# US 9,962,831 B2 · Biomimetic humanoid robotic model, control system, and simulation process > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,962,831 B2 - Document ID: US9962831B2 - Status: Granted - Kind: B2 - Application number: 15/206,066 - Filed: 2016-07-08 - Published: 2017-01-12 - Granted: 2018-05-08 - Earliest claimed: 2015-07-08 - Applicants: Stephen Favis - Inventors: Stephen Favis - Web page: https://patentgrep.com/patent/US9962831B2 ## CPC - B25J 9/1075: {with muscles or tendons} - B25J 9/1095: {chemically actuated} - B25J 9/1605: {Simulation of manipulator lay-out, design, modelling of manipulator} - G05B 2219/39454: Rubber actuator, two muscle drive, one for extension other for traction - G05B 2219/40324: Simulation, modeling of muscle, musculoskeletal dynamical system - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A biomimetics based robot and process for simulation is disclosed. The robot may include filament driven and fluid pumped elastomer based artificial muscles coordinated for slow twitch/fast twitch contraction and movement of the robot by one or more microcontrollers. A process may provide physics based simulation for movement of a robot in a virtual setting. Successfully tested movement data may be stored and embedded into a robot at build and/or before a new movement in programmed into the robot. ## Claims ### Claim 1 A biomimetics based robot, comprising: an artificial skeletal structure; an artificial muscular system attached to the artificial skeletal structure, artificial muscles of the artificial muscular system including, flexible casing, a fluid channel through the flexible casing configured to contract and relax the flexible casing via controlled fluid inflow/outflow from the flexible casing, and a filament coupled to opposing ends of the flexible casing; a power source; a pump; an actuator; and a processing unit connected to the power source, the pump and the actuator, the processing unit configured to: control the pump to pump fluid into and out of the flexible casing of respective muscles and control the actuator to oscillate a length of the filament, to expand and contract the flexible casing of respective muscles in coordinated fashion to mimic human movement. ### Claim 2 (depends on 1) The biomimetics based robot of claim 1, wherein the flexible casing is an elastomer. ### Claim 3 (depends on 1) The biomimetics based robot of claim 1, wherein the flexible casing comprises a non-electroactive polymer. ### Claim 4 (depends on 1) The biomimetics based robot of claim 1, wherein the actuator includes a heating/cooling element coupled to the filament and configured to actuate the filament by controlling heat applied to the filament. ### Claim 5 (depends on 1) The biomimetics based robot of claim 1, further comprising a valve positioned on either an inflow side or outflow side of the fluid channel, the valve controlled by the processing unit or a dedicated microcontroller. ### Claim 6 (depends on 5) The biomimetics based robot of claim 5, further comprising a heating/cooling element coupled to the fluid channel and configured to: provide heated fluid to the flexible casing, contracting the flexible casing; and provide cooled fluid to the flexible casing, relaxing the flexible casing. ### Claim 7 (depends on 1) The biomimetics based robot of claim 1, further comprising a force resistive sensor positioned at extremities or joints of the artificial skeletal structure. ### Claim 8 (depends on 1) The biomimetics based robot of claim 1, further comprising a stretch sensor positioned at an attachment point of at least one of the artificial muscles to an artificial bone of the artificial skeletal structure. ### Claim 9 A biomimetics based robot, comprising: an artificial skeletal structure; an artificial muscular system attached to the artificial skeletal structure, arrays of artificial muscles of the artificial muscular system, wherein the artificial muscles include, a non-electroactive polymer casing, a fluid channel through the non-electroactive polymer casing configured to contract and relax the non-electroactive polymer casing via controlled fluid inflow/outflow from the non-electroactive polymer casing, a solenoid valve on either an inflow side or outflow side of the fluid channel, and a filament coupled to opposing ends of the non-electroactive polymer casing; a power source; a pump; a fluid network configured to circulate fluid, via the pump, from the outflow side of the fluid channel to the inflow side of the fluid channel; a heating element connected to the filament; a controller connected to the solenoid valve and configured to open and close the solenoid valve; and a processing unit connected to the power source, the pump, the heating element, and the controller, the processing unit configured to: control the pump to pump fluid into and out of the non-electroactive polymer casing of respective artificial muscles, control the heating element to lengthen and shorten the filament, and control the controller to open and close the solenoid valve, to expand and contract the non-electroactive polymer casing of respective muscles in coordinated fashion to mimic human movement. ### Claim 10 (depends on 9) The biomimetics based robot of claim 9, further comprising a force resistive sensor positioned at extremities or joints of the artificial skeletal structure. ### Claim 11 (depends on 9) The biomimetics based robot of claim 9, further comprising a stretch sensor positioned at an attachment point of at least one of the artificial muscles to an artificial bone of the artificial skeletal structure. ### Claim 12 (depends on 9) The biomimetics based robot of claim 9, wherein the fluid network includes a high pressure flow on the inflow side and a low pressure flow on the outflow side of the fluid channel. ### Claim 13 An artificial muscle, comprising: flexible casing, a fluid channel through the flexible casing configured to contract and relax the flexible casing via controlled fluid inflow/outflow from the flexible casing, the fluid channel including a connection to a fluid pump for controlling the fluid inflow/outflow; and a filament coupled to opposing ends of the flexible casing and connected to an actuator controlling the length of the filament to contract and relax the flexible casing. ### Claim 14 (depends on 13) The artificial muscle of claim 13, wherein the flexible casing comprises a non-electroactive polymer. ### Claim 15 (depends on 13) The artificial muscle of claim 13, wherein the filament comprises nylon. ### Claim 16 (depends on 15) The artificial muscle of claim 15, wherein the filament is twisted, wound, braided, or meshed. ### Claim 17 (depends on 13) The artificial muscle of claim 13, further comprising a valve positioned on either an inflow side or outflow side of the fluid channel. ### Claim 18 (depends on 17) The artificial muscle of claim 17, wherein the valve is configured to close the fluid channel and allow fluid inflow to expand the flexible casing.