device includes a reel configured for winding and unwinding a tendon around the reel, and a base configured to connect to and rotate with a motor for rotation of the base around an axis. The reel and base are further configured for alignment with and rotation around a common axis of rotation. Inner ends of the reel and base mutually castellated and interlocking and the castellations are configured to ride up and over one another to allow independent rotation of the reel and base if an unresolvable rotation force is encountered.

An actuator includes a stack including: an elastomer layer; and an elastic electrode disposed on each surface of the elastomer layer, in which the stack is subjected to a pre-strain of 50% or more at least in one direction. The stack may have a round tubular shape with the elastic electrodes disposed on opposite surfaces of the elastomer layer in a radial direction of the stack.

A device forming a robotic hand, including a base forming the palm of a hand, at least two articulated structures each forming a robotic finger, each articulated structure being connected to the base by at least one articulation, at least one drive mechanism for each articulation, at least one actuator designed to actuate the at least one drive mechanism at least by a flexible drive connection connecting and driving the at least one drive mechanism, at least one intermediate driveshaft for relaying the movement of the at least one actuator such that the at least one intermediate drive shaft is actuated by an actuator, and the at least one intermediate shaft is connected to at least two distinct drive mechanisms by the at least one flexible drive connection.

A robot device of the present disclosure includes at least one artificial muscle that operates by being supplied with liquid; and a liquid supply device that supplies and discharges the liquid to/from the artificial muscle, and the liquid supply device includes: a liquid storage part that stores the liquid; a pressure regulating valve that regulates pressure of the liquid from the liquid storage part and supplies the liquid to the artificial muscle; and a liquid keeping part that allows the artificial muscle to keep the liquid supplied to the artificial muscle, according to occurrence of an abnormality, and the liquid supply device can allow the artificial muscle that operates by being supplied with liquid to operate properly.

In a soft actuator having a cooler, a wearable robot having the soft actuator, a massage device having the soft actuator, and a method for controlling the soft actuator, the soft actuator includes a heat reaction member, a cooling part and a controller. The heat reaction member is configured to be contracted or relaxed according to a temperature change. The cooling part includes a cooling surface disposed at the heat reaction member, and a heating surface disposed opposite to the cooling surface. The controller is configured to control a power supply part so that a power is blocked to be supplied to the heat reaction member and the power is supplied to the cooling part, when the heat reaction member is changed to be a relaxation state.

An artificial muscle stack that includes a plurality of artificial muscle layers. Each artificial muscle layer includes one or more artificial muscles having a housing with an electrode region and an expandable fluid region, a dielectric fluid housed within the housing, and an electrode pair having a first and second electrode positioned in the electrode region. The first and second electrodes each include two or more tab portions and two or more bridge portions. The two or more bridge portions interconnects adjacent tab portions. At least one of the first and second electrode includes a central opening positioned between the tab portions and encircling the expandable fluid region. The plurality of artificial muscle layers are arranged such that the expandable fluid region of the artificial muscles of each artificial muscle layer overlaps at least one tab portion of one or more artificial muscles of an adjacent artificial muscle layer.

An artificial muscle drive unit includes a base and an artificial muscle disposed on the base. The artificial muscle includes an expandable reservoir and a fluid. The fluid is movable within said expandable reservoir to switch the artificial muscle between a non-actuated state in which a dimension of the artificial muscle in a movement direction is a minimum value, and an actuated state, in which the dimension of the artificial muscle is a maximum value. The artificial muscle drive unit also includes a load-bearing support disposed on the base, the load-bearing support comprising a dimension in the movement direction that is greater than or equal to the minimum value.

In one aspect, the disclosure relates to free-standing artificial muscles having a polymeric core encased by an elastic spring. The polymeric core can be any two-way shape memory polymer including, but not limited to, a semicrystalline polymer (polybutadiene polymer, a polycaprolactone polymer, a poly(ethylene-co-vinyl acetate)), a rubber, an ionomer, an elastomer, or a gel. In some aspects, the shape memory polymers are crosslinked. In an alternative aspect, the polymeric core is a twisted and coiled polymeric fiber. In other aspects, the polymeric core is reprocessable, remoldable, and/or recyclable. In one aspect, the elastic spring is metallic, ceramic, plastic, or any combination thereof. The stiffnesses or spring rate of the elastic spring and polymeric core, the two-way shape memory effect of the polymeric core, and their geometrical dimensions can be optimized to maximize the actuation strain based on theoretical principles described herein. Also disclosed are devices incorporating the free-standing artificial muscles.

A robotic hand includes a baseplate, a finger having multiple phalanges that are rotatably coupled to one another, a first of the phalanges having a first end rotatably coupled to the baseplate and a second end and a second of the phalanges rotatably coupled to the second end about an axis of rotation, an actuating mechanism mounted on the baseplate, the actuating mechanism configured to actuate rotation of the plurality of phalanges, and a tendon having opposite ends that are respectively attached to the second of the phalanges and the baseplate. The second of the phalanges has an engagement portion arranged around the axis of rotation, and the tendon is wrapped around a portion of the engagement portion to generate a force acting on the second end of the first of the phalanges, causing the first of the phalanges to rotate from a flexed state to an extended state.