Artificial muscle device and wearable robot having the same

An artificial muscle device, comprising:

• a first artificial muscle that is stretched or contracted in a first direction;
• a second artificial muscle spaced apart from the first artificial muscle in the first direction;
• an intermediate power transmission part connected to the first artificial muscle and connected to the second artificial muscle, the intermediate power transmission part being located between the first artificial muscle and the second artificial muscle;
• a first power transmission part connected to an end of the first artificial muscle;
• and
• a second power transmission part connected to an end of the second artificial muscle,
• wherein each of the first artificial muscle and the second artificial muscle comprises:
• a plurality of heat transfer assemblies including:
• a thermal conductive body having a tunnel;
• and
• a thermoelectric element contacting a first outer surface of the thermal conductive body;
• a connection member unit connecting a first heat transfer assembly among the plurality of heat transfer assemblies to a second heat transfer assembly among the plurality of heat transfer assemblies, wherein the connection member unit is configured to be folded or unfolded according to a distance between the first heat transfer assembly and the second heat transfer assembly;
• and
• a thermal reaction driving member unit passing through the tunnel of each heat transfer assembly, wherein the thermal reaction driving member unit is configured to expand and contract in the tunnel according to a temperature of the thermal reaction driving member unit,
• wherein the thermal reaction driving member unit has a length disposed in the first direction, and
• wherein the heat transfer assembly has a length disposed in a second direction, the second direction being perpendicular to the first direction.

A wearable robot, comprising:

• a plurality of heat transfer assemblies, each heat transfer assembly including:
• a thermal conductive body having a tunnel;
• and
• a thermoelectric element contacting a first outer surface of the thermal conductive body;
• a connection member unit connecting a first heat transfer assembly among the plurality of heat transfer assemblies to a second heat transfer assembly among the plurality of heat transfer assemblies, wherein the connection member unit is configured to be folded or unfolded according to a distance between the first heat transfer assembly and the second heat transfer assembly;
• a thermal reaction driving member unit passing through the tunnel of each heat transfer assembly, wherein the thermal reaction driving member unit is configured to expand and contract in the tunnel according to a temperature of the thermal reaction driving member unit;
• a power transmission part connected to an end of the thermal reaction driving member unit;
• a human body mounting part connected to the power transmission part and configured to be mounted to a human body;
• and
• a controller configured to control each thermoelectric element,
• wherein the thermal reaction driving member unit has a length disposed in a first direction, and
• wherein the heat transfer assembly has a length disposed in a second direction, the second direction being perpendicular to the first direction.