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Title:
ACTUATION COMPONENT
Document Type and Number:
WIPO Patent Application WO/2021/173077
Kind Code:
A1
Abstract:
The present disclosure generally relates to an actuation component (100) comprising: a first fabric layer (110); a second fabric layer (120) attached to the first fabric layer (110); an actuation layer (130) interposed and moveable between the first and second fabric layers (110,120), the actuation layer (130) comprising a set of actuators for effecting movement of the actuation layer (130) in between and along the first and second fabric layers (110,120); a set of end effectors (140) attached to at least one end of the actuation layer (130); and a set of sensors for measuring sensor data for controlling said movement of the actuation layer, wherein the end effectors (140) are actuatable along the first and second fabric layers (110,120) by controlled movement of the actuation layer (130).

Inventors:
BAMUNUARACHCHI KALANA (LK)
RATNAWEERA DILRU ROSHAN (LK)
DOLE SARAH (LK)
VITARANA RANIL (LK)
Application Number:
PCT/SG2021/050087
Publication Date:
September 02, 2021
Filing Date:
February 24, 2021
Export Citation:
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Assignee:
MAS INNOVATION PRIVATE LTD (LK)
MATTEUCCI GIANFRANCO (SG)
International Classes:
D03D1/00; H02N2/00
Domestic Patent References:
WO2020056271A12020-03-19
WO2019232621A12019-12-12
Foreign References:
GB2516987A2015-02-11
KR20180038250A2018-04-16
Other References:
YAP HONG KAI ET AL: "Design and characterization of low-cost fabric-based flat pneumatic actuators for soft assistive glove application", 2017 INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR), IEEE, 17 July 2017 (2017-07-17), pages 1465 - 1470, XP033141736, DOI: 10.1109/ICORR.2017.8009454
"A brief review of actuation at the micro-scale using electrostatics, electromagnetics and piezoelectric ultrasonics", ACOUSTICAL SCIENCE AND TECHNOLOGY, vol. 31, no. 2, 2010
Attorney, Agent or Firm:
KINNAIRD, James Welsh (SG)
Download PDF:
Claims:
Claims

1 . An actuation component comprising: a first fabric layer; a second fabric layer attached to the first fabric layer; an actuation layer interposed and moveable between the first and second fabric layers, the actuation layer comprising a set of actuators for effecting movement of the actuation layer in between and along the first and second fabric layers; a set of end effectors attached to at least one end of the actuation layer; and a set of sensors for measuring sensor data for controlling said movement of the actuation layer, wherein the end effectors are actuatable along the first and second fabric layers by controlled movement of the actuation layer.

2. The actuation component according to claim 1 , further comprising a first intermediate layer interposed between the first fabric layer and the actuation layer, the first intermediate layer arranged to facilitate movement of the actuation layer along the first fabric layer.

3. The actuation component according to claim 1 or 2, further comprising a second intermediate layer interposed between the second fabric layer and the actuation layer, the second intermediate layer arranged to facilitate movement of the actuation layer along the second fabric layer.

4. The actuation component according to claim 2 or 3, wherein the intermediate layers are formed of taffeta or thermoplastic polyurethane.

5. The actuation component according to any one of claims 1 to 4, wherein the set of actuators comprises one or more actuators from classes of actuators comprising ionic actuators, electronic actuators, and thermoresponsive actuators.

6. The actuation component according to any one of claims 1 to 5, wherein the thermoresponsive actuators comprise conductive strings, wires, or yarns.

7. The actuation component according to any one of claims 1 to 5, wherein the actuation layer comprises a substrate is formed of a conductive material.

8. The actuation component according to claim 7, wherein the set of actuators comprises one or more thermoresponsive actuators laid on or integrated into the substrate.

9. The actuation component according to claim 7, wherein the set of actuators comprises conductive paste or ink printed on the substrate.

10. The actuation component according to any one of claims 7 to 9, wherein portions of the substrate are attached to the fabric layers.

11. The actuation component according to any one of claims 5 to 10, wherein the ionic actuators comprise electroactive polymer and/or electroactive metallic actuators.

12. The actuation component according to any one of claims 5 to 11 , wherein the electronic actuators comprise fluidic and/or motor-driven actuators.

13. The actuation component according to any one of claims 1 to 12, wherein the actuation component is communicative with an electronic device for remotely controlling the actuation component.

14. The actuation component according to any one of claims 1 to 13, wherein the set of sensors comprises one or more sensors from classes of sensors comprising mechanical sensors and chemical sensors.

15. The actuation component according to claim 14, wherein the mechanical sensors comprise one or more pressure sensors, piezoelectric sensors, magnetic sensors, electrical resistance/capacitance-based sensors, and cantilever sensors.

16. The actuation component according to claim 14 or 15, wherein the chemical sensors comprise one or more electrochemical sensors, dielectric electroactive polymer sensors, and optical sensors.

17. A method of forming an actuation component, the method comprising: forming an actuation layer comprising a set of actuators, a set of end effectors attached to at least one end of the actuation layer, and a set of sensors for measuring sensor data; interposing the actuation layer between a first fabric layer and a second fabric layer such that the actuation layer is moveable between the first and second fabric layers, the set of actuators for effecting movement of the actuation layer in between and along the first and second fabric layers; and attaching the first fabric layer to the second fabric layer, wherein the sensor data are for controlling said movement of the actuation layer and the end effectors are actuatable along the first and second fabric layers by controlled movement of the actuation layer.

18. The method according to claim 17, further comprising interposing a first intermediate layer between the first fabric layer and the actuation layer, the first intermediate layer arranged to facilitate movement of the actuation layer along the first fabric layer.

19. The method according to claim 17 or 18, further comprising interposing a second intermediate layer between the second fabric layer and the actuation layer, the second intermediate layer arranged to facilitate movement of the actuation layer along the second fabric layer.

20. The method according to claim 18 or 19, wherein the intermediate layers are formed of taffeta or thermoplastic polyurethane.

21. The method according to any one of claims 17 to 20, wherein the set of actuators comprises one or more actuators from classes of actuators comprising ionic actuators, electronic actuators, fluidic actuators, and thermoresponsive actuators.

22. The method according to any one of claims 17 to 21 , wherein the thermoresponsive actuators comprise conductive strings, wires, or yarns.

23. The method according to any one of claims 17 to 21 , wherein the actuation layer comprises a substrate is formed of a conductive material.

24. The method according to claim 23, wherein the set of actuators comprises one or more thermoresponsive actuators, the method further comprising laying the thermoresponsive actuators on the substrate.

25. The method according to claim 23, wherein the set of actuators comprises conductive paste or ink, the method further comprising printing the conductive paste or ink on the substrate.

26. The method according to any one of claims 23 to 25, further comprising attaching portions of the substrate to the fabric layers.

27. The method according to any one of claims 21 to 26, wherein the ionic actuators comprise electroactive polymer and/or electroactive metallic actuators.

28. The method according to any one of claims 21 to 27, wherein the electronic actuators comprise motor-driven actuators.

29. The method according to any one of claims 21 to 28, wherein the fluidic actuators comprise pneumatic and/or hydraulic actuators.

30. The method according to any one of claims 21 to 29, wherein the electronic and/or fluidic actuators comprise one or more microelectromechanical systems.

31. The method according to any one of claims 17 to 30, further comprising integrating a wireless communication module communicative with an electronic device for remotely controlling the actuation component. 32. The method according to any one of claims 17 to 31 , wherein the set of sensors comprises one or more sensors from classes of sensors comprising mechanical sensors and chemical sensors.

33. The method according to claim 32, wherein the mechanical sensors comprise one or more pressure sensors, piezoelectric sensors, magnetic sensors, electrical resistance/capacitance-based sensors, and cantilever sensors.

34. The method according to claim 32 or 33, wherein the chemical sensors comprise one or more electrochemical sensors, dielectric electroactive polymer sensors, and optical sensors.

Description:
ACTUATION COMPONENT

Cross Reference to Related Application(s)

The present disclosure claims the benefit of United Kingdom Patent Application No. GB2002569.8 filed on 24 February 2020, which is incorporated in its entirety by reference herein.

Technical Field

The present disclosure generally relates to an actuation component. More particularly, the present disclosure describes various embodiments of an actuation component comprising an actuation layer, and a method of forming the actuation component.

Background

Various types of garments, such as compression garments, can provide support to body parts and muscles of a user. Such garments typically comprise actuation components to provide the support. For example, compression garments may include actuation components such as specialized material composites for effecting compression to the body parts. To achieve other forms of actuations, some garments utilize conventional motorized assemblies but these garments tend to be inflexible, operate noisily, and lack a sleek form factor. Manual or passive actuation mechanisms such as zippers, laces, and touch fasteners, may be used for tightening and shape changing applications, but these mechanisms are cumbersome as they require manual labour from the user.

Therefore, in order to address or alleviate at least the aforementioned problem or disadvantage, there is a need to provide an improved actuation component.

Summary According to a first aspect of the present disclosure, there is an actuation component comprising: a first fabric layer; a second fabric layer attached to the first fabric layer; an actuation layer interposed and moveable between the first and second fabric layers, the actuation layer comprising a set of actuators for effecting movement of the actuation layer in between and along the first and second fabric layers; a set of end effectors attached to at least one end of the actuation layer; and a set of sensors for measuring sensor data for controlling said movement of the actuation layer, wherein the end effectors are actuatable along the first and second fabric layers by controlled movement of the actuation layer.

According to a second aspect of the present disclosure, there is a method of forming an actuation component, the method comprising: forming an actuation layer comprising a set of actuators, a set of end effectors attached to at least one end of the actuation layer, and a set of sensors for measuring sensor data; interposing the actuation layer between a first fabric layer and a second fabric layer such that the actuation layer is moveable between the first and second fabric layers, the set of actuators for effecting movement of the actuation layer in between and along the first and second fabric layers; and attaching the first fabric layer to the second fabric layer, wherein the sensor data are for controlling said movement of the actuation layer and the end effectors are actuatable along the first and second fabric layers by controlled movement of the actuation layer.

An actuation component according to the present disclosure is thus disclosed herein. Various features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description of the embodiments of the present disclosure, by way of non-limiting examples only, along with the accompanying drawings.

Brief Description of the Drawings

Figure 1 is an illustration of a plan view of an actuation component according to embodiments of the present disclosure. Figure 2 is an illustration of a cross-sectional view of an actuation component according to embodiments of the present disclosure.

Detailed Description

In the present disclosure, depiction of a given element or consideration or use of a particular element number in a particular figure or a reference thereto in corresponding descriptive material can encompass the same, an equivalent, or an analogous element or element number identified in another figure or descriptive material associated therewith. The use of 7” in a figure or associated text is understood to mean “and/or” unless otherwise indicated. As used herein, the term “set” corresponds to or is defined as a non-empty finite organization of elements that mathematically exhibits a cardinality of at least one (e.g. a set as defined herein can correspond to a unit, singlet, or single element set, or a multiple element set), in accordance with known mathematical definitions. The recitation of a particular numerical value or value range herein is understood to include or be a recitation of an approximate numerical value or value range.

For purposes of brevity and clarity, descriptions of embodiments of the present disclosure are directed to an actuation component, in accordance with the drawings. While aspects of the present disclosure will be described in conjunction with the embodiments provided herein, it will be understood that they are not intended to limit the present disclosure to these embodiments. On the contrary, the present disclosure is intended to cover alternatives, modifications and equivalents to the embodiments described herein, which are included within the scope of the present disclosure as defined by the appended claims. Furthermore, in the following detailed description, specific details are set forth in order to provide a thorough understanding of the present disclosure. Flowever, it will be recognized by an individual having ordinary skill in the art, i.e. a skilled person, that the present disclosure may be practiced without specific details, and/or with multiple details arising from combinations of aspects of particular embodiments. In a number of instances, well-known systems, methods, procedures, and components have not been described in detail so as to not unnecessarily obscure aspects of the embodiments of the present disclosure. In representative or exemplary embodiments of the present disclosure, there is an actuation component 100 as illustrated in Figure 1 and Figure 2. The actuation component 100 comprises a first fabric layer 110 and a second fabric layer 120 attached to the first fabric layer 110. The actuation component 100 further comprises an actuation layer 130 interposed and moveable between the first fabric layer 110 and the second fabric layer 120, the actuation layer 130 configured for effecting movement of the actuation layer 130 in between and along the first fabric layer 110 and the second fabric layer 120.

The first fabric layer 110 and the second fabric layer 120 may be formed of a suitable fabric material, such as one suitable for making garments. The fabric material provides an aesthetic appearance to the actuation component 100. Further, each of the first fabric layer 110 and the second fabric layer 120 may be formed of a suitable fabric material that has a smooth surface in contact with the actuation layer 130, so that frictional forces are reduced during said movement of the actuation layer 130 along the first fabric layer 110 and the second fabric layer 120, thereby smoothening movement of the actuation layer 130 between and along the fabric layers 110,120.

In some embodiments, the first fabric layer 110 and the second fabric layer 120 are attached together by stitching or sewing. In some other embodiments, the first fabric layer 110 and the second fabric layer 120 are attached together by bonding or adhesive means. The bonding means may be an adhesive or ultrasonic bonding. For example, the adhesive may be an adhesive tape, liquid glue, or hotmelt powder glue). In some embodiments, a glue layer bonds the first fabric layer 110 and the second fabric layer 120 together. The glue layer seals the actuation layer 130 between the first fabric layer 110 and the second fabric layer 120, thus preventing water ingress if the actuation component 100 is immersed in water. Another advantage of sealing or encapsulating the actuation layer 130 is that it imparts washability to the actuation component 100. For example, a garment comprising the actuation component 100 can be washed without damaging electronics within the actuation layer 130. It will be appreciated that various parts of the actuation component 100 may be fitted with suitable water seals and may be rated to appropriate Ingress Protection codes. In some embodiments as shown in Figure 2, the actuation component 100 further comprises a first intermediate layer 112 interposed between the first fabric layer 110 and the actuation layer 130. The first intermediate layer 112 is attached to the first fabric layer 110 by bonding or adhesive means, such as glue. Similarly, the actuation component 100 may comprise a second intermediate layer 122 interposed between the second fabric layer 120 and the actuation layer 130. The second intermediate layer 122 is bonded to the second fabric layer 120 by bonding or adhesive means, such as glue. The first fabric layer 110 is bonded to the second fabric layer 120 by the first intermediate layer 112 and the second intermediate layer 122.

In some embodiments, the first intermediate layer 112 is arranged to facilitate movement of the actuation layer 130 along the first fabric layer 110, and similarly, the second intermediate layer 122 is arranged to facilitate movement of the actuation layer 130 along the second fabric layer 120. The first intermediate layer 112 and the second intermediate layer 122 are formed of a material that has a low coefficient of friction so that they are able to facilitate movement of the actuation layer 130 along the first fabric layer 110 and the second fabric layer 120, respectively, by reducing the frictional forces along the actuation layer 130. For example, the first intermediate layer 112 and the second intermediate layer 122 are formed of a smooth fabric material such as taffeta. The intermediate layers 112,122 may be made of other materials that are smooth and/or have anti-friction properties, such as thermoplastic polyurethane (TPU).

The material for the intermediate layers 112,122 may have other properties. For example, the material has barrier or impermeable properties to prevent permeation or leakage of fluids or liquids through the intermediate layers 112,122. Other properties include, but are not limited to, waterproofing, washability, fire retardancy, heat proofing, shock proofing, and chemical proofing.

In some embodiments, alternative or in addition to facilitate movement of the actuation layer 130, the intermediate layers 112,122 have various other functions or properties that may complement said movement. Non-limiting examples include reduction of static generation, chemical isolation, thermal isolation, and anti-flammability properties. The actuation layer 130 comprises a set of actuators for effecting said movement of the actuation layer 130. The actuators are formed in the actuation layer 130 such that the actuation layer 130 is flexible and drapable, enabling the actuation component 100 to be used in various applications, such as in garments, apparel, and soft goods. The set of actuators may include actuators from among various classes of actuators. The actuators may be of one or various combinations of these classes, including but not limited to, ionic actuators, electronic actuators, fluidic actuators, and thermoresponsive actuators.

The actuation capability of the actuation layer 130 may be defined by a stress-strain relationship such as the Young modulus. Specifically, the Young modulus defines the relationship between stress (force per unit area) and strain (proportional deformation). In some embodiments with reference to Figure 1 , the actuation layer 130 extends or contracts along the arrows 132 by operation of the actuators therein. In other words, the actuation layer 130 slides or slithers in between and along the fabric layers 110,120, during which the actuation layer 130 may physically contact or abut against the fabric layers 110,120. This contraction or extension changes dimensions of the actuation layer 130 while it moves along the fabric layers 110,120. As the actuation layer 130 is interposed and moveable between the fabric layers 110,120, the fabric layers 110, 120 may impede or restrict movement of the actuation layer 130. To mitigate this, the fabric layers 110,120 (possibly including the glue layer bonding them together) are formed of a fabric material that has a significantly smaller Young modulus than that of the actuation layer 130. The smaller Young modulus increases elasticity of the fabric layers 110,120 so that they may easily contract and extend together with the actuation layer 130. The fabric layers 110,120 with a significantly smaller Young modulus thus do not impede or restrict movement of the actuation layer 130 along the fabric layers 110,120.

The actuation component 100 further comprises a set of end effectors 140 attached to at least one end of the actuation layer 130. The end effectors 140 may include attachment or coupling mechanisms such as claws, clasps, fasteners, or similar mechanical elements that enable attachment to another article, such as a garment or a soft good depending on the use application of the actuation component 100, which would require active movement effected by the actuation layer 130. For example, the end effectors 140 may be attached to the garment fabric and movement of the actuation layer 130 causes the garment fabric to move via the end effectors 140. In one embodiment, one or more end effectors 140 is attached to only one end of the actuation layer 130. In another embodiment, each of both ends of the actuation layer 130 has at least one end effector 140 attached thereto. Inner movement caused by the actuation layer 130 consequently actuates the outer end effectors 140 and the article attached thereto, enabling the article to have various use applications such as compression garments.

The actuation component 100 further comprises a set of sensors for measuring sensor data for controlling said movement of the actuation layer 130, wherein the end effectors 140 are actuatable along the first fabric layer 110 and the second fabric layer 120 by controlled movement of the actuation layer 130. Movement of the actuation layer 130 in between and along the fabric layers 110, 120 causes the end effectors 140 to actuate or move along the fabric layers 110,120. For example, the end effectors 140 are configured to move linearly along the arrows 132. The actuators and sensors are communicative with each other through a control unit of the actuation component 100. Specifically, the control unit receives the sensor data measured by the sensors, processes the sensor data, and sends instructions to the actuators to control the actuators based on the processed sensor data. It will be appreciated that the control unit includes corresponding control circuitry and suitable logic / algorithmic programming to process the sensor data according to various use applications required of the actuation component 100. The sensors may similarly be preconfigured to suit various use applications, such as for measuring sensor data relevant to such applications.

In some applications, the actuation component 100 is integrated in a garment such as an adaptive apparel. The sensors include one or more activity sensors that monitors the required function of the adaptive apparel, such as compression, motion, and haptic. The sensors may be classified into at least classes of mechanical sensors and chemical sensors, and may include one or more sensors from one or more classes. Suitable mechanical sensors include, but are not limited to, pressure sensors, piezoelectric sensors, magnetic sensors, electrical resistance/capacitance-based sensors, and cantilever sensors. Suitable chemical sensors include, but are not limited to, electrochemical sensors, dielectric electroactive polymer sensors, and optical sensors.

The sensors monitor the required function and measure relevant sensor data such as pressure and force, and the sensor data is relayed to the actuators via the control unit to automatically move and adjust the actuation layer 130 accordingly. For example in the adaptive apparel, the sensors measure the current pressure of the fabric and the control unit processes the sensor data to determine the required pressure level that the fabric needs to be in order to provide a fit to the wearer. The control unit then provides feedback to the actuators to actuate the actuation layer 130 in a manner that it provides the required compression levels to achieve fit for the wearer. The combination of actuators and sensors can thus cause the garment to selectively compress, and thereby support, at least one muscle or joint of at least one body part of the wearer.

In some embodiments, the set of actuators of the actuation layer 130 comprises one or more from the class of thermoresponsive or temperature- responsive actuators. Thermoresponsive actuators convert thermal energy into kinetic energy or motion and display change in physical properties with temperature. Non-limiting examples of thermoresponsive actuators include thermal actuators, thermoresponsive materials (e.g. polymers), and shape memory materials. Typically, a thermal actuator comprises a temperature-sensing material sealed within a housing by a diaphragm that pushes against a plug to move a piston within a guide. The thermoresponsive actuators may include one or more twisted string yarn actuators or one or more conductive wires that generate thermal energy by joule heating. Joule heating, which is also known as resistance / resistive heating or ohmic heating, is the process by which the passage of an electric current through a conductor produces heat. The thermoresponsive actuators are formed in the actuation layer 130 such that they are extendable, such as extendable wiring, to effect said movement of the actuation layer 130 along the fabric layers 110,120. The thermoresponsive actuators are arranged such that they terminate at the ends of the actuation layer 130. The ends of the actuation layer 130 has ohmic contacts that connect to corresponding ohmic contacts of the end effectors 140. As such, electric current passes through the thermoresponsive actuators to the end effectors 140 and the end effectors 140 are thus actuatable by movement of the actuation layer 130 resulting from joule heating. The electric current is supplied from a power source connected to a power input port 150 of the actuation component 100. The power source may be a battery integrated with the actuation component 100. The battery may be a rechargeable one and the control unit may be integrated with wireless charging technology so the battery can be charged wirelessly. Wireless charging of the battery may be by inductive charging or from Wi-Fi or Bluetooth signals.

The thermoresponsive actuators are thus responsive to an electric current passing through which heats the thermoresponsive actuators. The thermoresponsive actuators may increase or decrease in dimensions (such as length or diameter, etc.) depending on the temperature to which the thermoresponsive actuators are heated. Changes in dimensions of the thermoresponsive actuators consequently move the actuation layer 130 along the fabric layers 110,120 and thereby actuate the end effectors 140. Actuation of the end effectors 140 adjusts dimensions between the end effectors 140, such as the distance between them. In some applications, actuation components 100 comprising such thermoresponsive actuators are incorporated in a flexible textile, soft good, or garment substrate. The actuation components 100 can be operated to selectively provide compression, adjust fit, or create a motion.

In some embodiments, the actuation layer 130 comprises a substrate that is formed of a conductive material, such as conductive fabric, nylon, or other suitable material that can achieve joule heating. The thermoresponsive actuators or conductive wires / yarns may be laid on the conductive substrate. Alternatively, the thermoresponsive actuators may be substituted by conductive paste or ink printed on the substrate. Portions of the substrate may be attached to the fabric layers 110,120 by various attachment means such as glue, sewing, or stitching. These portions may remain fixed relative to the fabric layers 110,120, while the other non-attached portions are moveable along the fabric layers 110,120. Further, the actuators and sensors may be integrated together using suitable manufacturing methodology, such as flat knitting on the substrate, to achieve a streamline flat profile for the actuation component 100.

In some embodiments, the thermoresponsive actuators include shape memory materials which can remember and return to their original shapes after being deformed by heating. Shape memory materials include shape memory alloys and polymers. For example, the shape memory alloy can include a nickel-titanium shape memory alloy, such as nitinol or other suitable nickel-titanium alloy composition. Responsive to an electric current passing through the shape memory alloy, the shape memory alloy gets heated and its dimensions (such as length or diameter, etc.) may change depending on the temperature to which the shape memory alloy is heated. Changes in the dimensions of the shape memory alloy consequently move the actuation layer 130 along the fabric layers 110,120 and thereby actuate the end effectors 140. Actuation of the end effectors 140 adjusts dimensions between the end effectors 140, such as the distance between them. In some applications, actuation components 100 comprising such shape memory materials are incorporated in a flexible textile, soft good, or garment substrate. The actuation components 100 can be operated to selectively provide compression, adjust fit, or create a motion. Some examples of such nickel-titanium shape memory alloys are Flexinol® and Flexinol FIT® which are commercially available from Dynalloy. For example, Flexinol FIT® has a transition temperature of about 194 °F, an activation start temperature of about 190 °F, and an activation finish temperature at about 208 °F. Such nickel-titanium alloys can gradually and controllably contract in length by about 2% to about 5% of their length or other dimension while they are heated from the activation start temperature to the activation finish temperature.

In some embodiments, the set of actuators of the actuation layer 130 comprises one or more from the class of ionic actuators which display artificial muscle behaviour in response to an applied voltage or electric field. Ionic actuators include electroactive material actuators such as electroactive polymer (EAP) actuators and/or electroactive metallic actuators. Electroactive polymer actuators may be at least partially formed from one or more of ferroelectric polymers, dielectric elastomers, and electrostrictive graft elastomers. Responsive to a voltage applied across the electroactive polymer actuators, the electroactive polymer actuators may increase or decrease in dimensions (such as length or diameter, etc.) depending on the polarity of the applied voltage. Changes in dimensions of the electroactive polymer actuators consequently move the actuation layer 130 along the fabric layers 110,120 and thereby actuate the end effectors 140. Actuation of the end effectors 140 adjusts dimensions between the end effectors 140, such as the distance between them. In some applications, actuation components 100 comprising such electroactive polymer actuators are incorporated in a flexible textile, soft good, or garment substrate. The actuation components 100 can be operated to selectively provide compression, adjust fit, or create a motion. Suitable electroactive polymers for the electroactive polymer actuators may include various commercially available polymer materials. Some examples include silicone elastomers such as NuSil CF19-2186, acrylic elastomers such as the 3M Corporation VHB 4910, polyurethanes, thermoplastic elastomers, copolymers comprising polyvinylidene fluoride or polyvinylidene difluoride (PVDF), BioAstra Technologies Inc. solid state thiophene-based electroactive polymer actuators (such as described in WO 2019/232621 ), pressure-sensitive adhesives, fluoroelastomers, and polymers comprising silicone and acrylic moieties.

In some embodiments, the set of actuators of the actuation layer 130 comprises one or more from the class of electronic actuators. For example, the electronic actuators may include motor-driven actuators or motors. In some embodiments, the set of actuators of the actuation layer 130 comprises one or more from the class of fluidic actuators. For example, the fluidic actuators may include pneumatic and/or hydraulic actuators.

The electronic and/or fluidic actuators may include one or more microelectromechanical systems (MEMS) or MEMS actuators. The MEMS actuators may include micro-piezoelectric actuators, micro-electrostatic actuators, and/or micro- electromagnetic actuators. Examples of suitable MEMS actuators and motors that can be used are disclosed in Acoustical Science and Technology (Volume 31 (2010) Issue 2) “A brief review of actuation at the micro-scale using electrostatics, electromagnetics and piezoelectric ultrasonics", the disclosure of which is incorporated herein in its entirety by reference. One example of a suitable micro-piezoelectric actuator is the New Scale Technologies SQUIGGLE® motor. One example of a suitable micro piezoelectric actuator is a conventional pneumatic muscle actuator such as the McKibben actuator. Responsive to air flow or communication through the micro piezoelectric actuators, the micro-piezoelectric actuators may increase or decrease in dimensions (such as length or diameter, etc.) depending on the magnitude of the air flow. Changes in dimensions of the micro-piezoelectric actuators consequently move the actuation layer 130 along the fabric layers 110,120 and thereby actuate the end effectors 140. Actuation of the end effectors 140 adjusts dimensions between the end effectors 140, such as the distance between them. In some applications, actuation components 100 comprising such micro-piezoelectric actuators are incorporated in a flexible textile, soft good, or garment substrate. The actuation components 100 can be operated to selectively provide compression, adjust fit, or create a motion.

In some embodiments, the control unit comprises a wireless communication module such as a Wi-Fi module or Bluetooth module. The Bluetooth module may be based on Bluetooth Low Energy (BLE) technology. The wireless communication module is communicative with another electronic device, such as a mobile device or phone. A software or mobile application (app) may be executed on the electronic device for remotely controlling the actuation component 100 through the app. For example, a user may use the electronic device to remotely power on/off the actuation component 100, as well as for gathering of sensor data measured by the sensors. The sensor data may be parsed through the app to provide data feedback or actionable insights to the user, such as to learn about user habits and adjust compression levels (of a compression garment incorporating the actuation component 100) accordingly.

In some embodiments, the electronic device communicative with the wireless communication module is a virtual home assistant, such as Amazon® Alexa, Apple® HomePod, and Google® Assistant. The virtual home assistant may allow the user to control the actuation component 100, as well as products integrating multiple actuation components 100 together, via voice commands or other user inputs. In various embodiments of the present disclosure, there is a method of forming the actuation component 100. The method includes a step of forming the actuation layer comprising a set of actuators, a set of end effectors attached to at least one end of the actuation layer 130, and a set of sensors for measuring sensor data. The method further includes a step of interposing the actuation layer 130 between the first fabric layer 110 and the second fabric layer 120 such that the actuation layer 130 is moveable between the first fabric layer 110 and the second fabric layer 120, the set of actuators for effecting movement of the actuation layer 130 in between and along the fabric layers 110,120. The method further includes a step of attaching the first fabric layer 110 to the second fabric layer 120. The sensor data are for controlling said movement of the actuation layer 130 and the end effectors 140 are actuatable by controlled movement of the actuation layer 130.

It will be appreciated that various aspects of the actuation component 100 described above apply similarly or analogously to the method of forming the actuation component 100, and will not be further described for purpose of brevity.

As described in various embodiments herein, the actuation component 100 may be described as a composite component that is attachable to a product or article, such as a garment, apparel, or soft good, which enable fabric / apparel movement with flexible, fibrous materials. The actuators and sensors of the actuation component 100 cooperate to provide a mechanism and to enable automatic adjustment of the end effectors 140 on demand. For example in the applications of actuating textiles, apparel, and soft goods, the actuation component 100 can generate adequate amount of force, tension, strain, torque, bending moment whilst also having real-time sensing capability that allows for required adjustment and data feedback and insights. The modularity of the actuation component 100 allows it to be separated from the product or article to which it is attached, facilitating replacement of the actuation component 100 due to damage or if it reaches the end of its utility life, while still maintaining the same product or article.

Multiple actuation components 100 may be integrated in an article or product so the actuation components 100 collectively impart fit, motion, compression, which can be used in the areas of medical textiles, haptic garments, active textiles for the applications in self-tightening, opening and closing structures, folding structures. For example, multiple actuation components 100 may be integrated in a garment such as a compression garment that helps to support at least one muscle or joint of at least one body part of the user. The actuation components 100 may be arranged in a fibrous arrangement in the compression garment, and may be referred to as artificial muscles as they generate forces against the user’s body parts for supporting the muscles / joints.

Integrating or multiplexing multiple actuation components 100 in the garment may cause heating issues to the user, especially if the actuation components 100 uses thermoresponsive actuators or any thermoresponsive polymer / shape memory material that operate on thermal energy. These heating issues may cause discomfort to the user but may be mitigated by incorporated suitable cooling methods in the actuation components 100 / garment, such as inclusion of the intermediary layers 112,122 with thermal isolation properties. With suitable cooling methods or appropriate control of the thermal energy, multiple actuation components can be combined to generate a desired amount of heat to the user. The garment may thus have a combination of actuation and heating effects, and may be useful for medical applications such as therapy.

There are thus various use applications of the actuation component 100 described herein, such as in garments, footwear, and other soft goods like car seats. The actuation component 100 is suitable for such applications, especially garments, because the actuation component 100 is flexible, operate with minimal noise (particularly with thermoresponsive actuators), and has a sleek form factor. The actuation component 100 is able to contract and extend to achieve change in dimensions and shape with a given amount of force from the actuators. Without being limiting, some specific examples of use applications include compression garments with self-tightening / self-loosening functionality, adaptive or custom-fit textiles such as self-adjusting sports bra, haptic textiles, soft electronics such as keyboards and self tightening watches, adaptable children toys. The actuation component 100 may also have applications in the automobile industry, such as in the form of actuating car seats to keep the driver alert or providing a massage-like effect.

Products such as medical textiles and haptic garments have multiple actuation components 100 integrated within and interconnected together to form a network of actuation components 100. The multiple actuation components 100 may communicate with one another wirelessly, such as via their wireless communication modules. Moreover, a plurality of similar products may communicate with each other to form a network of products, each having a network of actuation components 100. Such networks are similar to Internet-of-things (loT) networks which refer to a collection of interconnected devices that communicate with other devices. Each product or a network of products may be communicative with an electronic device, such as the mobile phone or virtual home assistant mentioned above, to allow the user to control the product(s) similar to how the user would control loT devices. The electronic device may include an app executable thereon to provide a digital platform for the user to remotely control the product(s). This app may include functions like extraction of real time measurements from the sensors and data analysis which could provide valuable insights to the user.

In the foregoing detailed description, embodiments of the present disclosure in relation to an actuation component are described with reference to the provided figures. The description of the various embodiments herein is not intended to call out or be limited only to specific or particular representations of the present disclosure, but merely to illustrate non-limiting examples of the present disclosure. The present disclosure serves to address at least one of the mentioned problems and issues associated with the prior art. Although only some embodiments of the present disclosure are disclosed herein, it will be apparent to a person having ordinary skill in the art in view of this disclosure that a variety of changes and/or modifications can be made to the disclosed embodiments without departing from the scope of the present disclosure. Therefore, the scope of the disclosure as well as the scope of the following claims is not limited to embodiments described herein.