Therapeutic motion devices including artificial muscle drive units

A therapeutic motion device comprising:

• a support structure comprising a first support portion and a second support portion, wherein:
• the first support portion is rotatably coupled to the second support portion, and
• at least one of the first support portion and the second support portion is movable relative to the other of the first support potion and the second support portion;
• an artificial muscle unit connected to the first support portion and the second support portion via actuation arms, the artificial muscle unit comprising one or more artificial muscles configured to apply a force to at least one of the actuation arms, wherein each of the one or more artificial muscles comprise:
• a housing comprising an electrode region and an expandable fluid region;
• a dielectric fluid housed within the housing;
• and
• an electrode pair positioned in the electrode region of the housing, the electrode pair comprising a first electrode fixed to a first surface of the housing and a second electrode fixed to a second surface of the housing, wherein the electrode pair is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs the dielectric fluid into the expandable fluid region, expanding the expandable fluid region thereby applying force to the at least one of the actuation arms.

A method for actuating a therapeutic motion device, the method comprising:

• generating a voltage using a power supply electrically coupled to an electrode pair of an artificial muscle, the artificial muscle disposed in an artificial muscle drive unit coupled to first support portion and a second support portions of the therapeutic motion device, wherein:
• the artificial muscle comprises a housing having an electrode region and an expandable fluid region;
• the electrode pair is positioned in the electrode region of the housing;
• the electrode pair comprises a first electrode fixed to a first surface of the housing and a second electrode fixed to a second surface of the housing;
• and
• a dielectric fluid is housed within the housing;
• and
• applying the voltage to the electrode pair of the artificial muscle, thereby actuating the electrode pair from a non-actuated state to an actuated state such that the dielectric fluid is directed into the expandable fluid region of the housing and expands the expandable fluid region, thereby providing force to at least one of the first support portion and the second support portion to resist or assist movement of at least one of the first support portion and the second support portion.