US 2026/0160281 A1 · MECHANISMS FOR DAMAGE DETECTION AND AUTONOMOUS REPAIR OF PUNCTURE DAMAGE FOR SELF-HEALING ARTIFICIAL MUSCLES

Abstract

An actuator may enable detecting the formation of electrical networks in a liquid metal-elastomer layer. Upon detecting the formation of the electrical networks, the actuator may initiate an autonomous repair process through in situ reprocessing, where Joule heating is used to trigger a self-healing material layer. Following the self-healing, the electrical networks may be is reconfigured. Self-healing the punctures and reconfiguring the electrical networks may restore functionality to the actuator without the need for external intervention. The integration of these features enhances the resilience of the actuator and mimics the adaptive capabilities found in biological systems, ultimately leading to more reliable and efficient performance in dynamic environments.

Claims26

Dependent claims

An actuator comprising:

an actuation layer defining one or more bladders, wherein the actuation layer is extensible by inflation of the one or more bladders;
a thermoplastic elastomer layer;
and
a damage detection layer, wherein at least one of the thermoplastic elastomer layer or the damage detection layer is inextensible such that the actuator is configured to actuate with the inflation of the one or more bladders, wherein the damage detection layer comprises a liquid metal-elastomer composite, wherein the liquid metal-elastomer composite comprises an elastomer medium, a plurality of liquid metal microdroplets, and a plurality of traces, wherein the plurality of liquid metal microdroplets are dispersed within the elastomer medium, wherein the plurality of traces are embedded within the elastomer medium, wherein the elastomer medium is a dielectric, wherein the plurality of liquid metal microdroplets and the plurality of traces are conductive.

1 more element

A system comprising:

an actuator comprising:
an actuation layer defining a one or more bladders, wherein the actuation layer is extensible by inflation of the one or more bladders;
a thermoplastic elastomer layer;
and
a damage detection layer, wherein at least one of the thermoplastic elastomer layer or the damage detection layer is inextensible such that the actuator is configured to actuate with the inflation of the one or more bladders, wherein the damage detection layer comprises a liquid metal-elastomer composite, wherein the liquid metal-elastomer composite comprises an elastomer medium, a plurality of liquid metal microdroplets, and a plurality of traces, wherein the plurality of liquid metal microdroplets are dispersed within the elastomer medium, wherein the plurality of traces are embedded within the elastomer medium, wherein the elastomer medium is a dielectric, wherein the plurality of liquid metal microdroplets and the plurality of traces are conductive;
wherein the actuator is configured to receive a puncture through the damage detection layer and the thermoplastic elastomer layer, wherein the puncture is configured to form an electrical network from the plurality of liquid metal microdroplets, wherein the electrical network electrically connects between adjacent traces of the plurality of traces;
a pump, wherein the pump is fluidically coupled to the actuation layer by which the one or more bladders are configured to receive a fluid;
and
a controller, wherein the controller is connected to the plurality of traces, wherein the controller comprises one or more processors configured to execute program instructions maintained on a memory causing the one or more processors to:
control actuation of the actuator by selectively causing the pump to pump the fluid;
detect the puncture and the electrical network by monitoring a resistance between the plurality of traces;
cause the electrical network to locally heat the puncture to melt the thermoplastic elastomer layer and seal the puncture;
and
cause the actuator to form a physical discontinuity along the electrical network.

11 more elements

Dependencies are inferred from the claim text.

Mechanisms for damage detection and autonomous repair of puncture damage for self-healing artificial muscles

Life of this patent

Mechanisms for damage detection and autonomous repair of puncture damage for self-healing artificial muscles

Life of this patent

Abstract

Claims26