WO2025089972A1

WO2025089972A1 - Actuator assembly

Info

Publication number: WO2025089972A1
Application number: PCT/NZ2024/050118
Authority: WO
Inventors: Jonathan Tian Xing YUAN; Scott Daniel WILSON; Thomas Edmund KERR-PHILLIPS; Kimberly Recabar BANEZ; Anvil Serg Ganal BANEZ; Michael Joseph Blackhurst; Steven Andrew Leftly; Ryan Alexander Luke COWAN
Original assignee: Dennisson Technologies Ltd
Current assignee: Dennisson Technologies Ltd
Priority date: 2023-10-27
Filing date: 2024-10-29
Publication date: 2025-05-01
Anticipated expiration: 2026-04-27

Abstract

An actuator assembly is provided. The actuator assembly comprises at least one smart material actuator (SMA) arrangement comprising a smart material. The actuator assembly further comprises at least one stimulation element. The at least one stimulation element is arranged to provide a non-mechanical stimulus to the at least one SMA arrangement to cause a geometrical change to the SMA arrangement resulting in generation of a force. The actuator assembly further comprises at least one coupling element directly or indirectly attached to the at least one SMA arrangement, wherein the at least one coupling element is arranged to be directly or indirectly attachable to an object to translate the generated force to the object when attached.

Description

ACTUATOR ASSEMBLY

FIELD OF THE DISCLOSURE

The present disclosure relates to an actuator assembly comprising a smart material actuator arrangement.

BACKGROUND

An actuator is in general a device responsible for enabling physical movement in a mechanical system. Hence, actuators are widely used whenever a physical movement of a component of a mechanical system is required. The physical movement is achieved by converting energy from an energy source into a mechanical force.

Various types include soft actuators, hydraulic actuators, pneumatic actuators, electric actuators, thermal actuators, magnetic actuators, mechanical actuators.

While various types of actuators are commercially available, there is an ongoing need for further developments, e.g., in terms of minimising the overall system weight, improving the response rate of the system, and/or adding new system functionality.

SUMMARY

The invention is defined in the independent claims. Further embodiments of the invention are defined in the dependent claims.

In a first aspect, the present disclosure broadly includes an actuator assembly. The actuator assembly includes an actuation module, and a plurality of coupling elements coupled to the actuation module, wherein the actuation module comprises at least three layers of smart material actuator (SMA) arrangements and stimulation elements arranged one over the other, wherein the stimulation elements are configured to provide a stimulus to the SMA arrangements, and wherein each of the SMA arrangements is configured to change geometrically in response to receiving the stimulus to generate a force.

In a second aspect, the present disclosure broadly includes an actuator arrangement. The actuator arrangement includes an object, and an actuator assembly as described herein, wherein an actuation module of the actuator assembly is configured to generate a force to act on the object.

In a third aspect of the present disclosure, there may be provided an actuator assembly. The actuator assembly may comprise: at least one smart material actuator (SMA) arrangement comprising a smart material, and at least one stimulation element. The at least one stimulation element may be arranged to provide a non-mechanical stimulus to the at least one SMA arrangement to cause a geometrical change to the at least one SMA arrangement resulting in generation of a force. The at least one coupling element may be directly or indirectly attached to the at least one SMA arrangement. The at least one coupling element may be arranged to be directly or indirectly attachable to an object to translate the generated force to the object when attached.

In one example, the non-mechanical stimulus is limited to any one or more of the following: optical energy (such as light) and thermal energy (heat).

In another example, the at least one the SMA arrangement(s) is thermal- responsive or photo-thermal responsive.

In yet another example, the at least one of the SMA arrangement(s) is photo- responsive.

In a further example, the smart material comprises or is at least partially made of a photo-responsive shape memory polymer.

In a further example, the photo-responsive shape memory polymer comprises or is at least partially made of any one of: spiropyran-based polymers; diarylethene- containing polymers; azobenzene -containing polymers; liquid crystal elastomers; and polydopamine-modified polymers.

In a further example, the at least one of the SMA arrangement(s) is arranged in a first layer and at least one of the stimulation element(s) is arranged in a second layer, wherein the second layer at least partly overlaps the first layer.

In a further example, the actuator assembly comprises: at least a first SMA arrangement of the at least one SMA arrangement arranged in a first layer; at least a second SMA arrangement of the at least one SMA arrangement arranged in a second layer; and at least a first stimulation element of the at least one stimulation element arranged in a third layer, wherein the third layer is provided between the first layer and second layer.

In a further example, the actuator assembly comprises: at least a first stimulation element of the at least one stimulation element arrangement arranged in a first layer; at least a first SMA arrangement of the at least one SMA arrangement arranged in a second layer; and at least a second SMA arrangement of the at least one SMA arrangement arranged in a third layer, wherein the third layer is provided between the first layer and second layer.

In a further example, the actuator assembly comprises a at least one actuation module including at least one of the SMA arrangement(s) and at least one of the stimulation element(s).

In a further example, the coupling element is indirectly or directly attached to the at least one actuation module. In a further example, the at least one of the actuation module(s) comprises a stretchable housing.

In a further example, the at least one stimulation element is stretchable.

It is an object of the disclosure to provide an actuator assembly which ameliorates one or more disadvantages of the prior art, or which at least provides a useful alternative thereto.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features, aspects, and advantages of the present disclosure are described with reference to the drawings of certain embodiments, which are intended to schematically illustrate certain examples, in which:

Figure 1 shows a cross sectional side view of an actuator assembly, in a first state, according to an example;

Figure 2 shows a cross sectional side view of the actuator assembly of Figure 2, in a second state;

Figure 3 shows a cross sectional side view of an actuator assembly, in a first state, according to an example;

Figure 4 shows a cross sectional side view of the actuator assembly of Figure 3, in a second state;

Figure 5 shows a cross sectional side view of an actuator assembly, in a first state, according to an example;

Figure 6 shows a cross sectional side view of the actuator assembly of Figure 5, in a second state;

Figure 7 shows a schematic perspective view of an actuator assembly, according to an example;

Figure 8 shows a schematic perspective view of an actuation module according to an example, wherein the actuation module has a tubular configuration, in a first state:

Figure 9 shows a schematic perspective view of the actuation module of Figure 8, in a second state:

Figure 10a shows a cross sectional view of an actuator assembly in a first state according to an example;

Figure 10b shows a cross sectional side view of the actuator assembly of Figure 10a in a second state; Figure Ila shows a cross sectional view of an actuator assembly, in a first state according to an example;

Figure 11b shows a cross sectional view of the actuator assembly of Figure 1 la in a second state;

Figure 12a shows a cross sectional view of an actuator assembly having a pulley arrangement, in a first state according to an example;

Figure 12b shows a cross sectional view of the actuator assembly of Figure 12a in a second state;

Figure 13a shows a cross sectional view of an actuator assembly having a pulley arrangement, in a first state according to an example;

Figure 13b shows a cross sectional view of the actuator assembly of Figure 13a in a second state;

Figure 14a shows a cross sectional view of an actuator assembly having a housing, in a first state according to an example;

Figure 14b shows a cross sectional view of the actuator assembly of Figure 14a in a second state;

Figure 15a shows a cross sectional view of an actuator assembly having a housing, in a first state according to an example;

Figure 15b shows a cross sectional view of the actuator assembly of Figure 15a in a second state;

Figure 16a shows a cross sectional view of an actuator assembly having a telescopic housing, in a first state according to an example;

Figure 16b shows a cross sectional view of the actuator assembly of Figure 16a in a second state;

Figure 17a shows a cross sectional view of an actuator assembly having a telescopic housing, in a first state according to an example;

Figure 17b shows a cross sectional view of the actuator assembly of Figure 17a in a second state;

Figure 18a shows a cross sectional view of an actuator assembly having a telescopic housing, in a first state according to an example;

Figure 18b shows a cross sectional view of the actuator assembly of Figure 18a in a second state;

Figure 19a shows a cross sectional view of an actuator assembly having a telescopic housing, in a first state according to an example; Figure 19b shows a cross sectional view of the actuation module of Figure 19a in a second state;

Figure 20a shows a cross sectional view of an actuator assembly having a telescopic housing, in a first state according to an example;

Figure 20b shows a cross sectional view of the actuator assembly of Figure 20a in a second state;

Figure 21a shows a cross sectional view of an actuator assembly having a telescopic housing, in a first state according to an example;

Figure 21b shows a cross sectional view of the actuator assembly of Figure 21a in a second state;

Figure 22a shows a schematic view of an actuator assembly for asymmetric bending, in a first state according to an example;

Figure 22b shows a schematic view of the actuator assembly of Figure 22a in a second state;

Figure 23a shows a schematic view of an actuator assembly for asymmetric bending, in a first state according to an example;

Figure 23b shows a schematic view of the actuator assembly of Figure 23a in a second state;

Figure 24 shows a schematic view of an actuator assembly for asymmetric bending, in a first state according to an example;

Figure 25a shows a perspective view of an actuation module for concentric applications, in a first state according to an example;

Figure 25b shows a perspective view of the actuation module of Figure 25a in a second state;

Figure 26 shows a perspective view of an actuation module for concentric applications, in a first state according to an example;

Figure 27a shows a schematic view of an actuator assembly for guided flexible actuation, in a first state according to an example;

Figure 27b shows a perspective view of the actuator assembly of Figure 27a in a second state;

Figure 28 shows a perspective side view of an actuation module for helical compression according to an example;

Figure 29 shows a schematic view of an actuator assembly for lever applications, according to an example; Figure 30 shows a schematic view of an actuator assembly for lever applications, according to another example;

Figure 31 shows a schematic view of an actuator assembly for lever applications, according to an example;

Figure 32 shows a schematic view of an actuator assembly for controlling the operation of an aircraft flap, according to an example;

Figure 33 shows a schematic side view of an actuator assembly for rotational applications, according to an example;

Figure 34 shows a schematic side view of an actuator assembly for rotational applications, according to an example;

Figure 35 shows a schematic side view of an actuator assembly for rotational applications, according to yet another example;

Figures 36 and 37 illustrate schematic top views of an SMA arrangement having SMA units in an idle state and activated state, respectively, according to an example;

Figure 38 shows a schematic view of an actuation module provided in a layer configuration according to an example;

Figure 39 shows a perspective side view of an actuator assembly for fibre-optic stimulation, according to an example;

Figure 40 shows a perspective side view of an actuator assembly for fibre-optic stimulation, according to an example;

Figure 41 shows a perspective side view of an actuator assembly for fibre-optic stimulation, according to an example;

Figure 42 shows a perspective side view of an actuator assembly having a fibre stimulation element for fibre-optic stimulation, according to an example;

Figure 43a shows a perspective sectional side view of an actuator assembly having a fibre stimulation element for fibre-optic stimulation, according to an example;

Figure 43b shows a perspective side view of the actuator assembly of Figure 43a, according to an example;

Figure 44 shows a schematic view of a wearable item comprising an actuator assembly according to an example;

Figure 45 shows a schematic view of a wearable item comprising an actuator assembly according to another example;

Figure 46 shows a schematic view of a wearable item comprising an actuator assembly according to an example; Figure 47 shows a schematic view of a wearable item comprising an actuator assembly according to another example;

Figure 48 shows a schematic view of a wearable item comprising an actuator assembly according to yet another example;

Figure 49 shows a schematic view of a wearable item comprising an actuator assembly according to yet another example;

Figure 50 shows a schematic view of a wearable item comprising an actuator assembly according to yet another example;

Figure 51 shows a schematic view of a control module according to an example;

Figure 52 shows a schematic view of a control module according to another example;

Figure 53 shows a schematic view of a control module according to yet another example; and

Figure 54 shows a schematic view of a control module according to yet another example.

DETAILED DESCRIPTION

The present disclosure is described with reference to a number of examples. Although certain examples are described below, those of skill in the art will appreciate that the disclosure may extend beyond the specifically disclosed examples and/or uses and obvious modifications and equivalents thereof. Thus, it is intended that the scope of the disclosure herein disclosed should not be limited by any particular examples described below.

A general idea of the present disclosure is to provide an actuator assembly comprising at least one smart material actuator (SMA) arrangement. The at least one SMA arrangement comprises a material that is arranged to undergo a change in its physical material properties subject to a non-mechanical stimulus, or a change in the nonmechanical stimulus. The change in physical material properties may result in a geometrical change. The actuator assembly further comprises at least one stimulation element arranged to provide the non-mechanical stimulus to the at least one SMA arrangement.

Depending on the type of the material of the SMA arrangement, each SMA arrangement may be arranged to mechanically contract, or expand, subject to receiving the non-mechanical stimulation. As will be further explained below, when the actuator assembly is atached (such as via coupling elements) to an external object, the change in the physical material properties of the material of the SMA arrangement allows the actuator assembly, by means of the SMA arrangement, to facilitate or resist movement of the object.

In one example, the actuator assembly, or the SMA arrangement(s) and stimulation element(s) thereof, may be employed to actuate or act on an object.

As the SMA arrangement of the actuator assembly mechanically contracts or expands, the SMA arrangement generates a force that acts on the object. For example, the generated force may act to pull or push the object. In turn, the object subject to the generated force may move in response to the contraction or expansion of the SMA arrangement.

In some examples, the actuator assembly, by means of the SMA arrangement, may act as a force translation mechanism. The force translation mechanism allows for translating the force generated by the SMA arrangement, as a result of the geometrical change onto, the object.

In some examples, the actuator assembly may comprise the object (that is nonliving).

Various examples of the actuator assembly are described below.

There may be provided an actuator assembly 100. The actuator assembly 100 may comprise at least one smart material actuator (SMA) arrangement. The SMA arrangement may comprise at least one smart material. The actuator assembly 100 may comprise at least one stimulation element. The at least one stimulation element may be arranged to provide a non-mechanical stimulus to the at least one SMA arrangement. The nonmechanical stimulus may be arranged to cause a geometrical change to the at least one SMA arrangement, resulting in generation of a force.

The actuator assembly 100 may further comprise at least one coupling element directly or indirectly atached to the at least one SMA arrangement. The at least one coupling element may be arranged to be directly or indirectly attachable to an object to translate the generated force to the object when atached.

In some examples, the actuator assembly may comprise one or a plurality of SMA arrangements. Alternatively, or additionally, the actuator assembly may comprise one or a plurality of stimulation elements.

The actuator assembly further includes at least one stimulation element arranged to provide a non-mechanical stimulus to the at least one SMA arrangement. The provision of the non-mechanical stimulus may act to activate (i.e. actuate) the at least one SMA arrangement. That is, the non-mechanical stimulus may act to cause the SMA arrangement to mechanically contract or expands, resulting in the SMA arrangement generating a force.

The SMA arrangement may operate in an idle state (also referred to as a deactivated state) and an activated state. The idle state refers to a state in which no non- mechanical stimulus is received by the SMA arrangement or in which the non-mechanical stimulus is not sufficient to activate the SMA arrangement.

The “activated state” mentioned herein refers to a state in which the non- mechanical stimulus is received by the SMA arrangement, where the stimulus is sufficient for activating the SMA arrangement.

The level of change in physical material properties may depend on various parameters of the non-mechanical stimulus, as will be further explained below. A change in one parameter of the non-mechanical stimulus provided may cause an associated change in the physical material properties of the SMA arrangement. The activated state thus covers a range of changes in physical material properties of the SMA arrangement, that differ from the physical material properties associate with the idle state.

An SMA arrangement, in the idle state, will need to be subject to the non- mechanical stimulus to transition to its activated state.

As will be further explained below, the associated stimulation element may provide the non-mechanical stimulus to the SMA arrangement, e.g., according to a defined activation sequence.

Actuation module

The at least one SMA arrangement and at least one associated stimulation element of the actuator assembly described above may be said to form at least a portion of an actuation module.

The stimulation element(s) of the actuation module may be arranged to provide the non-mechanical stimulus to the SMA arrangement(s) of the actuation module. The actuation module, by virtue of the at least one SMA arrangement, may produce or cause actuation.

In some examples, the one or more actuation modules may be coupled or connected to the object, e.g. via the coupling element(s). In some examples, the actuator assembly may include a plurality of actuation modules.

In some examples, the plurality of actuation modules may be arranged in series.

In some examples, the plurality of actuation modules may be arranged at least substantially parallel to each other.

In some examples, the plurality of actuation modules may be arranged along different axes (or different directions).

In some examples, the plurality of actuation modules may be arranged to provide rotationality, e.g., by being arranged to criss-cross one another similar to muscles.

Size of actuation module

The actuator assembly, or the actuation module(s) thereof, may come in designs or packages of different widths and/or lengths depending on applications.

A wide(r) actuation module may be provided to provide or generate a high(er) force or to increase the force. In this way, a “wider” actuator assembly may be provided.

Additionally, or alternatively, to generate a high(er) force or to increase the force, a plurality of actuation modules may be provided or arranged laterally from one another that collectively form an effective wide(r) actuation module to define a “wider” actuator assembly. The plurality of actuation modules may be arranged side by side. The plurality of actuation modules may be arranged at least substantially parallel to one another. In some examples, the plurality of actuation modules may be arranged one on top of another, e.g., in a layer arrangement.

A long(er) actuation module may be provided to provide or generate a high(er) actuation strain or to increase the actuation strain. In this way, a “longer” actuator assembly may be provided.

Additionally, or alternatively, to provide or generate a high(er) actuation strain or to increase the actuation strain, a plurality of actuation modules may be connected (or attached or arranged) in series with one another that collectively form an effective long(er) actuation module to define a “longer” actuator assembly. The plurality of actuation modules may be arranged end to end. In some embodiments, the force generated may also be increased.

It should be appreciated that a combination of such a “wider” and “longer” actuator assembly may be provided. Antifrictional agent

In some examples, the actuation module may further include an anti-frictional agent (e.g., to aid movement of the SMA arrangements).

In some examples, the anti-frictional agent may be provided on an inner surface of a housing (such as a shell) of the actuation module.

In some examples, the anti-frictional agent may include at least one of a lubrication agent or a non-stick material.

Housing

For any one of the actuation module examples, the actuation module may further include a housing, such as a shell. For example, in Figure 7 the actuation module 102 (of the actuator assembly 100) may include a housing 106. As will be further explained below, the components of the actuation module 102, such as the SMA arrangement(s) and/or stimulation element(s) thereof, may be provided in a layered arrangement 104 within the housing 106.

Sensing component

In some examples, the actuator assembly 100 or actuation module 102 may further include at least one sensor 116. The sensor may also be referred to as a sensing element.

The sensing element may be provided on or over one or more of the associated at least one SMA arrangement s) 108.

The sensor 116 may be housed within the housing 106.

The sensing element(s) may be employed to determine the condition or status of the actuation module 102 or the actuator assembly 100. As a non-limiting example, the sensing element(s) may collect data from the actuation module 102 or the actuator assembly 100. The sensing element(s) may be provided as part of the actuation module 102. The sensing element(s) may be provided within the housing 106 (e.g., the shell).

The one or more sensing elements may be employed to complete a closed feedback loop and/or collect data from the actuation module(s) 102 or the overall actuator assembly 100. The sensing element(s) may include, but are not limited to, at least one of temperature sensor(s) (e.g., arranged between layers in the actuation module), strain sensor(s), or optical sensor(s) (which may, for example, sense changes in stimulation or stimulation element properties). In various embodiments, the one or more sensing elements may be flexible or stretchable.

Heat dissipation

In an example, the actuation module 102 may further include at least one heat dissipation component.

The at least one heat dissipation component may be arranged to cool the at least one SMA arrangement 110 and/or the at least one stimulation element 112, by dissipating or removing heat from the at least one SMA arrangement 110 and/or the at least one stimulation element 112, thus providing a cooling effect.

The at least one heat dissipation component may also promote or encourage expansion after contraction of the at least one SMA arrangement 110.

In an example, the heat dissipation component(s) is provided within the housing 106 of the actuation module 102.

In some examples, the heat dissipation component(s) may form a heat dissipation (such as cooling) layer 118, 120.

The heat dissipation layer(s) 118, 120 may be housed within the housing 106.

As a non-limiting example, the at least one heat dissipation component may be sandwiched by, such as between, the SMA arrangements. As a further non-limiting example, there may be two heat dissipation components sandwiching an SMA arrangement.

The heat dissipation component(s) may be provided on an SMA arrangement and/or on a stimulation element. For example, the heat dissipation layer may be provided on one or more of the at least one SMA arrangements. Additionally, or alternatively, the heat dissipation component may be provided on one or more of the at least one stimulation elements.

In some examples, a heat dissipation layer may be arranged between an SMA arrangement and a stimulation element.

In some examples, one or more heat dissipation components may be layered alongside a layered configuration of the SMA arrangement(s).

In some examples, the heat dissipation layer(s) may be physically adhered to the SMA arrangement(s) and/or the stimulation element(s).

In some examples, the one or more heat dissipation components may be embedded into the SMA arrangement(s). The one or more heat dissipation components may be rigid, flexible, or stretchable (e.g., which may contract with the SMA arrangement).

In some examples, the heat dissipation component(s) may include, but is not limited to, one or more of the following: copper strips integrated into the PCBs (which may cool both the SMA arrangement (or the SMA unit(s) thereof) and LED(s)), thermal paste, thermal pads, water cooling using microfluidic tubes, fan, copper weaved into fabric (or any thermally conductive material), peltiers, thermally conductive hydrogel, fins that may dissipate heat from the SMA arrangement, and cooling ducts/holes on the shell component to help dissipate heat.

In some examples, the heat dissipation component may be in the form of an air gap. It should be appreciated that other types or forms of heat dissipation components or cooling agents may be provided or employed.

Different types of actuation modules

In some examples, with reference to Figures 33 to 35, the actuation module(s) may further include at least one pulley, and the SMA arrangement(s) may be wound, at least partially, around the at least one pulley.

In some examples, with reference to Figures 8 and 9, the actuation module may further include an elastic inner tube 280 surrounded by associated SMA arrangement(s) 208 and stimulation element(s) 212 (or at least three layers thereof), and wherein, in response to receiving the non-mechanical stimulus, each of the SMA arrangement(s) 208 may be configured to generate the force to act on the elastic inner tube 280.

In some examples, the actuation module may be configured as a strap or a sleeve.

Control module

The actuator assembly 100 may further include a control module 150. An example control module 150 is shown in Figure 7.

The control module 150 may include an optoelectronics module 152. The optoelectronics module 1525 may include one or more optical or optoelectronics components/devices to drive the stimulation element(s) and/or generate light.

The optoelectronics devices may include one or more light sources (e.g., laser(s)) to generate light and/or one or more drivers to drive light source(s), e.g., LED driver or laser driver. In examples where the stimulus for the SMA arrangements 108, 110 is light, light may be generated by the stimulation elements 112, 114, and/or the optoelectronics module 152.

Additionally, or alternatively, the optoelectronic components/devices may include at least one LEDs, LED drivers, drivers for other stimulation element(s) such as electroluminescent paints, fibre optics, optical splitters, fibre coupling components, collimators, or polarizers. It should be appreciated that other optoelectronics components may be provided or employed.

The optoelectronics module may form an optics pack.

The control module 150 may include a power source (also referred to as power pack) 154. In some examples, the power pack 154 may be arranged to power the control module 150.

In some examples, the power pack 154 may be arranged to power the actuation module(s) 102 and/or the entire device or actuator assembly 100. The power pack 154 may include, but is not limited to, at least one of batteries or rechargeable batteries.

Additionally or alternatively, the power pack 154 may deliver power (or electricity) from a wall socket.

Additionally or alternatively, the power pack 154 may enable the actuation module(s) 102 and/or the actuator assembly 100 to be remotely powered (e.g., via wireless energy). It should be appreciated that other power sources or power delivery mechanisms may be provided or employed.

The control module 150 may further include a control system or controller 156 to control an operation of the actuation module 102. The controller 156 may control the action or operation of at least one of the optoelectronics module 152, the power pack 154, or the actuation module 102.

The control module 150 may include a housing 158 to accommodate or support any one or more of the optoelectronics module 152, the power pack 154, and the control system 156.

A Human Machine Interface (HMI), for example, in the form of a power button 160, may be provided through the housing 158 for a user to operate to power on or activate the control module 150. Other HMIs may be provided for the user to provide inputs to the control module 150.

One or more mounting fasteners 162 may be provided on the control module 150, such as at an underside 163 of the control module 150, to enable the control module 150 to be fastened or mounted, for example, on a garment or a part of the human body. The actuation module 102 may be coupled to the control module 150 via a connector cord 164. Non-mechanical stimulus (e.g., light) from the optoelectronics module 152, power (or electricity) from the power pack 154, and/or signals from the controller or control system 156 may be provided or transmitted to the actuation module 102 via the connector cord 164.

The size of the optics pack and/or power pack may depend on one or more of the following: power requirement of an actuation module, the number of actuation modules being powered, and the overall efficiency of the system.

The form factor of the optics and/or power pack may vary. As a non-limiting example, the optics pack and/or power pack may be boxy or shaped like a box. It may curve around the box. As a further non-limiting example, the optics/power pack may be in a flexible form factor like a belt.

The optics pack and/or power pack may further include a controller (or control system). The controller may control stimulation of the SMA arrangement (or the SMA unit(s) thereof). The controller may control the optoelectronics components. The controller may take or receive inputs or data from one or more sensors. The controller may take or receive (user) inputs from actions provided via an (HMI) element of the control module. The controller may take or perform an action or process in response to inputs from the sensor(s) and/or inputs from the HMI element.

In some examples, the controller may control the manner in which the stimulus may be provided or transmitted to the SMA arrangement, e.g., in accordance with or in response to a defined activation sequence.

In some examples, the controller may access a memory. The memory may be part of the optics/power pack or may be part of the controller or may be external to the controller.

The controller may be one (whole) system or may be split into multiple parts, for example, including a low-level controller (or control unit), and an application (high-level) controller (or control unit).

The controller may include, but not limited to, at least one of closed loop feedback, open-loop control, sensors, heat management system, or Al (artificial intelligence) system or application (e.g., adaptive and predictive movement).

The optics pack and/or power pack may further include one or more HMI elements to allow for user device inputs, i.e., a user may provide a user input to the optics/power pack or the controller thereof via a HMI element. HMI elements may include, but not limited to, at least one of buttons, switches, levers, dials, touchscreens, etc. It should be appreciated that other HMI elements may be provided or employed.

The optics pack and/or power pack may further include one or more peripheral components or elements. The peripheral components may enable external communication with the device. The peripheral components may include, but not limited to, at least one of Bluetooth components, NFC (near field communication) components, charging ports, or connection ports (or coupling ports). Connection ports may allow connection to a connection cord to deliver power from the optics/power pack to the actuation module(s), e.g., to the stimulator(s). Some examples may have or provide an (direct) optical connection to deliver light via fibre optics to the actuation module(s) or the stimulation element(s). The fibre optics may be connected to the connection ports. It should be appreciated that other peripheral components may be provided or employed.

The optics pack and/or power pack may further include a mounting system, or one or more mounting fasteners or elements. Such a system or elements may enable the optics/power pack to be attached or coupled or fastened to any surface or object, e.g., as a wearable pack, on a (human) body, or on a robotic component, etc. Mounting fasteners may include, but not limited to, straps, buckles, hooks, buttons, belt loops, or engineering fasteners such as bolts, screws, rivets, etc. It should be appreciated that other mounting fasteners may be provided or employed.

In various embodiments, a mounting fastener may be provided on one side of the optics/power pack, e.g., on an underside of the optics pack and/or power pack.

The optics pack and/or power pack may further include a heat dissipation (or cooling) system, or one or more heat dissipation components to take or dissipate heat away from the stimulation element(s) and the SMA arrangement(s), and/or may dissipate the heat from the optics/power pack. The heat dissipation system may interface with the heat dissipation components in the actuation module 102 to help dissipate heat away from the actuation module 102. Non-limiting examples of heat dissipation components in the optics pack and/or power pack may include, but not limited to, fans, or liquid cooling components or agents. It should be appreciated that other heat dissipation components or agents may be provided or employed.

The optics pack and/or power pack may further include a housing to house or support (all) the components of the optics/power pack and allow for ports for peripheral components and HMI elements. The housing may be of any form factor depending on the applications (e.g., curved for wearable applications or in the form of a belt in some embodiments). The housing may be made of materials including, but not limited to, plastics, metals, ceramics, or composites. It should be appreciated that other materials may be employed.

In various examples, the actuator assembly 100 may further include a connection cord 164 to connect to the optics pack (e.g., optoelectrical module(s)) and/or the power pack.

The optics pack and/or power pack may be part of the actuator assembly 100. The optics pack and/or power pack may be assembled together as an integral unit.

In some examples, the connection cord 164 may connect the actuator module(s) 102 to the optics/power pack to power the stimulator(s).

In some examples, the connection cord 164 may include, but not limited to, electrical wires for embodiments employing LEDs, fibre optics for examples employing waveguides, or a combination thereof.

It should be appreciated that other types of connection cords may be provided or employed.

The connection cord 164 may have a protective sheathe or outer layer to minimise or prevent abrasion and/or exposure to external environment.

The material of the SMA arrangement

The SMA arrangement may comprise at least one material whose material properties is arranged to change when a non-mechanical stimulus received by said material. The material(s) of the SMA arrangement that undergo a change in material properties subject to a change in received non-mechanical stimulus may also be referred to as smart material(s).

In one example, the smart material comprises a material that changes material properties in a usable manner as a response to an external stimulus, such as external non- mechanical stimulus.

In some examples the smart material may relate to a photo-responsive smart material as will be further explained below.

In some examples, at least one of the SMA arrangement(s) may include a photo- responsive actuator arrangement. The photo-responsive actuator arrangement comprises at least one photo-responsive smart material.

The smart material of the photo-responsive actuator arrangement may include a photoactive polymer monomer, such as 2,4-dihydroxy-4-nitroazobenzene, or 2,4- dihydroxy-4-azo-(4-nitroazobenzeno)benzene. Through experiments these photoactive polymer monomers have shown to provide for a suitable specific strength sufficient for scaling to a macroscale actuation, allowing for fast response rates, and/or enabling for any electronics to be safely isolated from the subject wearing the garment or garment assembly as they are activated by light.

Alternatively, or additionally, the photo -responsive smart material may also be selected from a photo -responsive or photo-active acrylate, such as an azobenzene monomer acrylate such as 7-((4-((2-cyano-4- nitrophenyl)diazenyl)phenyl)(ethyl)amino)heptyl acrylate .

Alternatively, or additionally, the photo responsive smart material may also be selected from a photo responsive or photo active stilbene monomer, such as a di-stilbene monomer. For example, a 4,4’-((Propane-2,2-diylbis(4,l-phenylene)bis(Oxy)bis(4,l- phenylene))bis(ethylene-2,l-diyl))dianiline may be used.

Alternatively, or additionally, the photo responsive smart material may include a photoactive liquid crystal polymer actuating material, for example, a photoactive liquid crystal elastomer.

In some embodiments, the smart material may be selected from one or more of dielectric or electro restrictive elastomer actuators (DEA), conductive polymer actuators (CP), electroactive polymer actuators (EAP), and magneto strictive actuators (MA).

The SMA arrangement, or the SMA unit(s) thereof (as will be further explained below), may be provided in one geometry (or design) or a combination of different geometries (designs) selected from, but not limited to, the following:

• Thin film;

• Electrospun layers: Electrospinning may be directional or isotropic. Directionality may lead to actuation in the aligned direction;

• Fibres or tubes: These may include wet spun fibres. The tubular form may, for example, enable optical fibres to be embedded within the tubes to deliver light;

• Solid-liquid Phase Change: Smart materials in this category may undergo a phase change from solid to liquid as a result of stimulation, resulting in a change in stiffness and, therefore, causing actuation. Alternative smart materials in this category may undergo a solid to viscous change in material property instead of a liquid phase change which may also change the stiffness. Non-limiting examples of a phase change smart material may include magnetorheological fluids. A magnetorheological fluid may include a suspension of iron particles in a carrier fluid (e.g., water) that changes to a solid phase in the presence of a magnetic field. Further non-limiting examples of smart materials may include suitable supramolecular gels;

• Thin film units (e.g., for the SMA units) arranged in sequence or parallel: Thin film units of the smart material may be arranged in sequence or aligned in parallel. Sequence arrangement may be achieved by attaching the SMA units directly to one another using adhesives or by having linkages to join the units together. An in sequence arrangement may increase the length and, therefore, strain. A parallel arrangement, such as where one or more SMA units are arranged in parallel with each other, may increase the force applied.

It should be appreciated that other geometries or designs may be provided or employed.

In some examples, for each of the SMA arrangements, the SMA arrangement may include a phase change smart material configured to, in response to receiving the nonmechanical stimulus, change from a first phase to a second phase, thereby resulting in the SMA arrangements to change geometrically.

Within the context of the present disclosure, one or more types of the nonmechanical stimulus or input energy received by (e.g., for activating) the SMA arrangement(s), may be collectively referred to as the “energy-based external stimuli”. In some examples, the non-mechanical stimulus (or energy-based external stimuli) is made up of optical energy (such as light) or thermal energy (heat), or a combination of both. The optical energy and the thermal energy may be transferred radiatively or through conduction. Smart material(s) of the SMA arrangement(s) designed to respond to such energy-based stimuli can exhibit specific responses, such as light-induced (photo- responsive), heat-induced (thermal-responsive), or combined light and heat-induced (photo-thermal responsive) changes, allowing for controlled and reversible alterations in their functional characteristics.

In some examples, at least a portion of the smart material of the SMA arrangement may be a solid-state smart material, as opposed to liquid or gel. By providing a nonmechanical stimulus (or energy-based external stimuli) made up of optical energy (such as light) or thermal energy (heat), or a combination of both, and e.g., excluding electrodes/electrical components such as those comprising liquid electrolytes, it is possible to provide any one or more of the potential advantages of reduced or no dehydration, improved environmental sensitivity, leakage reduction, reduced likelihood of delamination and reduced likelihood of power degradation over time.

In some examples, the SMA arrangement(s) may be formed from one or more smart materials that have two meta-stable states whose transitions are accessible through external stimuli. In other words, the smart material of the SMA arrangement may exist in two different stable forms (e.g., active and inactive/idle states) and can be switched from one form to the other by external stimuli. The external stimuli may be the non-mechanical stimulus (or energy-based external stimuli) and/or may be made of optical energy (such as light) or thermal energy (heat), or a combination of both.

In some examples, the SMA arrangement (or the smart material) may have a linear actuation strain between 1-50% contraction.

In some examples, the SMA arrangement comprises combinations or composites of (a) two or more smart materials or (b) smart material(s) with other materials. These combinations or composites may be super-imposed on, or intertwined with, one another.

As mentioned above, in some examples, the smart material may be any one or more of a photo-responsive smart material, a thermal-responsive smart material, or a photo-thermal responsive smart material.

In examples where the smart material is a photo-responsive SMA, the SMA may comprise a photo-responsive shape memory polymer. In some examples, the photo- responsive shape memory polymer may comprise or be at least partially made from any one of the following: spiropyran-based polymers, diarylethene -containing polymers, azobenzene -containing polymers, liquid crystal elastomers, and polydopamine-modified polymers.

Spiropyran-Based Polymers

In one example, the shape memory polymer comprises spiropyran molecules. Spiropyran molecules switch between spiro and merocyanine forms in response to light exposure. Upon activation with light, for example UV light, the polymer undergoes a shape recovery process. An exemplary material is spiropyran-doped polyurethane, which exhibits shape recovery upon UV light activation and reverses upon exposure to visible light.

Diarylethene -Containing Polymers

In one example, the shape memory polymer comprises diarylethene chromophores. Diarylethene units can undergo a reversible photochromic reaction when exposed to UV or visible light, resulting in the polymer shifting between two shapes. An example is a diarylethene-functionalized epoxy polymer, where UV irradiation induces shape recovery.

Azobenzene-Containing Polymers

In one example, the shape memory polymer comprises azobenzene chromophores integrated into the polymer backbone. Azobenzene units undergo reversible trans-cis isomerization upon exposure to ultraviolet (UV) or visible light, inducing a shape transformation. In one example, an azobenzene-functionalized poly(methyl methacrylate) (PMMA) is employed, wherein the polymer recovers its programmed shape upon light irradiation in the UV or visible spectrum.

Liquid Crystal Elastomers (UCEs)

In one example, the shape memory polymer is a liquid crystal elastomer (LCE) that incorporates liquid crystal moieties. When subjected to light irradiation, the liquid crystal moieties undergo reorientation, leading to a macroscopic shape change. In one example, the shape memory polymer comprises LCEs with a photo-reactive molecule for example cinnamic acid derivatives which exhibit deformation when exposed to UV light and recover their original shape when irradiated with visible light or heat.

Polydopamine-Modified polymers

In one example, the shape memory polymer comprises a polydopamine coating. Polydopamine coatings absorb light in the near-infrared region. The polydopamine modification enables the polymer to respond to near-infrared light for shape recovery. An exemplary material is a polydopamine-coated polyurethane shape memory polymer, wherein the shape recovery is triggered by near-infrared light. These photo-responsive shape memory polymers are particularly suitable for applications where non-invasive actuation is desirable, such as in medical devices.

Smart materials contracting or expanding upon stimulation

As discussed above, the smart material is a material that is arranged to change its material properties subject to a change in the received non-mechanical stimulus. When no non-mechanical stimulus (or a non-mechanical stimulus that is insufficient for activating the smart material or the SMA arrangement) is received by the smart material, and the associated SMA arrangement, it is said to be in its idle state. In the idle state, the smart material has a first set of material properties. When the smart material receives a non-mechanical stimulus that is sufficient for activating the smart material (and therefore the SMA arrangement), the smart material is said to be in an activated state. In the activated state, the smart material has a second set of material properties, different from the first set of material properties.

In some examples, the geometrical change may thus depend on the type or nature or characteristics of the stimulus.

The second set of material properties may change within a specific range of material properties, wherein the change is dependent on one or more non-mechanical stimulus associated parameters of the non-mechanical stimulus received.

Each material property of the second set of material properties may have a lower limit and upper limit, and a range of possible integers (such as values) specific to said material property between the lower limit and upper limit.

The specific range of material properties comprises the lower limits, upper limits, and the range of possible integers specific to each material property of the second set of material properties.

The non-mechanical stimulus associated parameters causing a change in or to the second set of material properties may depend on the type of smart material used, the type of non-mechanical stimulus, and the physical configuration of the associated SMA arrangement(s) and the associated stimulation element(s). At least one material property of the second set of material properties may take effect or change when the second set of material properties changes within the specific range associated with the activated state.

In one example, a non-mechanical stimulus associated parameter may relate to intensity. In one example, when there is a change in the intensity of the received non- mechanical stimulus, the second set of material properties may take effect or change within the specific range associated with the activated state.

In one example, at least one of (or each of) the SMA arrangement(s) may be configured to mechanically contract (e.g., decreasing the length of the SMA arrangement) in response to receiving the non-mechanical stimulus.

In other examples, at least one of (or each of) the SMA arrangement(s) may be configured to mechanically expand (e.g., increasing the length of the SMA arrangement) in response to receiving the non-mechanical stimulus.

For example, as discussed above, when the received non-mechanical stimulus decreases in intensity, the associated smart material may change from a more contracted state towards a less contracted state, thereby undergoing an expansion when receiving the non-mechanical stimulus. Conversely, when the received non-mechanical stimulus increased in intensity, the associated smart material may change from a less contracted state towards a more contracted state, thereby undergoing a contraction when receiving the non-mechanical stimulus .While some examples are provided in relation to the SMA arrangement(s) contracting, it should be appreciated that the actuation modules may be configured, based on similar configurations or other configurations, for the SMA arrangement(s) to expand.

In some examples, at least one of (or each of) the SMA arrangement(s) may be configured to change geometrically along one axis (or one dimension) in response to receiving the non-mechanical stimulus. This may for example be possible by arranging the SMA arrangement(s) in a linear configuration and/or with associated SMA units arranged in sequence.

In some examples, at least one of (or each of) the SMA arrangements may be configured to change geometrically along a plurality of axes (or plurality of dimensions) in response to receiving the non-mechanical stimulus.

In response to the non-mechanical stimulus, there may be a geometrical change in the SMA arrangement(s) (or in the SMA unit(s) thereof) , such as by virtue of the geometrical change of the associated smart material. As discussed above, in response to the non-mechanical stimulus, there may be a physical material property change in the SMA arrangement s) (or in the SMA unit(s) thereof) that may result in the geometrical change in the SMA arrangement(s) (or in the SMA unit(s) thereof).

As a non-limiting example, the physical material property change may include a change in the stiffness and/or phase of the material of the SMA arrangement(s) (or in the SMA unit(s) thereof).

In some examples, the SMA arrangement may include a group of SMA units where one or more or all SMA units may be activated to mechanically contract or expand. In some embodiments, the SMA arrangement(s) may include a group of SMA units where a portion having one or more SMA units may be activated to mechanically contract while another portion having one or more SMA units may be activated to mechanically expand.

The SMA arrangement

In one example, the SMA arrangement(s) may include at least one SMA unit. The at least one SMA unit may form a discrete unit.

In one example, the SMA arrangement(s) may include a single SMA unit.

In some examples, one SMA unit may define the entire SMA arrangement. In some examples, at least one of the SMA arrangement(s) may include a plurality of SMA units. The plurality of SMA units may define a group of SMA units.

Configuration of the SMA arrangement

In series etc

In some examples, at least one of the SMA arrangement(s) may include a plurality of SMA units arranged in sequence or series with one another.

In some examples, the plurality of SMA units may be directly connected to one another.

In some examples, the plurality of SMA units may be spaced apart from one another with a linkage provided between and connecting two adjacent SMA units. Two (closest) adjacent or neighbouring SMA units may be connected to each other via a linkage therebetween. Each linkage may be or may define a force translation component to translate the force generated by the SMA units or the SMA arrangement.

Formed in a layer

In one example, each SMA arrangement may be arranged in a layer (such as being in the form of a layer). An SMA arrangement arranged in a layer, i.e. a layered SMA arrangement, may also be referred to as an SMA layer.

In some examples, the actuator assembly 100 comprises a plurality of layered SMA arrangements. As will be further elucidated below, the one or more stimulation elements may also be arranged in a layer. In some examples, the actuator assembly 100 comprises a plurality of layered stimulation elements.

In some examples, the actuation module 102 may include a two-layer arrangement of a stimulation element and an SMA arrangement.

In one example, with reference to Figures 1 and 2, an actuator assembly 100 is provided. The actuator assembly 100 comprises a first SMA arrangement 10. The first SMA arrangement 10 may be arranged in a first layer. The actuator assembly 100 may further comprise at least one stimulation element 20. The at least one stimulation element may be arranged in a second layer. The at least one stimulation element 20 may be arranged to provide the non-mechanical stimulus to activate the at least one SMA arrangement. Upon activation, the at least one SMA arrangement may be arranged to undergo a first geometrical change from its idle state. Upon deactivation, the at least one SMA arrangement may be configured to undergo a second geometrical change from its activated state back towards its idle state. The second geometrical change may be reverse the first geometrical change. When the geometrical change results in a contraction of the at least one SMA arrangement, such as upon activation, a distance between a first end 30A and second end 30B may decrease. Conversely, when the geometrical change results in an expansion of the at least one SMA arrangement, such as upon termination of the activation, a distance between a first end 30A and second end 30B may increase.

Figure 1 shows a cross sectional side view of an actuator assembly in the idle state according to one example. A distance between the first end 30A and second end 3 OB in the idle state is identified as D.

Figure 2 shows a cross sectional side view of an actuator assembly in the activated state according to one example. A distance between the first end 30A and second end 30B in the activated state is identified as d. The distance d in the activated state is smaller than the associated distance D in the idle state.

In one example, with reference to Figures 3 and 4, the actuator assembly 100 comprises one more stimulation elements 20, e.g., two, than the SMA arrangement 10, e.g., one, i.e., the number of stimulation elements 20 is one higher than that of the SMA arrangement(s) 10). In this example, the SMA arrangement 10 may be arranged between the two stimulation elements 20. The SMA arrangement 10 may be said to be sandwiched between the two stimulation elements 20. The two stimulation elements 20 may be arranged to provide the non-mechanical stimulus to the SMA arrangement 10, such as at either side of the SMA arrangement 10. This configuration may allow for improved response in the smart material of the SMA arrangement 10, upon receiving the nonmechanical stimulus. Figure 3 shows a cross sectional side view of the actuator assembly 100 in the idle state. A distance between the first end 30A and second end 30B in the idle state is identified as D. Figure 4 shows a cross sectional side view of the actuator assembly 100 in the activated state. A distance between the first end 30A and second end 30B in the activated state is identified as d. The distance d in the activated state may be smaller than the associated distance D in the idle state.

In one example, with reference to Figures 5 and 6, the actuator assembly 100 comprises one more SMA arrangement 10, e.g., two, than the stimulation element 20, e.g., one, i.e., the number of stimulation elements 20 is one less than that of the SMA arrangement(s) 10). In this example, the stimulation element 20 may be arranged between the two SMA arrangements 10. The stimulation element 20 may be said to be sandwiched between the two SMA arrangements 10. The stimulation element 20 may be arranged to provide non-mechanical stimulus to the two SMA arrangements 10, such as at least on one side of each SMA arrangement 10. This configuration may allow for providing a compact actuator assembly 100, while providing increased strain (by the use of two SMA arrangements 10 as compared to one for the example of Figures 3 and 4 above). Figure 5 shows across sectional side view of the actuator assembly 100 in the idle state. A distance between the first end 30A and second end 30B in the idle state is identified as D. Figure 6 shows a cross sectional side view of the actuator assembly in the activated state. A distance between the first end 30A and second end 30B in the activated state is identified as d. The distance d in the activated state may be smaller than the associated distance D in the idle state.

In some examples, each of the SMA arrangements may include a single homogeneous layer of smart material.

As described herein, two or more components of an actuation module may be arranged in a layer arrangement. The layer arrangement may be planar or circular (or concentric or tubular).

In an example, the actuator assembly 100 may comprise a first SMA arrangement arranged in a first layer. The actuator assembly 100 may further comprise a second SMA arrangement arranged in a second layer. Further, the actuator assembly 100 may comprise a stimulation element arranged in a third layer. The third layer may be provided between the first layer and second layer.

In another example, the actuator assembly 100 may comprise a first a stimulation element arranged in a first layer. The actuator assembly 100 may further comprise a second stimulation element arranged in a second layer. Further, the actuator assembly 100 may further comprise an SMA arrangement arranged in a third layer. The third layer may be provided between the first layer and second layer.

Depending on the type of application, it should be appreciated that the number of SMA arrangements of the actuator assembly may differ from the number of stimulation elements of the said actuator assembly. Hence, in some examples the number of SMA arrangements of the actuator assembly may be equal to the number of stimulation elements of said actuator assembly. In other examples, the number of SMA arrangements of the actuator assembly may be larger or smaller than the number of stimulation elements of said actuator assembly. When the SMA arrangement(s) of an actuator assembly and the stimulation element(s) are arranged in layers, as discussed above, the actuator assembly (or the actuation module comprising the layered SMA arrangement(s) and layered stimulation element(s)) may be said to have a layered arrangement.

In some examples, the layers of the actuation module may be configured as a thin film array. For example at least three layers of the actuation module may be configured as a thin film array.

The layered arrangement may be alternating or interleaving. Hence, the layered SMA arrangements 108, 110 and the layered stimulation elements 112, 114 may be arranged in an alternating or interleaving layered arrangement 104. Such arrangement of alternating layers of SMA arrangements and stimulation elements may ensure light can penetrate (into) the SMA between the stimulation elements. For example, each stimulation element sandwiched between the SMA layers may either emit light on or to one side, i.e., towards one SMA layer, or both sides (for example, LEDs mounted on both sides of a PCB), i.e., towards SMA layers on opposite sides of the stimulator.

As will discussed further below, Figure 7 discloses a layered arrangement 104 of an actuation module including a plurality of layered SMA arrangements 108, 110, and a plurality of layered stimulation elements 112, 114.

In one example, such as that shown with reference to Figures 5 and 6, the actuator assembly comprises at least two layered SMA arrangements, and one layered stimulation element. Alternatively, in another example, such as that shown with reference to Figures 3 and 4, the actuator assembly may comprise at least two layered stimulation elements, and at least one layered SMA arrangement.

Each layered SMA arrangement and/or stimulation element may form a layer of the actuator assembly. Each layered SMA arrangement and/or stimulation element may form a layer of the actuation module to which they pertain.

It should be appreciated that each of the layers may be arranged one over the other. Each layer may at least partially overlapping an adjacent layer, or each neighbouring layer. In some examples, at least one or more of the layers may surround another layer (such as surrounding one over the other) of the actuator assembly 100. Such an example is shown with reference to Figures 8 and 9

In one example, two layered SMA arrangements may be arranged adjacent each other with no layered stimulation element provided therebetween. In one example, two layered stimulation elements may be arranged adjacent each other with no layered SMA arrangement provided therebetween.

In one example, the SMA arrangements and the stimulation elements may be arranged alternately in the actuation module, such as in the layered arrangement of the actuation module.

In some examples, the actuation module may include at least three layers of stimulation elements and SMA arrangements. There may be at least three layers of alternating stimulation elements and SMA arrangements. This may mean that there may be two layered SMA arrangements sandwiching a stimulation element, or two layered stimulation elements sandwiching an SMA arrangement. A stimulation element and an SMA arrangement may define a stimulation element-SMA arrangement pair. In various examples, a stimulation element and an SMA arrangement arranged one over the other may be in direct contact with one another, or there may be one or more other components or layers arranged therebetween. A stimulation element and SMA arrangement may be spaced apart from one another.

For example, an actuator assembly comprising at least three layers may include one of (i) SMA arrangement- SMA arrangement-stimulation element, (ii) SMA arrangement-stimulation element-SMA arrangement, (iii) stimulation element-SMA arrangement-SMA arrangement, (iv) stimulation element-stimulation element-SMA arrangement, (v) stimulation element-SMA arrangement-stimulation element, (vi) SMA arrangement-stimulation element-stimulation element.

Each actuation module may comprise any number of SMA arrangements, such as layered SMA arrangements, and any number of stimulation elements, such as layered stimulation elements.

In some examples, there may be more than three layers, for example, four, five, six or any higher number, of SMA arrangements and stimulation elements. For example, a four layer actuator assembly may include a configuration of stimulation element-SMA arrangement-SMA arrangement-stimulation element, or a SMA arrangement-stimulation element-stimulation element-SMA arrangement, or SMA arrangement-stimulation element-SMA arrangement-stimulation element.

In some examples, each of the SMA arrangements and the stimulation elements may form discrete layers of the actuation module.

In some examples, the actuation module may include the following arrangement or configuration. • A pair formed by one SMA arrangement and one stimulation element, e.g., arranged one over the other in a layered arrangement;

• A plurality of layered SMA arrangements sandwiching a layered stimulation element;

• A plurality of pairs, each pair having one SMA arrangement and one stimulation element, e.g., arranged one over the other in a layered arrangement.

In some examples, the layers, such as at least three layers, of the actuation module may form planar layers.

In some examples, the layers, such as at least three layers, of the actuation module may form concentric layers.

In some examples, the actuation module may comprise two SMA arrangements sandwiching one stimulation element, or two stimulation elements sandwiching one SMA arrangement.

The SMA arrangement, or the SMA unit(s) thereof, may be configured to provide one type of actuation or a combination of different types of actuations selected from, but not limited to, the following:

• Linear actuation: This may include linear contraction and/or linear expansion;

• Multi-directional actuation: This may include multi-directional contraction and/or multi-directional expansion. The actuation may be in two or more or all directions (or axes), e.g., contraction from all directions. Such multi-directional actuation may be achieved, for example, by having an SMA arrangement (or the SMA unit(s) thereof), or the material thereof, that is isotropic and unaligned. Non-limiting examples of suitable materials may include ionic electroactive polymers that may not or do not need to be aligned and which, in response to an electrical stimulus, may undergo bulk volume or geometrical change (e.g., shrink or expand). Further non-limiting examples may include conducting polymers as such polymers work by pulling in solvents through the diffusion in/out of ions;

• Bending actuation; or

• Concentric actuation. The ends of the SMA arrangement, or the end of the actuation module having the SMA arrangement, may be coupled or attached to each other to form a loop. In response to a stimulus, the SMA arrangement may diametrically contract or expand around an object or component. For example, the SMA arrangement may contract to apply or deliver a constrictive force around the object (e.g., a limb);

It should be appreciated that other types of actuation may be provided.

In one example, the actuator assembly may include one or more SMA arrangement-stimulator layer pairs (or in fibre form in some examples), with or without a housing. More layer pairs in the actuator assembly may increase the force applied or generated by the actuator assembly.

In some examples, the stimulation element(s) and the SMA arrangement(s) may be arranged in a stacking arrangement. There may be a plurality of layers of stimulation element(s) and SMA arrangement(s) in a stacking arrangement, e.g., in an alternating or interleaving arrangement. In the stacking arrangement an SMA arrangement may be arranged one over the other. In some examples, one or more components, other than SMA arrangements or stimulation elements, may be arranged or layered between the stimulation element(s) and the SMA arrangement(s) of the actuation module.

Stimulation element and source of stimulation

In various embodiments, the stimulation element(s) may include one or more LEDs and/or one or more waveguide(s).

In one example, the stimulation element may be provided with the SMA arrangement. The stimulation element may be embedded within the SMA arrangement.

As discussed above, the stimulation element may be arranged in a layer, forming a layered stimulation element.

In some embodiments, an SMA arrangement is paired with a layered stimulation element.

In one example, the type of smart material used in an SMA arrangement determines the type of non-mechanical stimulus to be provided. The type of nonmechanical stimulus to be provided determines the type of stimulation element to be used. For example, photo-responsive smart materials are responsive to electromagnetic radiation or optical energy, such as light. A suitable stimulation element for a photo- responsive smart material is therefore an element that is able to emit optical energy (e.g., light) to be received by the photo-responsive smart material. The non-mechanical stimulus may include at least one of electromagnetic radiation optical energy (such as light), heat, electrical signal, or magnetic field. Again, the type of non-mechanical stimulus may be determined by the smart material used.

Light based non-mechanical stimulus

In some examples, each of the SMA arrangements may include a photo- responsive smart material configured to receive optical energy (e.g., light) as the non- mechanical stimulus.

In some examples, each of the actuation modules, including the SMA arrangements, may include at least one fibre, and each of the stimulation elements may include at least one fibre optic.

In some examples, the actuator assembly may further include a laser source or LED optically coupled to the at least one fibre optic.

In some examples, at least one (such as each) of the stimulation elements may include a light guide configured to transmit the light to the SMA arrangements.

In some examples, the actuator assembly may further include a light source configured to generate the light.

In some examples, each of the stimulation elements may include a plurality of LEDs configured to generate the light.

In some examples, the stimulation element(s) may include one or more LEDs and/or one or more waveguide(s).

In one example, the stimulation element, for example in the form of a stimulation layer, may include or may be composed of one or more LEDs (light-emitting diodes). LEDs may include, but not limited to, at least one of regular LEDs, micro LEDs, OLEDs (organic LEDs), or QLEDs (quantum LEDs). It should be appreciated that other types of LEDs may be provided or employed.

The LED(s) may be provided or mounted on one or more PCBs (printed circuit boards).

In some examples, the printed circuit board may be flexible or stretchable.

As a non-limiting example, the stimulation element may include one or more LEDs mounted on a flexible PCB.

PCBs may include, but not limited to, at least one of the following;

• Regular rigid PCBs; • Flexible PCBs, which provide flexibility around curved surfaces;

• Stretchable PCBs: In some examples, one or more LEDs may be mounted on one or more stretchable PCBs that may contract and expand with the SMA arrangement; or

• Heat sink PCBs: One or more PCBs may have one or more heat sinks to help dissipate LED heat.

It should be appreciated that other types of PCBs may be provided or employed.

In some examples, the stimulation element, such as layered stimulation element, may include or may be composed of one or more (optical) waveguides or light guides.

Waveguides may be provided in one geometry (or design) or a combination of different geometries (designs) selected from, but not limited to, the following.

• Light guide films.

• Light guide plates, which are less flexible than films.

• Fibre optics: Some examples may have fibre optics between SMA films, SMA fibres, or inside SMA tubes.

• Tubular waveguides: Some examples may have SMA fibres embedded in the waveguide tubes.

It should be appreciated that other waveguide geometries (or designs) may be provided or employed.

In some examples, waveguides that vary in terms of stiffness may be provided. Waveguides may be provided in one degree (or level) of stiffness or a combination of different degrees (or levels) of stiffness selected from, but not limited to, the following.

• Flexible waveguides, which provide flexibility around curved surfaces.

• Stretchable waveguides: for examples where the waveguides are intended to contract and expand with the SMA layer(s).

• Regular stiff waveguides.

It should be appreciated that other waveguide stiffness may be provided or employed.

Waveguides may include or may be made of, but not limited to, at least one of quartz, glass, or plastic. It should be appreciated that other materials may be provided or employed. In some examples, one or more waveguides may be coupled or optically coupled to one or more LEDs and/or other types of light sources (e.g., lasers). In some examples, laser(s) may be housed in the optics pack and/or power pack. The waveguide(s) may be (optically) coupled using one or more fibre optics in a connection cord to connect (or optically couple) directly to the laser(s) in the optics/power pack.

In one example, each of the stimulation components may include at least one of an electroluminescence material, a chemiluminescence material, or a bioluminescence material.

Additionally, or alternatively, the stimulation element may include, but not limited, to one or more of the following:

Electroluminescent paint, which may be a thin stimulator coating. The electroluminescent paint may be or may define a thin film light source where light may be emitted when the electroluminescent paint is electrically stimulated, e.g., an electrical signal being applied to the electroluminescent paint, for example, via electrodes electrically coupled to the electroluminescent paint;

Chemo or bioluminescence element. Such element may be or may define a light source where bioluminescence light may be emitted by living organisms or chemiluminescence light may be produced as a result of chemical change/reaction; or

Light collector or director that may direct sunlight and/or ambient light onto the SMA arrangement (or the material(s) thereof).

Thermal non-mechanical stimulus

In one example, the non-mechanical stimulus at least partially relates to athermal non-mechanical stimulus. In some examples, the smart material may undergo change in its material properties at least partially due to heating. In some examples, the stimulation element may be arranged to provide thermal energy (on its own or amongst other types of non-mechanical stimulus) to the associated SMA arrangement. In this example, the non-mechanical stimulus provided by the stimulation element may at least partially refer to heating. The stimulation element may thus at least partially act as a heater.

In some configurations, each of the stimulation elements, such as layered stimulation element, may include one or more thermal conductors.

Thermal conductors may include, but not limited to, one or more of the following;

• Heating elements, for example, tungsten wire(s). The heating element(s) may be embedded into the SMA arrangement, or the heating element may be in the form of a separate layer. As a non-limiting example, the heating element and the SMA arrangement may be arranged one over the other in a layer arrangement; or

• Nano particles embedded within the SMA arrangement or in a separate layer. The nano particles may be heated, for example, induction heated using an induction layer. The induction layer and the SMA arrangement may be arranged one over the other in a layer arrangement.

It should be appreciated that other thermal conductors may be provided or employed.

In some examples, the SMA arrangement (or the SMA unit(s) thereof) may be activated or actuated (directly) in response to a thermal stimulus or heat.

In other examples, the thermal heating of the SMA arrangement (causing a change to its material properties) may be the result of the SMA arrangement receiving a nonthermal non-mechanical stimulus from the stimulation element.

Changes in the SMA arrangement or the properties thereof in response to nonmechanical stimulus may be a result of heating of the SMA arrangement. As a nonlimiting example, when light, as the non-mechanical stimulus, is provided to a SMA arrangement comprising a photo-responsive or photo-thermal responsive smart material, the SMA arrangement absorbs at least some of the light photons that then leads to heating of the SMA arrangement.

Compared to direct heating, for example, via a heating element, heating of the SMA arrangement as a result of photon absorption may be preferable because of a higher or faster response time or rate. Absorption of photons may occur once light is provided to the SMA arrangement as opposed to a time lag where a heating element needs to first be heated up itself. Further, heating source is removed once light is removed, as compared to a heating element which takes some time to cool down after having been powered off where an amount of heat may still be provided to the SMA arrangement during the cooling down of the heating element.

In addition to photo-responsive SMA arrangements, or thermo-responsive SMA arrangements, or a combination thereof, other types of SMA arrangements could be used.

For example, at least one (such as each) of the SMA arrangements may include, a magneto-responsive actuator arrangement, a dielectric actuator arrangement, a conductive polymer actuator arrangement, or an electroactive hydrogel actuator arrangement. It should be appreciated that the stimulation element or stimulation layer may be provided in different combinations of the components, elements, materials, properties and characteristics described above and herein.

It should also be appreciated that different combinations of the SMA arrangement (or the SMA unit(s) thereof) and the stimulation element described herein may be provided.

Strecthable stimulators enabling stretchable actuation modules

In some examples, the stimulation element(s) may be stretchable. The stretchable stimulation element may be configured to change geometrically with the SMA arrangements in response to the SMA arrangements receiving the non-mechanical stimulus.

An actuation module comprising one or more stretchable stimulation element(s) may enable the actuation module (including the SMA arrangement(s) and stimulation element(s)) to be stretchable.

The stretchable actuation module may comprise one or more (such as a plurality of ) layered SMA arrangement(s) and layered stretchable stimulation element(s). The stretchable layered stimulation elements may be stacked one on top of another. The stretchable actuation module may include alternating or interleaving layers of SMA arrangement(s) and layered stretchable stimulator(s).

In some examples, at least one of (such as each of) the stimulation elements may be non-stretchable, such as rigid.

In one example embodiments, the stretchable actuation module may include at least one SMA arrangement and at least one stimulation element housed within a stretchable housing that may contract with the SMA arrangement(s). The stimulation element(s) may be stretchable or non-stretchable.

Using one SMA arrangement and one stimulation element as an example, in examples with a stretchable stimulation element, the stretchable stimulation element may contract with the SMA arrangement, while in examples with a non-stretchable stimulation element, as the SMA arrangement contracts, the SMA arrangement slides past the non- stretchable stimulation element. The SMA arrangement may be longer than the non- stretchable stimulation element so that the non-stretchable stimulation element does not impede contraction. Configuration of stimulator

In some examples, the stimulation element may be static or move with actuation. A stimulation element, such as layered stimulation element, configured to move with the actuation may be flexible or stretchable.

For examples with non-stretchable stimulation elements, the stimulation elements, such as layered stimulation elements, may be arranged or configured to “slide” past the layered SMA arrangement(s), and not hinder actuation of the associated smart material(s).

In addition to, or alternative to the anti-frictional agent, lubrication elements may be provided to facilitate sliding. The lubrication elements may include liquid lubricants or the application of non-stick coatings such as Teflon to the stimulation element and/or SMA arrangement.

For examples where the stimulation element is stretchable, the stimulation element may contract and expand alongside the SMA arrangement, such as layered SMA arrangements,. The stimulation elements may form separate layers, adhered to the surface of the SMA arrangement or embedded within the SMA arrangement itself.

Configuration of the stimulation elements and the SMA arrangement

To ensure that the non-mechanical stimulus (e.g., the energy-based external stimuli) being received by the SMA arrangement from the stimulation element is sufficient or appropriate, e.g., for activating the SMA arrangement, one or more aspects or variables of the actuator assembly (e.g., the stimuli) may be controlled or maintained within certain limits. This may be achieved by setting a threshold for one or more such variables.

In some examples, there may be an interrelationship between the nonmechanical stimulus (e.g., its intensity) being received by the SMA arrangement and the distance between the SMA arrangement and the stimulation element, also referred to as the “working distance”.

For example, to ensure that the non-mechanical stimulus (e.g., its intensity) being received by the SMA arrangement is sufficient, e.g., to activate the SMA arrangement, a threshold working distance between the SMA arrangement and the stimulation element may be established. Additionally or alternatively, a lower threshold (received and/or transmitted) of the non-mechanical stimulus (e.g., its intensity) may be established to ensure that the non-mechanical stimulus being received by the SMA arrangement is sufficient, e.g., to activate the SMA arrangement. The lower threshold of the non-mechanical stimulus may be applicable to a range of working distances between the SMA arrangement and the stimulation element. That is to say, outside a range of working distances, the lower threshold may be different.

In the case of non-mechanical stimulus intensity, the non-mechanical stimulus may be quantified using the unit mW/cm²

In some examples, the intensity of the non-mechanical stimulus (e.g., of the optical and/or thermal energy) required to be received by the SMA arrangement for its activation may be sufficient irrespective of the working distance between the SMA arrangement and the stimulation element.

In some examples, the intensity of the non-mechanical stimulus (e.g., of the optical and/or thermal energy) required to be received by the SMA arrangement for its activation may be at least 10mW/cm². This relatively low intensity may be sufficient, e.g., for activating the SMA arrangement, at relatively close proximities (i.e., within a small range of small working distances that is below a relatively low limit).

In some examples, the intensity of the non-mechanical stimulus (e.g., of the optical and/or thermal energy) required to be received by the SMA arrangement for its activation may be at least 50 mW/cm² or at least 100 mW/cm². In some examples, as the lower threshold increases, so does the range of working distance. Where the working distance may change, the non-mechanical stimulus intensity should be sufficient so as not to be attenuated if the distance is increased.

For example, the intensity of a least 50 mW/cm² may be suitable for applications where the SMA arrangement and stimulation element may move with respect to each other, e.g., in wearables comprising the SMA arrangement. Naturally, an intensity of at least 100 mW/cm² may provide the ability to activate the SMA arrangement over an increased range of distance.

While a lower threshold may be set to ensure that the non-mechanical stimulus is sufficient, e.g., for activating the SMA arrangement, an upper threshold for the non- mechanical stimulus may also be set. Although there may be no limit as to the non- mechanical stimulus that can activate the SMA arrangement, the upper threshold may be established to abide by limits imposed by thermal degradation that may occur in certain conditions. The likelihood of (or concern for) thermal degradation may be inversely proportional to the working distance between the SMA arrangement and the stimulation element. In other words, the susceptibility to thermal degradation of the smart material may increase as the working distance between the SMA arrangement and the stimulation element decreases.

Thus, alternatively or in addition to the lower threshold, it may be desirable to set an upper threshold to prevent thermal degradation of the smart material of the SMA arrangement.

In some examples, the upper threshold of the non -mechanical stimulus may be set to be equal to or less than 1000 mW/cm², such as 500 mW/cm² or 300 mW/cm².

In some examples, both a lower threshold and an upper threshold of the nonmechanical stimulus are set. This can ensure that the received non-mechanical stimulus is sufficient, while ensuring that the smart material is not at the risk of thermal degradation. For example, the non-mechanical stimulus may be controlled to be at an intensity within any one of the following ranges: about 10-1000mW/cm², about 50- lOOOmW/cm² , about 100-1000mW/cm², about 10-500mW/cm², about 50-500mW/cm², about 100-500mW/cm², about 10-300mW/cm², about 50-300mW/cm², and 100- 300mW/cm².

It should be appreciated that the upper and/or lower thresholds described above may vary depending on attributes of the non-mechanical stimulus. For example, with regards to optical energy, the upper and/or lower thresholds may differ for different wavelengths. In some examples, at lower wavelengths, such as less than 450 nm(e.g., UV light), lower intensities (and therefore lower thresholds) may be required for activating the SMA arrangement. In one example, UV light may be used as the non- mechanical stimulus within the intensity range of 100-300 mW/cm². At higher wavelengths (e.g., above 450nm), higher intensities (and therefore thresholds) may be required for activating the SMA arrangement.

In some examples, the stimulation element may comprise one or more LEDs for providing optical energy (e.g., light) as a non-mechanical stimulus to the SMA arrangement. The LEDs of the stimulation element may be high powered. In some examples, the LEDs may be arranged to provide an intensity of at least 10 mW/cm² to the SMA arrangement, provided that the SMA arrangement is positioned within 65mm away from the stimulation element. In some examples, the LEDs may be arranged to provide an intensity of at least 100 mW/cm² to the SMA arrangement, provided that the SMA arrangement is positioned within 30mm away from the stimulation element. In some examples, the relationship between the non-mechanical stimulus intensity (L) and the working distance between the SMA arrangement and the stimulation element (r) may be the following:

Thus, with the non-mechanical stimulus remaining constant:

• to double the intensity, the distance would need to decrease by a factor of 4;

• doubling the distance would quarter the intensity;

• to increase the intensity by a factor of 10, the distance would need to decrease by a factor of IO^{0 5}.

For example, for a stimulation element that provides a non-mechanical stimulus (e.g., optical energy) at an intensity of 250 mW/cm² to the SMA arrangement and is positioned 3mm away from the SMA arrangement, it is possible to increase the working distance by:

• increasing the intensity being transmitted. For example, increasing the intensity by a factor of approximately 44 means that the distance can be increased by a factor of approximately 6.7 (44° ⁵); and

• decreasing the required stimulating intensity for activation. For example, reducing 250 mW/cm² to 100 mW/cm² means that the distance can be increased by a factor of 2.5° ⁵

Thus, as an example, the distance of 3mm can be increased to: 3 x 2.5° ⁵ x 6.7 = 31mm.

In some examples, the working distance is controlled to be from 0mm (i.e. touching) to 10mm. In other examples, the working distance may be greater than 0mm. In one example, the working distance is between 0.5mm and 10mm. In other examples, the working distance may be between 0.5mm and 5mm.

Coupling elements and termination elements

The actuator assembly 100 may further include at least one coupling element for coupling the actuation module 102 to an object. The object may be non-living.

In some examples, the actuation module comprises the at least one coupling element. One or more coupling elements may be provided at or with the actuation module for coupling to an object.

In some examples, a plurality of coupling elements may be used to couple the actuation module to at least one object.

The coupling element may form an attachment for (e.g., removably) attaching the actuation module 102 to the object.

The at least one coupling element may be attached to an end, such as a terminating end, of the actuation module. In an example, a first end of the coupling element is attached to a terminating end of the actuation module.

In some examples, at least one coupling element is attached to each of two opposite terminating ends of the actuation module.

At least one coupling element may comprise or form an anchor point (also referred to as an anchor zone).

In some examples, the anchor zone(s) may form part of the actuation module.

In one example, an anchor zone may be arranged at or proximate to an object end of the coupling element for attaching the object to the coupling element. In some examples, the object end of the coupling element may be an end of the coupling element opposite the first end attached to the actuation module.

In some examples, an end, such as the terminating end, of the actuation module may be attached, via one or more anchor zones, to the object.

In some examples, , the ends, such as terminating ends, of the actuation module may be coupled to the anchor zones.

Anchor zones may be arranged to attach at least one terminating end of the actuation module to the object.

In some examples, a plurality of coupling elements may be configured to couple to one another to form the actuation module into a loop.

In an example, at least one coupling element may be attached to terminating ends of two actuation modules. For example, a first end of the coupling element may be attached to a terminating end of a first actuation module. A second end of the coupling element may be attached to a terminating end of a second actuation module. The coupling elements thereby allow the actuation modules to be connected in sequence or in a loop.

In some examples, the object may comprise a coupling element for coupling to an actuation module disclosed herein. Additionally, or alternatively, one or more coupling elements may be provided at or with the object to be actuated by the actuation module.

In some examples, coupling elements may include, but not limited to, one or more of the following haberdashery type attachments: release buckles, ratchet buckles, belt buckles, clasps (e.g., similar to necklace fasteners), snap-on buttons, buttons (e.g., similar to normal shirt-style buttons, hook and loop (e.g., velcro), zips, keychain rings, fabric knots or loops (e.g., similar to shoe lace or paracord), and fabric ends or seams (e.g., for sewing ends of modules to textiles). It should be appreciated that other haberdashery type attachments may be provided or employed.

Additionally, or alternatively, coupling elements may include, but not limited to, one or more of the following engineering type attachments: washers (e.g., to be fastened with bolts, screws etc.), clevis mounts, bearing ends, ratchet mechanism, clamps (e.g., bulldog clamps), magnets, ball and socket, suction cups, clips, adhesives (e.g., resin), bolts, nuts, screws, staples, nails, and rivets. It should be appreciated that other engineering type attachments may be provided or employed.

In some examples, a coupling element or a plurality of coupling elements may be of completely custom or bespoke attachment types.

In some examples, the coupling element(s) may be replaceable or modular. The coupling elements could for example be modular and replaceable with other coupling elements (e.g., standard threaded end that may accommodate different coupling elements).

In some examples, at least one of (or plurality of) the coupling elements may include or be configured as a strap or a band.

Termination elements

In some examples, a terminating end of the actuation module may comprise at least one termination element.

The termination element(s) may be part of the actuation module.

In some examples, the least one termination element may be configured to terminate at least one end of the actuation module.

In some examples, the at least one termination element may be configured to terminate at least one end of each of the SMA arrangements. In some examples, the coupling element(s) may be coupled to a termination element. A coupling element may form an extension of a termination element.

In one example, such as with reference to Figure 1, the actuator assembly 100 may include two coupling elements 134, 136, where a respective coupling element 134, 136 is coupled to a corresponding termination element 130, 132. Each coupling element 134, 136 may include two arms, for example, to define a U-shaped coupling element.

Termination elements and/or coupling elements may be coupled, such as attached, to the ends, such as terminating ends, of the actuation module, such as stretchable actuation module..

In some examples, the termination element may form a terminating end of the actuation module.

In some examples, a coupling element may be coupled to a corresponding termination element, or may be an extension of the corresponding termination element. In some examples, a coupling element and a corresponding termination element may be a unitary component or element.

For any one of the actuation module configurations, the actuation module may include a termination element on one end of the actuation module, or respective termination elements on opposite ends of the actuation module.

For any one of the actuation module configurations, the actuation module may include a coupling element on one end of the actuation module, or respective coupling elements on opposite ends of the actuation module.

In some examples, the at least one termination element may be configured to seal the at least one end of the actuation module.

In some examples, the termination element may form a termination cap or termination point.

The termination element(s) may provide one or more of the following functions:

• Seal the ends of the shell to fully encapsulate the optionally layered stimulation element(s) and SMA arrangement(s) therewithin;

• Act as a force translation component, to translate the force generated by the SMA arrangement (or the SMA unit(s) thereof) to the coupling elements and/or anchor zones;

• In examples where the actuation module is attached/anchored directly to one or more objects via one or more termination elements, one or each termination element may act as a permanent attachment/anchor zone (e.g., like the tendons of a muscle); or

• In applications where the internal portion or components of the actuation module need to be tightly sealed (e.g., marine applications), the termination elements may act as hermetic seals working in conjunction with a shell that is non-porous.

In some examples, when the housing of the actuation module is stretchable, allowing it to contract and/or expand with the SMA arrangement, the termination element(s) may be attached to the housing.

In one example, the termination element(s) may terminate the ends of the actuation module including the housing, for example, in examples where the housing is stretchable.

In some examples, when the housing of the actuation module is rigid, nonflexible, or non-stretchable, not allowing it to contract and/or expand with the SMA arrangement, the termination element(s) may be attached to (or terminate) an end of the SMA arrangement(s).

In some examples, when the housing of the actuation module is rigid, nonflexible, or non-stretchable, not allowing it to contract and/or expand with the SMA arrangement, the termination element(s) may be attached to (or terminate) an end of the stimulation element when the stimulation element is stretchable.

In some examples, the termination elements may terminate one or both ends of the SMA arrangement and the stimulation element, but not the ends of the housing, for example, in example where the housing is rigid, non-flexible or non-stretchable, and the housing acts as a channel within which the SMA arrangement (or the SMA unit(s) thereof) may actuate independently of the housing.

The termination elements may terminate both ends of the SMA arrangement and the stimulation element, for example, in examples where the stimulation element is stretchable and, therefore, able to stretch with SMA actuation or contraction.

In examples where the stimulation element is non-stretchable, one (same) end of the SMA arrangement and the stimulation element may be terminated fully by a termination element while the other end of the SMA arrangement, but not the stimulation element, may be terminated by another termination element. In such examples, the stimulation element, such as layered stimulation element, may be shorter than the SMA arrangement, such as layered SMA arrangement, to allow the SMA arrangement (or the SMA unit(s) thereof) to contract. In various examples, termination elements may be made of a material including, but not limited to, one or more of the following:

• Casted or injection moulded plastic/polymer ends;

• Metal caps or crimps; and

• Ceramic caps.

In various examples, where the termination elements have plastic ends, the plastic ends may be one or more of the following:

• Injection moulded;

• Form casted; and

• Fused with material, e.g., polymerized with the SMA material.

It should be appreciated that other suitable materials may be provided or employed for the termination elements.

Object

In some examples, the object may include, but not limited to, a wearable item (e.g., at least one of a garment, a fabric, a glove, or a sleeve).

In some examples, the object may include, but not limited to, a lever, a component, a rotatable component, a pivotable component, a pair of gripping components, a pulley, a cable, a tendon etc.

In some examples, the object may be external from the actuator assembly.

In some examples, the object may be external from the actuation module.

In some examples, the object may form part of the actuator assembly and/or at least one actuation module thereof.

The external object may include a subject (e.g., part of a human body, part of a robot, etc.).

The object may be flexible or rigid.

In some examples, the actuator arrangement may further include a flexible guide element, wherein the actuation module may be arranged within the flexible guide element.

In some examples, the actuation module may be (e.g., removably) coupled to the object, e.g. via coupling elements.

In some examples, the actuation module may be arranged surrounding a part of the object. In some examples, the actuation module may be wound around the object in a helical configuration.

In some examples, the object may be flexible.

In some examples, the object may be or may include a wearable item.

In some examples, the wearable item may be or may include at least one of a garment, a fabric, a glove, or a sleeve. The garment may include pants, shirts, socks, etc., that may be worn by a subject.

In some examples, the wearable item may be or may include the glove, and the actuation module may be configured to generate the force to act on finger portions of the glove.

In some examples, the wearable item may be or may include the glove. The the actuator assembly may include a plurality of actuation modules configured to generate the force to act on finger portions of the glove. For a respective actuation module of the plurality of actuation modules, the respective actuation module may be configured to generate the force to act on a respective finger portion of the finger portions.

In some examples, the wearable item may be or may include the glove, and the actuation module may be configured to generate the force to act on a palm portion of the glove.

In some examples, the actuator assembly may include a plurality of actuation modules configured to generate the force to act on the object.

In some examples, the plurality of actuation modules may include a pair of agonist-antagonist actuation modules arranged on opposite sides of the object.

The actuator assembly, may, for example, represent or function as (artificial) muscle module.

Interconnection and connection elements/force translation component/ Linkages

In some examples, the actuator assembly may further include a force translation component coupled to one end of at least one (such as each) of the SMA arrangements.

The force translation component may comprise one or more linkages.

In one example, one or more linkages may be arranged to attach two SMA units of an SMA arrangement, or two SMA arrangements together in sequence. The linkages may form part of the force translation mechanism. In some examples, a linkage may be provided between an SMA arrangement and the coupling element. In some examples, the linkage may be provided between a SMA unit (of the SMA arrangement), arranged closest to the terminating end of the actuation module or associated anchor zone, and the coupling element. Each linkage may be or may define a force translation component to translate the force generated by an SMA unit or the SMA arrangement.

In some examples, the one or more linkages may have an elastic modulus S = stress strain, e.g. a Youngs modulus, being higher than a predetermined threshold.

The predetermined threshold may be set higher than the force created by the associated SMA arrangements, thereby limiting the tendency of the linkage to deform when the SMA arrangement is subject to a change in non-mechanical stimulus.

In an example, one or more linkages may be made of a material that at least to an extent is rigid, non-flexible, or inelastic along a longitudinal direction thereof. This allows the associated linkages to translate the force created by the SMA arrangements due to changes in the non-mechanical stimulus received by the SMA arrangement.

It should be appreciated that other materials may be provided or employed.

Some examples may include one or more linkages to help translate the forces along the SMA arrangement or connect separate SMA units into a group of SMA units. The force translation mechanism or linkages of the force translation mechanism may include or be made of, but not limited to, at least one of SEBS (Styrene-Ethylene- Butylene-Styrene), epoxy resin (e.g., medium hardness epoxy resin), TPE (Thermoplastic elastomers), or TPU (Thermoplastic polyurethane). It should be appreciated that other materials may be provided or employed.

It should be appreciated that the SMA arrangement (or the SMA unit(s) thereof), or the actuation module having the SMA arrangement, may be provided in different combinations of the geometries (designs), types of actuation, and linkages described above and herein.

In one example, the SMA arrangement may be in the form of a thin film that is designed or configured to linearly contract or expand in the activated state.

In some examples, one or more force translation components may be provided, for example, coupled to an SMA arrangement, to assist in translation or delivery of the force generated by the SMA arrangement in response to receiving the stimulus.

In one example, the coupling element comprises a cable or tendon. The cable or tendon may be arranged to be attached, at a first end thereof, to an end, such as terminating end of the actuation module or the housing, SMA arrangement, or stimulation element thereof. The cable or tendon may further be arranged to attach (e.g., removably), at second end thereof, to the object (which may be external).

In some examples, the actuator assembly may further include at least one interconnection element (e.g., a cable or a tendon) configured to couple at least one of the plurality of coupling element(s) to the actuation module.

In some examples, the plurality of SMA units may be spaced apart from each other, wherein the SMA arrangement may further include a plurality of linkages, and wherein a respective linkage of the plurality of linkages may be arranged between respective adjacent SMA units of the plurality of SMA units to connect the respective adjacent SMA units to each other.

In examples having linkages that connect adjacent SMA units, the linkages may also be part of the force translation mechanism.

In one example, the coupling element comprises the one or more linkages. Linkages of the coupling element may be used to attach the coupling element to the actuation module via a first end of the linkage. A second end of said linkage may be attached to an anchor zone attaching the coupling element to the object.

Housing/Shell

In some configurations, the actuator assembly may further include a housing, such as a shell, configured to house the SMA arrangement s) and/or the stimulation element(s) of the actuation module.

In some examples, the housing may be flexible.

In some examples, the housing may be stretchable. As a non-limiting example, a stretchable housing may include a textile that encapsulates the SMA arrangements and the stimulator elements. For example, textiles such as knits may be stretchable and may act as a housing.

In some examples, the housing may be non-stretchable.

In some examples, one or more guides (e.g., slots, apertures or channels) may be provided or defined in the housing. Guides may be located on opposing sides of the shell. Stimulation element(s), e.g., flexible PCB(s), may be held suspended in or through the guide(s).

In some examples, the housing may include a first housing segment of a first cross-sectional dimension. The housing may further comprise a second housing segment of a second cross-sectional dimension. The second cross-sectional dimension being smaller than the first cross-sectional dimension. The second housing segment may be slidably movable relative to the first housing segment. The second housing segment may be receivable by, such as receivable in, the first housing segment.

In some examples, the housing may further include a third housing segment of a third cross-sectional dimension. The third cross-sectional dimension may be smaller than the first cross-sectional dimension. The third housing segment may be slidably movable relative to the first housing segment. The third housing segment may be receivable by, such as receivable in, the first housing segment.

In some examples, the second housing segment and the third housing segment may be arranged on opposite sides of the first housing segment. In this way, an alternating arrangement of smaller and larger housing segments may be provided. It should be appreciated that there may be more than three housing segments, for example, four, five, six or any higher number, of alternating smaller and larger housing segments.

In some examples, the third cross-sectional dimension may be smaller than the second cross-sectional dimension. The third housing segment may further be slidably movable relative to the second housing segment. The third housing segment may be receivable by, such as receivable in, the second housing segment.

In one example, the housing may form a support structure for the actuator assembly or actuation module thereof.

In one example, the housing may form a cage at least partially surrounding the actuator assembly or actuation module thereof.

In some examples, the SMA arrangement may be provided within the housing or within an internal cavity of the housing.

The housing may be or may act as an outer layer, such as an outer layer of the actuator assembly or actuation module thereof. The housing may be arranged to protect the SMA arrangement. The housing may comprise or form a covering layer or an encapsulation layer or a protection layer. The stimulation element, such as the layered stimulation element, may be provided within the housing to protect the stimulation element.

In one example, the housing may form an external housing of the actuator assembly or actuation module thereof.

In one example, the housing form a sleeve component of the actuator assembly or actuation module thereof. The housing may include a cavity, such as a channel, to receive one or more stimulation elements, and one or more SMA arrangements (or the SMA unit(s) thereof).

In one example, the actuator assembly comprises two or more housings.

For example, Each housing may receive one or more stimulation element-SMA arrangement pair.

The housing(s) may provide one or more of the following functions:

• Enclosing the stimulation element and the SMA arrangement (or the SMA unit(s) thereof) to minimise or prevent light leakage;

• Minimising or preventing external abrasion of the stimulation element and SMA layers;

• Protecting the stimulation element and the SMA arrangement from external environment; and

• For examples where the shell is non-stretchable, the housing may provide a channel for the SMA arrangement (or the SMA unit(as) thereof) to actuate within. An anti-frication agent, such as a liquid lubricant or non-stick coating, may be provided or applied to an inner part (or inner wall or inner surface) of the housing to enhance or encourage sliding of the SMA arrangement. An outer part (or outer wall or outer surface) of the housing may also be made of a non-stick material or coating.

The housing may include or be made of different materials.

In some examples, the housing may be made of a hard or rigid material, for example, including, but not limited to, at least one of (hard) plastic, metal, ceramic, or composite material (e.g., carbon fibre). It should be appreciated that other hard or rigid materials may be provided or employed.

In some examples, the housing may be or include a flexible housing (which may allow flexibility around curved surfaces). The housing may be made of a (flexible) material including, but not limited to, at least one of fabric/textile, braided nylon, flexible plastic, rubber, TPU (thermoplastic polyurethane), or TPE (thermoplastic elastomers). It should be appreciated that other flexible materials may be provided or employed.

In some examples, the housing may be or include a stretchable housing (which may contract and expand with SMA actuation). The housing may be made of a (stretchable) material including, but not limited to, at least one of fabric/textile, braided nylon, rubber, TPU (thermoplastic polyurethane), or TPE (Thermoplastic elastomers). It should be appreciated that other stretchable materials may be provided or employed.

It should be appreciated that the housing may be provided in different combinations of the materials, properties and characteristics described above and herein.

It should also be appreciated that different combinations of the SMA arrangement (or the SMA unit(s) thereof), the stimulation element and the housing described herein may be provided.

Examples - Drawings

Various examples or techniques will now be further described in detail by way of the following non-limiting examples and with reference to the figures.

Various examples may provide an actuator assembly having an actuation module disclosed herein, and one or more coupling elements coupled to the actuation module.

Figure 7 shows a schematic perspective view of an actuator assembly 100, according to various examples. The actuator assembly 100 comprises an actuation module 102.

In some examples, the housing 106 may entirely surround the perimeter of the layered arrangement 104.

The layered arrangement 104 may be a planar layer arrangement.

With reference to Figure 7, the layered arrangement 104 may include one or more layered SMA arrangements 108, 110, and one or more layered stimulation elementsI I2, 114. The SMA arrangement(s) 108, 110 and the stimulation element(s) 112, 114 may be arranged in an alternating or interleaving layered arrangement 104.

In some examples, each stimulation element 112, 114 may include one or more light sources, e.g., one or more LEDs.

The stimulation elements 112, 114 may provide the non-mechanical stimulus (e.g., light) to the SMA arrangements 108, 110. In response to the non-mechanical stimulus, the SMA arrangement(s) 108, 110 may be arranged to undergo a geometrical change or dimensional change in the SMA arrangements. For example, each SMA arrangement 108, 110 may contract or expand in response to receiving the non- mechanical stimulus.

The actuation module of Figure 7 further may comprise two heat dissipation components 118, 120. The heat dissipation components may be provided as respective heat dissipation layers. The heat dissipation layer 118 may be arranged on or over the stimulation element 112, while the layered heat dissipation layer 120 may be arranged on or over the SMA arrangement 110.

The heat dissipation layer 118 may be arranged between the SMA arrangement 108 and the stimulation element 112, while the heat dissipation layer 120 may be arranged between the stimulation element 112 and the SMA arrangement 110.

In some examples, the housing 106 itself may act as or may be a heat dissipation layer.

The actuator assembly 100 may further include at least one termination element to terminate an end or end region of the actuation module 102. Each termination element may be provided at or form a terminating end of the actuation module, as discussed above. For example, the actuator assembly 100 may include two termination elements 130, 132 to terminate opposite ends or end regions of the actuation module 102.

The actuation module 102 may be configured in many different ways, as will be described in more detail below. It should be appreciated that one or more components (e.g., SMA arrangement(s), stimulation element(s), housing(s), etc.) described below in relation to the various configurations of the actuation module may be or may include any one or more of the corresponding components described above and herein.

Various examples of the actuation module will now be described with reference to Figures 8 to 21.

Figure 8 shows a schematic perspective view of an actuation module 202, according to various examples. The actuation module 202 may be in a tubular configuration.

The actuation module 202 may include an inner tube 280, which may be soft and elastic. The actuation module 202 may further include a tubular SMA arrangement 208 and a tubular stimulation element 212 arranged one over the other in a layer arrangement. For clarity, a dashed circle is illustrated to show the boundary of the tubular SMA arrangement 208.

The inner tube 280, the tubular SMA arrangement 208 and the tubular stimulation element 212 may be arranged concentrically.

The inner tube 280, the tubular SMA arrangement 208 and the tubular stimulation element 212 may be housed within a housing or outer tube 206. The outer tube 206 may be a rigid tube. This may mean that the outer tube 206 may be a static tube. The stimulation element 212 may cover the inner surface of the outer tube 206. In various examples, the stimulation element 212 may include one or more LEDs and/or one or more waveguide(s).

In Figure 8, the tubular SMA arrangement 208 is shown the idle state, whereby no non-mechanical stimulus is provided to the tubular SMA arrangement 208.

Figure 9 shows the same tubular actuation module 202 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 208.

As shown, in response to the non-mechanical stimulus, the SMA arrangement 208 may (radially) contract, thereby, applying a radial or constrictive force on the inner tube 280. As a result of the force acting on the inner tube 280, the inner tube 280 decreases in size (or area or volume).

As discussed above, it should be appreciated that a plurality of layers of SMA arrangement and stimulation element may be provided in the actuation module 202 in a layer arrangement.

In one example, three layers of SMA arrangements and stimulation elements may be provided. For example, another stimulation element (e.g., having LED(s) and/or waveguide(s)) may be arranged between the inner tube 280 and the tubular SMA arrangement 208, for example, covering the outer surface of the inner tube 280. As a further example, another SMA arrangement may be arranged between the stimulation element 212 and the outer tube 206, for example, covering the inner surface of the outer tube 206.

While not shown in Figures 8 and 9, it should be appreciated that any one or more termination elements, and/or any one or more coupling elements described herein may be provided for the actuation module 202.

In various examples, an actuation module may have or may be in a concentric or circular configuration. In such a configuration, the (distal) ends of the actuation module may be attached or coupled together to form a (closed) loop. There may be one or more SMA arrangements and/or one or more stimulation elements.

Using one SMA arrangement and one stimulation element as a non-limiting example, as the SMA arrangement (or the SMA unit(s) thereof) contracts, the circumference of the loop is decreased or shortened and the loop diametrically contracts to deliver a constrictive force around an object or limb that is surrounded by the actuation module. The housing may be stretchable and contracts with the SMA arrangement. In some examples, the stimulation element may be stretchable and contracts with the SMA arrangement. In some examples, the stimulation element may be non-stretchable and as the SMA arrangement contracts, the SMA arrangement slides past the stimulation element. The SMA arrangement is longer than the non-stretchable stimulation element so that the stimulation element does not impede contraction.

Figures 10A and 10B show schematic cross-sectional views of an actuation module 402 in a concentric configuration, according to various examples.

The actuation module 402 may include an SMA arrangement 408 and a stretchable stimulation element 412. The SMA arrangement 408 and the stretchable stimulation element 412 may be in the form of layers arranged one over the other.

In various examples, the stimulation element 412 may include one or more LEDs and/or one or more waveguide(s).

The actuation module 402 may further include a stretchable housing 406 to house the SMA arrangement 408 and the stretchable stimulation element 412.

Termination elements 430 may be provided to terminate ends of the actuation module 402. Coupling elements 434 may be coupled to the termination elements 430 and attached together for the actuation module 402 to be form into a loop. Coupling elements 434 may be, for example, pull rings or sleeves.

The upper (or top) drawing in Figure 10 shows the actuation module 402 in a idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 408.

The lower (or bottom) drawing in Figure 10 shows the actuation module 402 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 408. As shown, in response to the non-mechanical stimulus, the SMA arrangement 408 may (radially) contract. As the stimulation element 412 is stretchable, the stimulation element 412 (radially) contracts with the SMA arrangement 408. Further, as the housing 406 is stretchable, the housing 406 (radially) contracts with the SMA arrangement 408. Consequently, the actuation module 402, as a whole, (radially) contracts, as illustrated by the arrows. As a result, the actuation module 402 or the circumference thereof (radially) decreases in size. In examples where the actuation module 402 is arranged surrounding an object, the contraction of the SMA arrangement 408, and, therefore, also the actuation module 402, may apply a radial or constrictive force on the object.

Figures 11A and I IB show schematic cross-sectional views of an actuation module 502 in a concentric configuration, according to one example. The actuation module 502 may include an SMA arrangement 508 and a non- stretchable stimulation element 512. The SMA arrangement 508 and the non-stretchable stimulation element 512 may be in the form of layers arranged one over the other.

In various examples, the stimulation element 512 may include one or more LEDs and/or one or more waveguide(s).

The actuation module 502 may further include a stretchable housing 506 to house the SMA arrangement 508 and the non-stretchable stimulation element 512.

As discussed above, termination elements 530 may be provided to terminate ends of the actuation module 502. Coupling elements 534 may be coupled to the termination elements 530 and attached together for the actuation module 502 to be form into a loop. Coupling elements 534 may be, for example, pull rings or sleeves.

The upper (or top) drawing in Figure 11 shows the actuation module 502 in the idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 508. As shown, the SMA arrangement 508 is longer than the non-stretchable stimulation element 512. This may mean that one end of the non-stretchable stimulation element 512 may be a loose or floating end within the housing 506, rather than being terminated by the termination element 430.

The lower (or bottom) drawing in Figure 11 shows the actuation module 502 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 508. As shown, in response to the non-mechanical stimulus, the SMA arrangement 508 may (radially) contract. As the stimulation element 512 is non- stretchable, the SMA arrangement 508 slides past the stimulation element 512 as the SMA arrangement 508 contracts. Further, as the housing 506 is stretchable, the housing 506 (radially) contracts with the SMA arrangement 508. Consequently, the actuation module 502, as a whole, (radially) contracts, as illustrated by the arrows. As a result, the actuation module 502 or the circumference thereof (radially) decreases in size. In examples where the actuation module 502 is arranged surrounding an object, the contraction of the SMA arrangement 508, and, therefore, also the actuation module 502, may apply a radial or constrictive force on the object.

In some examples, an actuator assembly or actuation module having a pulley arrangement or system with one or more pulleys. A series of pulleys may be provided within the housing of the actuation module where the SMA arrangement and the stimulation element may be wrapped or wound or passed around. The stimulation element may be stretchable or non-stretchable. There may be one or more SMA arrangements and/or one or more stimulation elements.

The use of pulley(s) may effectively increase the total length of the SMA arrangement while maintaining the same actuation module length. In such examples, the SMA arrangement is able to contract and pull an object over a larger distance.

Using one SMA arrangement and one stimulation element as a non-limiting example, in examples with a stretchable stimulation element, the stretchable stimulation element may contract with the SMA arrangement, while in examples with a non- stretchable stimulation element, as the SMA arrangement contracts, the SMA arrangement slides past the non-stretchable stimulation element. The SMA arrangement is longer than the non-stretchable stimulation element so that the non-stretchable stimulation element does not impede contraction.

Figures 12A and 12B show schematic cross-sectional views of an actuation module 602 with a pulley arrangement having two pulleys 670. It should be appreciated that any number of pulleys 670 may be provided, for example, one, two, three, four or any higher number.

The actuation module 602 may include an SMA arrangement 608 and a stretchable stimulation element 612. The SMA arrangement 608 and the stretchable stimulation element 612 may be wrapped or passed around the pulleys 670.

The SMA arrangement 608 and the stretchable stimulation element 612 may be in the form of layers arranged one over the other.

In various examples, the stimulation element 612 may include one or more LEDs and/or one or more waveguide(s).

The actuation module 602 may further include a housing 606 to house the SMA arrangement 608, the stretchable stimulation element 612, and the pulleys 670. The housing 606 may be non-stretchable.

A termination element 630 may be provided to terminate one end of the actuation module 602 with a coupling element 634 coupled thereto. The other end of the actuation module 602 may be terminated or closed with the housing 606, with an opening or aperture defined therein to allow passage of a force translation component 672.

One end region of the force translation component 672 may be coupled to the SMA arrangement 608 and the stimulation element 612, with the other end region of the force translation component 672 being terminated with another termination element 632 with a coupling element 636 coupled thereto for attachment or coupling to an object. The upper (or top) drawing in Figure 12A shows the actuation module 602 in the idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 608.

The lower (or bottom) drawing in Figure 12B shows the actuation module 602 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 608. As shown, in response to the non-mechanical stimulus, the SMA arrangement 608 may contract to provide linear actuation. As the stimulation element 612 is stretchable, the stimulation element 612 contracts with the SMA arrangement 608. As the SMA arrangement 608 contracts, the force translation component 672 is pulled towards the housing 606. The force translation component 672 may be pulled into the housing 706. Where an object (not shown) is coupled to the force translation component 672 via the coupling element 636, as the SMA arrangement 608 contracts, force is translated by the force translation component 672 to act on the object to pull the object towards the actuation module 602.

Figures 13A and 13B shows schematic cross-sectional views of an actuation module 702 with a pulley arrangement having two pulleys 770. It should be appreciated that any number of pulleys 770 may be provided, for example, one, two, three, four or any higher number.

The actuation module 702 may include an SMA arrangement 708 and one or more non-stretchable stimulation elements 712. The SMA arrangement 708 may be wrapped or passed around the pulleys 770.

The SMA arrangement 708 and the non-stretchable stimulation element(s) 712 may be in the form of layers arranged one over the other.

In various examples, the stimulation element(s) 712 may include one or more LEDs and/or one or more waveguide(s).

The actuation module 702 may further include a housing 706 to house the SMA arrangement 708, the non-stretchable stimulation element(s) 712, and the pulleys 670. The housing 706 may be non-stretchable.

A termination element 730 may be provided to terminate one end of the actuation module 702 with a coupling element 734 coupled thereto. The other end of the actuation module 702 may be terminated or closed with the housing 706, with an opening or aperture defined therein to allow passage of a force translation component 772.

One end region of the force translation component 772 may be coupled to the SMA arrangement 708, with the other end region of the force translation component 772 being terminated with another termination element 732 with a coupling element 736 coupled thereto for attachment or coupling to an object.

The upper (or top) drawing in Figure 13A shows the actuation module 702 in a idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 708. As shown, the SMA arrangement 708 is longer than the non-stretchable stimulation element(s) 712. This may mean that one end of the non-stretchable stimulation element(s) 712 may be a loose or floating end within the housing 706.

The lower (or bottom) drawing in Figure 13B shows the actuation module 702 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 708. As shown, in response to the non-mechanical stimulus, the SMA arrangement 708 may contract to provide linear actuation. As the SMA arrangement 708 contracts, the force translation component 772 is pulled towards the housing 706. The force translation component 772 may be pulled into the housing 706. Where an object (not shown) is coupled to the force translation component 772 via the coupling element 736, as the SMA arrangement 708 contracts, force is translated by the force translation component 772 to act on the object to pull the object towards the actuation module 702. As the stimulation element(s) 712 is non-stretchable, the SMA arrangement 708 slides past the stimulation element(s) 712 as the SMA arrangement 708 contracts.

Various examples may provide an actuation module having an SMA arrangement and a stimulation element housed within a static or non-stretchable housing. As the SMA arrangement contracts, the SMA arrangement slides within the housing. In some examples, the SMA arrangement may slide into the housing. The stimulation element may be stretchable or non-stretchable. There may be one or more SMA arrangements and/or one or more stimulation elements.

The SMA arrangement may be attached to one or more linkages as discussed above. The linkages may be at least longitudinally inelastic, remaining their longitudinal length, subject to the force generated by the SMA arrangement in use. The linkages may comprise a tendon, a cable, rope, fishing line, and fibre bundle, etc.. When the SMA arrangement generates a force, such as a pulling force, the force is translated to the linkage. The linkage thus acts as a force translation component. The linkage(s) may be coupled to an object/body. As the SMA arrangement contracts, a force is applied to the linkage, and the force in turn acts on the object. The linkages may be pulled into the housing.

Figures 14A and 14B show schematic cross-sectional views of an actuation module 802 with a static housing (or non-stretchable housing) 806, according to various examples.

The actuation module 802 may include an SMA arrangement 808 and a stretchable stimulation element 812 housed within the housing 806. The SMA arrangement 808 and the stretchable stimulation element 812 may be in the form of layers arranged one over the other.

In various examples, the stimulation element 812 may include one or more LEDs and/or one or more waveguide(s).

Termination elements 830, 832 may be provided to terminate ends of the actuation module 802. Coupling elements 834, 836 may be coupled to the termination elements 830, 832. One termination element 830 may terminate one end of the housing 806, SMA arrangement 808 and stimulation element 812, while the other termination element 832 may terminate the opposite end of the SMA arrangement 808 and stimulation element 812 and that may move relative to the housing 806.

The upper (or top) drawing in Figure 14A shows the actuation module 802 in its idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 808.

The lower (or bottom) drawing in Figure 14B shows the actuation module 802 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 808. As shown, in response to the non-mechanical stimulus, the SMA arrangement 808 may contract to provide linear actuation. As the stimulation element 812 is stretchable, the stimulation element 812 contracts with the SMA arrangement 808. As the SMA arrangement 808 contracts, the termination element 832 and the coupling element 836 are pulled towards the housing 806. Where an object (not shown) is coupled to the coupling element 836, as the SMA arrangement 808 contracts, force is translated by the termination element 832 and the coupling element 836 to act on the object to pull the object towards the actuation module 802. Figures 15A and 15B show schematic cross-sectional views of an actuation module 902 with a static housing (or non-stretchable housing) 906, according to various examples.

The actuation module 902 may include an SMA arrangement 908 and a non- stretchable stimulation element 912 housed within the housing 906. The SMA arrangement 908 and the non-stretchable stimulation element 912 may be in the form of layers arranged one over the other.

In various examples, the stimulation element 912 may include one or more LEDs and/or one or more waveguide(s).

Termination elements 930, 932 may be provided to terminate ends of the actuation module 902. Coupling elements 934, 936 may be coupled to the termination elements 930, 932. One termination element 930 may terminate one end of the housing 906, SMA arrangement 908 and stimulation element 912, while the other termination element 932 may terminate the opposite end of the SMA arrangement 908 and stimulation element 912 and that may move relative to the housing 906.

The upper (or top) drawing in Figure 15A shows the actuation module 902 in a idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 908. As shown, the SMA arrangement 908 is longer than the non-stretchable stimulation element(s) 912. This may mean that one end of the non-stretchable stimulation element(s) 912 may be a loose or floating end within the housing 906.

The lower (or bottom) drawing in Figure 15B shows the actuation module 902 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 908. As shown, in response to the non-mechanical stimulus, the SMA arrangement 908 may contract to provide linear actuation. As the SMA arrangement 908 contracts, the termination element 932 and the coupling element 936 are pulled towards the housing 906. Where an object (not shown) is coupled to the coupling element 936, as the SMA arrangement 908 contracts, force is translated by the termination element 932 and the coupling element 936 to act on the object to pull the object towards the actuation module 902. As the stimulation element 912 is non-stretchable, the SMA arrangement 908 slides past the stimulation element 912 as the SMA arrangement 908 contracts.

Figures 16A and 16B show schematic cross-sectional views of an actuation module 1002 that may be as described in the context of the actuation module 802 except that the actuation module 1002 includes a force translation component 1072. For the actuation module 1002, a termination element 830 may be provided to terminate one end of the actuation module 1002 with a coupling element 834 coupled thereto. The other end of the actuation module 1002 may be terminated or closed with the static housing 1006, with an opening or aperture defined therein to allow passage of a force translation component 1072.

One end region of the force translation component 1072 may be coupled to the SMA arrangement 808 and the stimulation element 812, with the other end region of the force translation component 1072 being terminated with another termination element 832 with a coupling element 836 coupled thereto for attachment or coupling to an object.

The upper (or top) drawing in Figure 16A shows the actuation module 1002 in a idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 808.

The lower (or bottom) drawing in Figure 16B shows the actuation module 1002 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 808. As shown, in response to the non-mechanical stimulus, the SMA arrangement 808 may contract to provide linear actuation. As the stimulation element 812 is stretchable, the stimulation element 812 contracts with the SMA arrangement 808. As the SMA arrangement 808 contracts, the force translation component 1072 is pulled towards the housing 1006. The force translation component 1072 may be pulled into the housing 1006. Where an object (not shown) is coupled to the force translation component 1072 via the coupling element 836, as the SMA arrangement 808 contracts, force is translated by the force translation component 1072 to act on the object to pull the object towards the actuation module 1002.

Figures 17A and 17B show schematic cross-sectional views of an actuation module 1102 that may be as described in the context of the actuation module 902 except that the actuation module 1102 includes a force translation component 1172.

For the actuation module 1102, a termination element 930 may be provided to terminate one end of the actuation module 1102 with a coupling element 934 coupled thereto. The other end of the actuation module 1102 may be terminated or closed with the static housing 1106, with an opening or aperture defined therein to allow passage of a force translation component 1172.

One end region of the force translation component 1172 may be coupled to the SMA arrangement 908 and the stimulation element 912, with the other end region of the force translation component 1172 being terminated with another termination element 932 with a coupling element 936 coupled thereto for attachment or coupling to an object.

The upper (or top) drawing in Figure 17A shows the actuation module 1102 in a idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 908. As shown, the SMA arrangement 908 is longer than the non-stretchable stimulation element 912. This may mean that one end of the non-stretchable stimulation element 912 may be a loose or floating end within the housing 1106.

The lower (or bottom) drawing in Figure 17B shows the actuation module 1102 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 908. As shown, in response to the non-mechanical stimulus, the SMA arrangement 908 may contract to provide linear actuation. As the SMA arrangement 908 contracts, the force translation component 1172 is pulled towards the housing 1106. The force translation component 1172 may be pulled into the housing 1106. Where an object (not shown) is coupled to the force translation component 1172 via the coupling element 936, as the SMA arrangement 908 contracts, force is translated by the force translation component 1172 to act on the object to pull the object towards the actuation module 1102. As the stimulation element 912 is non-stretchable, the SMA arrangement 908 slides past the stimulation element 912 as the SMA arrangement 908 contracts.

Figures 18A and 18B show schematic cross-sectional views of an actuation module 1202 with a telescopic housing, according to various examples. The telescopic housing includes a first housing segment 1206 and a second housing segment 1207 that are slidably movable relative to each other. The second housing segment 1207 may be received by and within the first housing segment 1206. The first housing segment 1206 has a bigger circumference or larger radius than the second housing segment 1207.

The actuation module 1202 may include an SMA arrangement 1208 and a stretchable stimulation element 1212 housed within the telescopic housing (or within the first housing segment 1206 and the second housing segment 1207). The SMA arrangement 1208 and the stretchable stimulation element 1212 may be in the form of layers arranged one over the other.

In various examples, the stimulation element 1212 may include one or more LEDs and/or one or more waveguide(s).

Termination elements 1230, 1232 may be provided to terminate ends of the actuation module 1202. Coupling elements 1234, 1236 may be coupled to the termination elements 1230, 1232. One termination element 1230 may terminate one end of the first housing segment 1206, SMA arrangement 1208 and stimulation element 1212, while the other termination element 1232 may terminate one end of the second housing segment 1207 and the opposite ends of the SMA arrangement 1208 and stimulation element 1212.

The upper (or top) drawing in Figure 18A shows the actuation module 1202 in a idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 1208.

The lower (or bottom) drawing in Figure 18B shows the actuation module 1202 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 1208. As shown, in response to the non-mechanical stimulus, the SMA arrangement 1208 may contract to provide linear actuation. As the stimulation element 1212 is stretchable, the stimulation element 1212 contracts with the SMA arrangement 1208. As the SMA arrangement 1208 contracts, the termination element 1232, the coupling element 1236, and the second housing segment 1207 are pulled towards the first housing segment 1206. Where an object (not shown) is coupled to the coupling element 1236, as the SMA arrangement 1208 contracts, force is translated by the termination element 1232 and the coupling element 1236 to act on the object to pull the object towards the actuation module 1202.

Figures 19A and 19B show schematic cross-sectional views of an actuation module 1302 with a telescopic housing, according to various examples. The telescopic housing includes a first housing segment 1306 and a second housing segment 1307 that are slidably movable relative to each other. The second housing segment 1307 may be received by and within the first housing segment 1306. The first housing segment 1306 has a bigger circumference or larger radius than the second housing segment 1307.

The actuation module 1302 may include an SMA arrangement 1308 and a non- stretchable stimulation element 1312 housed within the telescopic housing (or within the first housing segment 1306 and the second housing segment 1307). The SMA arrangement 1308 and the non-stretchable stimulation element 1312 may be in the form of layers arranged one over the other.

In various examples, the stimulation element 1312 may include one or more LEDs and/or one or more waveguide(s).

Termination elements 1330, 1332 may be provided to terminate ends of the actuation module 1302. Coupling elements 1334, 1336 may be coupled to the termination elements 1330, 1332. One termination element 1330 may terminate one end of the first housing segment 1306, SMA arrangement 1308 and stimulation element 1312, while the other termination element 1332 may terminate one end of the second housing segment

1307 and the opposite end of the SMA arrangement 1308.

The upper (or top) drawing in Figure 19A shows the actuation module 1302 in a idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 1308. As shown, the SMA arrangement 1308 is longer than the non-stretchable stimulation element 1312. This may mean that one end of the non-stretchable stimulation element 1312 may be a loose or floating end within the telescopic housing. The non- stretchable stimulation element 1312 may be as long as or shorter than the first housing segment 1306.

The lower (or bottom) drawing in Figure 19B shows the actuation module 1302 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 1308. As shown, in response to the non-mechanical stimulus, the SMA arrangement 1308 may contract to provide linear actuation. As the SMA arrangement

1308 contracts, the termination element 1332, the coupling element 1336, and the second housing segment 1307 are pulled towards the first housing segment 1306. Where an object (not shown) is coupled to the coupling element 1336, as the SMA arrangement 1308 contracts, force is translated by the termination element 1332 and the coupling element 1336 to act on the object to pull the object towards the actuation module 1302. As the stimulation element 1312 is non-stretchable, the SMA arrangement 1308 slides past the stimulation element 1312 as the SMA arrangement 1308 contracts.

It should be appreciated that the telescopic housing may include more than two housing segments. Additional housing segment(s) may be arranged in series with the first and second housing segments 1206, 1207,1306, 1307, and slidably movable and receivable by and within the first housing segment 1206, 1306.

Figures 20A and 20B show schematic cross-sectional views of an actuation module 1402 with a telescopic housing, according to various examples. The telescopic housing includes a first housing segment 1406, a second housing segment 1407a and a third housing segment 1407b that are slidably movable relative to each other. The second housing segment 1407a and the third housing segment 1407b may be received by and within the first housing segment 1406. The first housing segment 1406 has a bigger circumference or larger radius than the second housing segment 1407a and a third housing segment 1407b. The second housing segment 1407a and the third housing segment 1407b may have the same circumference. The actuation module 1402 may include an SMA arrangement 1408 and a stretchable stimulation element 1412 housed within the telescopic housing (or within the first housing segment 1406, the second housing segment 1407a and the third housing segment 1407b). The SMA arrangement 1408 and the stretchable stimulation element 1412 may be in the form of layers arranged one over the other.

In various examples, the stimulation element 1412 may include one or more LEDs and/or one or more waveguide(s).

Termination elements 1430, 1432 may be provided to terminate ends of the actuation module 1402. Coupling elements 1434, 1436 may be coupled to the termination elements 1430, 1432. One termination element 1430 may terminate one end of the third housing segment 1407b, SMA arrangement 1408 and stimulation element 1412, while the other termination element 1432 may terminate one end of the second housing segment 1407b and the opposite ends ofthe SMA arrangement 1408 and stimulation element 1412.

The upper (or top) drawing in Figure 20A shows the actuation module 1402 in a idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 1408.

The lower (or bottom) drawing in Figure 20B shows the actuation module 1402 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 1408. As shown, in response to the non-mechanical stimulus, the SMA arrangement 1408 may contract to provide linear actuation. As the stimulation element 1412 is stretchable, the stimulation element 1412 contracts with the SMA arrangement 1408. As the SMA arrangement 1408 contracts, the termination elements 1430, 1432 and the coupling elements 1434, 1436 may be pulled towards each other, and the second and third housing segments 1407a, 1407b may be received within the first housing segment 1406. An object (not shown) may be coupled to one of the coupling elements 1434, 1436 while the other of the coupling elements 1434, 1436 while may be coupled to a fixed point or fixed surface or another object. As the SMA arrangement 1408 contracts, force is translated to act on the object(s) to pull the object(s) towards the actuation module 1402.

Figures 21A and 21B show schematic cross-sectional views of an actuation module 1502 with a telescopic housing, according to various examples. The telescopic housing includes a first housing segment 1506, a second housing segment 1507a and a third housing segment 1507b that are slidably movable relative to each other. The second housing segment 1507a and the third housing segment 1507b may be received by and within the first housing segment 1506. The first housing segment 1506 has a bigger circumference or larger radius than the second housing segment 1507a and a third housing segment 1507b. The second housing segment 1507a and the third housing segment 1507b may have the same circumference.

The actuation module 1502 may include an SMA arrangement 1508 and a non- stretchable stimulation element 1512 housed within the telescopic housing (or within the first housing segment 1506, the second housing segment 1507a and the third housing segment 1507b). The SMA arrangement 1508 and the stretchable stimulation element 1512 may be in the form of layers arranged one over the other.

In various examples, the stimulation element 1512 may include one or more LEDs and/or one or more waveguide(s).

Termination elements 1530, 1532 may be provided to terminate ends of the actuation module 1502. Coupling elements 1534, 1536 may be coupled to the termination elements 1530, 1532. One termination element 1530 may terminate one end of the third housing segment 1507b, SMA arrangement 1508 and stimulation element 1512, while the other termination element 1532 may terminate one end of the second housing segment 1507b and the opposite end of the SMA arrangement 1508.

The upper (or top) drawing in Figure 21 A shows the actuation module 1502 in a idle state, meaning that no non-mechanical stimulus is provided to the SMA arrangement 1508. As shown, the SMA arrangement 1508 is longer than the non-stretchable stimulation element 1512. This may mean that one end of the non-stretchable stimulation element 1512 may be a loose or floating end within the telescopic housing, e.g., within the third housing segment 1507b and partially within the first housing segment 1506.

The lower (or bottom) drawing in Figure 21B shows the actuation module 1502 in an activated state where non-mechanical stimulus (e.g., light) is provided to the SMA arrangement 1508. As shown, in response to the non-mechanical stimulus, the SMA arrangement 1508 may contract to provide linear actuation. As the SMA arrangement 1508 contracts, the termination element 1530, 1532 and the coupling elements 1534, 1536 may be pulled towards each other, and the second and third housing segments 1507a, 1507b may be received within the first housing segment 1506. An object (not shown) may be coupled to one of the coupling elements 1534, 1536 while the other of the coupling elements 1534, 1536 while may be coupled to a fixed point or fixed surface or another object. As the SMA arrangement 1508 contracts, force is translated to act on the object(s) to pull the object(s) towards the actuation module 1502. As the stimulation element 1512 is non-stretchable, the SMA arrangement 1508 slides past the stimulation element 1512 as the SMA arrangement 1508 contracts.

In some examples, additionally or alternatively to the housing being telescopic, the housing (or the housing segments thereof) may be expandable (e.g., in one dimension, e.g., along the length of the housing). As non-limiting examples, the expandable housing may include flex hoses or corrugated flexible hoses which are flexible and stretchable.

Figure 38 shows a schematic view of an actuation module 3202 having a layer arrangement, e.g., a planar layer arrangement. The actuation module 3202 may include two SMA arrangements 3208a, 3208b, and two stimulation elements 3212a, 3212b. Each stimulation element 3212a, 3212b may include a PCB 3215a, 3215b having one or more LEDs 3213a, 3213b to provide non-mechanical stimulus to the SMA arrangements 3208a, 3208b. Each stimulation element 3212a, 3212b may further include an optically clear spacer 3282 spaced apart from and coupled to the PCB 3215a, 3215b via resin 3234.

Spacers 3283 may be provided to space the SMA arrangements 3208a, 3208b apart from the stimulation elements 3212a, 3212b.

A plurality of heat dissipation or heat spreading (or cooling) layers 3260a, 3260b, 3260c, 3214, and thermal double tapes 3216 may be provided to dissipate heat generated in the actuation module 3202.

The heat dissipation layer 3260b may have anti-friction layers (e.g., non-stick layers, e.g., Teflon) 3290a, 3290b adhered (via attachments 3292 on opposite end regions of the anti-friction layers 3290a, 3290b) to both of the sides of the heat dissipation layer 3260b facing the SMA arrangements 3208a, 3208b.

Resin 3234 may be used as adhesive and as coupling elements for the SMA arrangements 3208a, 3208b to which tendon or cable attachments 3235 may be coupled to. Interconnection elements (e.g., tendon or cable) 3272 may be coupled to the attachments 3235. Resin 3234 and attachments 3286 may be employed to couple the actuation module 3202 to a wearable item or garment or fabric, e.g., a glove 3280. One or more cables 3272 may be coupled to the finger portion(s) of the glove 3280 such that during operation of the actuation module 3202, fingers may be actuated.

Figures 39 to 40 show schematic views of a fibre actuation module 3302. The fibre actuation module 3302 may include an SMA arrangement 3308 in the form of a fibre, and a stimulation element 3312 at least substantially surrounding the SMA arrangement 3308. The stimulation element 3312 may include one or more fibre optics 3313, for example, a bundle of fibre optics, at least substantially surrounding the SMA arrangement 3308. It should be appreciated that any number of fibre optics 3313 may be provided.

The stimulation element 3312 may be arranged in a (circular or concentric) layer surrounding the SMA arrangement 3308. The stimulation element 3312 may entirely surround the SMA arrangement 3308. The SMA arrangement 3308 may be centrally located in the actuation module 3302.

The stimulation element 3312, or the fibre optics thereof 3313, may be stretchable or non-stretchable.

A coupling element 3334 may be provided to couple to one end of the actuation module 3302. A (interconnection element (e.g., cable or tendon) 3372 may be coupled to the opposite end of the SMA arrangement 3308.

While not shown in Figure 39, there may be a housing (e.g., tubular housing) at least partly encapsulating the SMA arrangement 3308 and the stimulation element 3312.

While not shown in Figure 39, there may be one or more termination elements terminating the end(s) of the actuation module 3302.

Additional layers of SMA arrangement(s) and/or stimulation element(s) may be provided. As a non-limiting example, an additional layer of SMA arrangement may be provided, e.g., in the form of a tube or a plurality of fibres, surrounding the stimulation element 3312 or the fibre optics 3313 thereof. Light propagated through the fibre optics 3313 may be provided to the SMA arrangement 3308 and the additional layer of SMA arrangement.

Referring to Figure 40 illustrating a non-limiting example of an actuator assembly 3490, an attachment or coupling element 3434 may be coupled to one end of the SMA arrangement 3308 while another attachment or coupling element 3436 may be coupled to the opposite end of the SMA arrangement 3308. The connection element 3372 may be coupled to the coupling element 3436. The connection element 3372 may further be coupled to an object.

The fibre optics 3313 of the stimulation element 3312 may extend through the coupling element 3334 and (optically) coupled to a fibre bundle connector 3450. The connector 3450 may be optically coupled to a fibre optic 3452 which in turn may be optically coupled to a light source 3454, for example, a laser. The fibre optic 3452 may have a larger radius compared to the fibre optics 3313. During operation, light from the laser 3454 may be provided or transmitted, via the thicker fibre optic 3452, to the fibre optics 3313 to provide a light non-mechanical stimulus to the SMA arrangement 3308. In response thereto, the SMA arrangement 3308 may contract, thereby pulling the connection element 3372.

Figure 41 shows a schematic view of a fibre actuation module 3502. The fibre actuation module 3502 may include an SMA arrangement 3508 in the form of a fibre, and a stimulation element 3512 at least substantially surrounding the SMA arrangement 3508. The stimulation element 3512 may be or may include a tubular LED array having a plurality of LEDs 3513 mounted on a flexible PCD 3515. In this way, a curved LED panel 3512 may be provided. It should be appreciated that any number of LEDs 3513 may be provided.

The stimulation element 3512 may be arranged in a (circular or concentric) layer surrounding the SMA arrangement 3508. The stimulation element 3512 may entirely or partially surround the SMA arrangement 3508. The SMA arrangement 3508 may be centrally located in the actuation module 3502.

The flexible stimulation element 3512 may be stretchable or non-stretchable.

A coupling element 3534 may be provided to couple to one end of the actuation module 3502. A (interconnection element (e.g., cable or tendon) 3572 may be coupled to the opposite end of the SMA arrangement 3508.

While not shown, there may be a housing (e.g., tubular housing) encapsulating the SMA arrangement 3508 and the stimulation element 3512.

While not shown, there may be one or more termination elements terminating the end(s) of the actuation module 3502 (and the SMA arrangement 3508 thereof) or (only) the SMA arrangement 3508. This may allow for the SMA arrangement 3508 to contract and expand, leaving the stimulation element 3512 static in place.

Additional layers of SMA arrangement(s) and/or stimulation element(s) may be provided. As a non-limiting example, an additional layer of SMA arrangement may be provided, e.g., in the form of a tube, surrounding the stimulation element 3512. Light from the LEDs 3513 may be provided to the SMA arrangement 3508 and the additional layer of SMA arrangement. The stimulation element 3512 may have LEDs 3513 on both surfaces of the PCB 3515 so that the stimulation element 3512 may illuminate both sides (i.e., inside and outside). During operation, light from the LEDs act as a non-mechanical stimulus to the SMA arrangement 3508. In response thereto, the SMA arrangement 3508 may contract, thereby pulling the (interconnection element 3572.

Figures 42 and 43 show schematic views of actuation modules 3602 having a stimulation element 3612 in the form of a fibre optic 3613 being at least substantially surrounded by atubular SMA arrangement 3608. While one fibre optic 3613 is shown, it should be appreciated that there may be a plurality of fibre optics 3613.

The tubular SMA arrangement 3608 may be arranged in a (circular or concentric) layer surrounding the stimulation element 3612. The SMA arrangement 3608 may entirely or partially surround the stimulation element 3612. The stimulation element 3612 may be centrally located in the actuation module 3602.

The stimulation element 3612, or the fibre optic 3613 thereof, may be stretchable or non-stretchable.

A coupling element 3634 may be provided to couple to one end of the actuation module 3602. A (interconnection element (e.g., cable or tendon) 3672 may be coupled to the opposite end of the SMA arrangement 3608.

While not shown, there may be one or more termination elements terminating the end(s) of the actuation module 3602.

Additional layers of SMA arrangement(s) and/or stimulation element(s) may be provided. As a non-limiting example, an additional layer of stimulation element may be provided, e.g., in the form of a tube or a plurality of fibres, surrounding the SMA arrangement 3608. Light propagated through the fibre optic 3613 and the additional layer of stimulation element may be provided to the SMA arrangement 3608.

Figure 43 shows a non-limiting example of an actuator assembly 3490, in an assembled view, and an exploded and transparent view. An attachment or coupling element 3734 may be coupled to one end of the actuation module 3602, having a defined aperture forpassage of the fibre optic 3613, while another attachment or coupling element 3736 may be coupled to the opposite end of the actuation module 3602. An interconnection element 3772 may be coupled to the coupling element 3736.

The fibre optic 3613 of the stimulation element 3612 may be optically coupled to a light source 3754, for example, a laser.

During operation, light from the laser 3754 may be provided or transmitted to the fibre optic 3613 to provide a light non-mechanical stimulus to the SMA arrangement 3608. In response thereto, the SMA arrangement 3608 may contract, thereby pulling the cable 3772.

While not shown, there may be a housing (e.g., tubular housing) encapsulating the SMA arrangement 3608 and the stimulation element 3612. The housing may further encompass the coupling elements 3734, 3736.

It should be appreciated that a plurality of layers of SMA arrangements and stimulation elements may be provided in various examples of the actuation modules, including actuation modules 402, 502, 602, 702, 802, 902, 1002, 1102, 1202, 1302, 1402, 1502, 3302, 3502, 3602 in a layer arrangement. The plurality of layers may be stacked one on top of another. There may be two, three, four, five or any higher number of layers of SMA arrangements and stimulation elements. There may be one or more intermediate or intervening layers between an SMA arrangement and a stimulation element, e.g., heat dissipation layer, sensing layer, etc. In some examples, the plurality of layers may include alternating (or interleaving) layers of SMA arrangements and stimulation elements.

As non-limiting examples, there may be an arrangement of SMA arrangementstimulation element-SMA arrangement, or stimulation element-stimulation element- SMA arrangement, or SMA arrangement-stimulation element-stimulation element-SMA arrangement, or SMA arrangement-stimulation element-SMA arrangement-stimulation element, or stimulation element-SMA arrangement-stimulation element-SMA arrangement-stimulation element.

As a non-limiting example, three layers of SMA arrangements and stretchable stimulation elements may be provided. For example, the SMA arrangement 408, 608, 808, 1208, 1408, 3308, 3508, 3608 may be sandwiched between the stretchable stimulation element 412, 612, 812, 1212, 1412, 3312, 3512, 3612 and another stretchable stimulation element (e.g., having LED(s) and/or waveguide(s)). As a further example, the stretchable stimulation element 412, 612, 812, 1212, 1412, 3312, 3512, 3612 may be sandwiched between the SMA arrangement 408, 608, 808, 1208, 1408, 3308, 3508, 3608 and another SMA arrangement. As a further non-limiting example, another SMA arrangement may be arranged over the SMA arrangement 408, 608, 808, 1208, 1408, 3308, 3508, 3608, which in turn may be arranged over the stretchable stimulation element 412, 612, 812, 1212, 1412, 3312, 3512, 3612.

As a non-limiting example, three layers of SMA arrangements and non- stretchable stimulation elements may be provided. For example, the SMA arrangement 508, 708, 908, 1308, 1508, 3308, 3508, 3608 may be sandwiched between the non- stretchable stimulation element 512, 712, 912, 1312, 1512, 3312, 3512, 3612 and another non-stretchable stimulation element (e.g., having LED(s) and/or waveguide(s)). As a further example, the non-stretchable stimulation element 512, 712, 912, 1312, 1512, 3312, 3512, 3612 may be sandwiched between the SMA arrangement 508, 708, 908, 1308, 1508, 3308, 3508, 3608 and another SMA arrangement. As a further non-limiting example, another SMA arrangement may be arranged over the SMA arrangement 508, 708, 908, 1308, 1508, 3308, 3508, 3608, which in turn may be arranged over the non- stretchable stimulation element 512, 712, 912, 1312, 1512, 3312, 3512, 3612.

It should be appreciated that other components, e.g., sensing component 116, heat dissipation layer(s) 118, 120 may be provided in any one of the actuation modules 402, 502, 602, 702, 802, 902, 1002, 1102, 1202, 1302, 1402, 1502, 3302, 3502, 3602.

It should be appreciated that different examples of the actuation modules described herein may be combined with one another.

Non-limiting examples of applications of the actuation modules of various examples will now be described below. Actuation modules described in the context of any one of the actuation modules 402, 502, 602, 702, 802, 902, 1002, 1102, 1202, 1302, 1402, 1502, 3302, 3502, 3602 may be employed as the actuation module in any one of the applications. Further, it should be appreciated that one or more termination elements and/or one or more coupling elements as described in the context of any one of the actuation modules 402, 502, 602, 702, 802, 902, 1002, 1102, 1202, 1302, 1402, 1502, 3302, 3502, 3602 may be provided.

Figures 22A and 22B show schematic views of an application for asymmetric bending where the object or material bends. An actuation module 1602 having coupling elements 1636 may be coupled to a flexible object or material 1670 directly or via, for example, connection elements (e.g., cables) 1672. As the SMA arrangement of the actuation module 1602 contracts in response to a non-mechanical stimulus (as shown in the bottom drawing in Figure 122B), the object 1670 bends upwardly or is pushed upwardly.

The connection element(s) and/or interconnection element(s) disclosed herein may in some examples form part of the coupling element.

Figures 23A and 23B shows schematic views of an application for asymmetric bending where the SMA arrangement in the actuation module 1702 bends. An actuation module 1702 having coupling elements 1736 may be coupled to an object 1770 directly or via, for example, connection elements (e.g., cables) 1772. The object 1770 may have a first arm 1773 and a second arm 1775 pivotably coupled to one another. The actuation module 1702 may be coupled to the first arm 1773 and the second arm 1775. As the SMA arrangement of the actuation module 1702 contracts in response to a non-mechanical stimulus (as shown in the bottom drawing in Figure 23B), the second arm 1775 is pulled outwardly. The first arm 1773 may be fixed in place.

Figure 24 shows a schematic view of an application for shoe-lace actuation. An actuation module 1802 having coupling elements 1836 may be coupled to (fixed) surfaces 1877. The actuation module 1802 may be arranged against an object 1870 that is received into or within a component 1876. The object 1870 may have an arm 1873, and a head or knob or hook 1875 at one end of the arm 1873. As the SMA arrangement of the actuation module 1802 contracts in response to a non-mechanical stimulus, the head (or knob or hook) 1875, and, overall the object 1870, is pulled outwardly from the component 1876.

Figures 25A and 25B show schematic views of an actuation module 1902 in the form of a strap or ring surrounding an object 1970. The actuation module 1902 may entirely surround the (perimeter of) object 1970. As the SMA arrangement of the actuation module 1902 contracts in response to a non-mechanical stimulus (as shown in the bottom drawing in Figure 25B), the actuation module 1902 applies a constricting force on the object 1970, thereby squeezing or compressing the object 1970.

Figure 26 shows a schematic view of an actuation module 2002 in the form of a (compression) sleeve surrounding an object 2070. The actuation module 2002 may entirely surround the (perimeter of) object 2070. As the SMA arrangement of the actuation module 2002 contracts in response to a non-mechanical stimulus, the actuation module 2002 applies a constricting force on the object 2070, thereby squeezing or compressing the object 2070.

Figures 27A and 27B show schematic views of an application of an actuation module 2102 for guided flexible actuation. The actuation module 2102 may be arranged or received within a guide element (e.g., guide rail or tube) 2174. The guide element 2174 may be flexible. Coupling elements 2134, 2136 may be coupled to the actuation module 2102, with the coupling element 2134 being further coupled to a component 2170 via a connection element (e.g., cable or tendon) 2172. As the SMA arrangement of the actuation module 2102 contracts in response to a non-mechanical stimulus (as shown in the right-hand side drawing in Figure 27B), the actuation module 2102 contracts within the guide element 2174, with the connection element 2172 becoming elongated and pulled into the guide element 2174. Figure 28 shows a schematic view of an actuation module 2202 arranged or wound in helical form or as a helix around an object 2270, e.g., a curved or cylindrical object. The actuation module 2202 may, for example, be a strap. The windings of the actuation module 2202 around the object 2270 may be in contact with one another, or may be spaced apart from one another as shown in Figure 28. As the SMA arrangement of the actuation module 2202 contracts in response to a non-mechanical stimulus, the actuation module 2202 applies a constricting force on the object 2270, thereby squeezing or compressing the object 2270.

Figure 29 shows a schematic view of an actuation module 2302 being coupled to an object 2370 (e.g., in the form of a lever having pivotable components) having a first arm 2373 and a second arm 2375 pivotably coupled to one another. The first arm 2373 may be fixed to a (fixed) surface 2377. Coupling elements 2336 may be provided to couple the actuation module 2302 to the first and second arms 2373, 2375 directly or via, for example, connection elements (e.g., cables) 2372. As the SMA arrangement of the actuation module 2302 contracts in response to a non-mechanical stimulus, the second arm 2375 is pulled (inwardly) towards the first arm 2373 or the surface 2377.

Figure 30 shows a schematic view of an actuation module 2402 being coupled to an object 2470 (e.g., in the form of a lever having pivotable components) having a first arm 2473 and a second arm 2475 pivotably coupled to one another. The first arm 2473 may be fixed to a (fixed) surface 2477. Coupling elements 2436 may be provided to couple the actuation module 2402 to the second arm 2475 and the surface 2477 directly or via, for example, connection elements (e.g., cables) 2472. As the SMA arrangement of the actuation module 2402 contracts in response to a non-mechanical stimulus, the second arm 2475 is pulled upwardly away from the surface 2477.

Figure 31 shows a schematic view of an actuation module 2502 provided in a claw gripper 2570, for example, in the handle of the gripper 2570. A coupling element 2536 may be provided to couple the actuation module 2502 to one end of the griper 2570. Another coupling element 2534 may be provided to couple the actuation module 2502 to a pair of claws (or gripping components) 2573 of the gripper 2570 directly or via, for example, connection elements (e.g., cables) 2572. As the SMA arrangement of the actuation module 2502 contracts in response to a non-mechanical stimulus, the claws 2573 move towards one another to grip or clamp an object (not shown) therebetween.

Figure 32 shows a schematic view of an actuation module 2602 being coupled to an aircraft body part 2670 having a body 2673 and a flap 2675 pivotably coupled to one another. Coupling elements 2634, 2636 may be provided to couple the actuation module 2602 to the body 2673 and the flap 2675 respectively directly or via, for example, connection elements (e.g., cables) 2672. As the SMA arrangement of the actuation module 2602 contracts in response to a non-mechanical stimulus, the flap 2675 is pulled inwardly towards the body 2673.

Figure 33 shows a schematic view of an actuation module 2702 being coupled to an object 2770 having a rotatable component (e.g., wheel or cam) 2773 supported by a support structure (or support pole) 2775. The support structure 2775 may be coupled or attached to a (fixed) surface 2777. Coupling elements 2736 may be provided to couple the actuation module 2702 to the rotatable component 2773 and the surface 2777. As the SMA arrangement of the actuation module 2702 contracts in response to a nonmechanical stimulus, the rotatable component 2773 is pulled to spin or rotate in a clockwise direction.

Figure 34 shows a schematic view of a pair of actuation modules 2802, 2803 being coupled to an object 2870. The object 2870 may include a rotatable or movable component 2873, for example, a sphere (e.g., a robotic eyeball), supported by a support structure 2875. The support structure 2875 may be coupled or attached to a (fixed) surface 2877. Coupling elements 2834 may be provided to couple the actuation module 2802 to the surface 2877, and, either directly or via, for example, a connection element (e.g., cable) 2872, to one side or part of the movable component 2873. Coupling elements 2836 may be provided to couple the actuation module 2803 to the surface 2877, and, either directly or via, for example, a connection element (e.g., cable) 2882, to one side or part of the movable component 2873. Actuation modules 2802, 2803 may be coupled to opposite sides of the rotatable component 2873. As the SMA arrangement of the actuation module 2802 contracts in response to a non-mechanical stimulus, the rotatable component 2873 is pulled to rotate in an anti -clockwise direction, and at the same time, the SMA arrangement of the actuation module 2803 expands. As the SMA arrangement of the actuation module 2803 contracts in response to a non-mechanical stimulus, the rotatable component 2873 is pulled to rotate in a clockwise direction, and at the same time, the SMA arrangement of the actuation module 2802 expands. In this way, the actuation modules 2802, 2803 form or define an agonist-antagonist SMA pair.

Figure 35 shows a schematic view of an arrangement and operation similar to that illustrated in Figure 34, except that the pair of actuation modules 2802, 2803 are arranged or routed internally within the support structure 2875. Figures 44 and 45 show schematic views of actuation modules 3802, 3902 for finger actuation.

Referring to Figure 44, an actuation module 3802 may be coupled to an object (or component) 3870, e.g., a subject’s hand or a wearable item such as a glove, using a coupling element 3834 at one part of the object 3870 and coupling elements 3836 at the finger portions (including thumb) e.g., at the tip regions of the finger portions. A plurality of interconnection elements (e.g., cables or tendons) 3872 may be provided, each being coupled to the actuation module 3802 and a respective coupling element 3836, passing through or guided by guide elements 3873. During operation, when the SMA arrangement of the actuation module 3802 contracts, all fingers of the subject, whether directly or via the wearable item, may be simultaneously actuated.

Referring to Figure 45, a plurality of actuation modules 3902 may be coupled to an object (or component) 3970, e.g., a subject’s hand or a wearable item such as a glove, using a coupling element 3934 at one part of the component 3970 and coupling elements 3936 at the finger portions (including thumb) e.g., at the tip regions of the finger portions. A respective actuation module 3902 may be associated with a finger for actuating the respective finger. A plurality of interconnection elements (e.g., cables or tendons) 3972 may be provided, where a respective interconnection element 3972 is coupled to a respective actuation module 3902 and a respective coupling element 3936, passing through or guided by guide elements 3973. During operation, when the SMA arrangement of a respective actuation module 3902 contracts, the associated finger coupled to the actuation module 3902, whether directly or via the wearable item, may be actuated. Accordingly, each finger may be independently actuated.

Figures 46 and 47 show schematic views of actuation modules 4002, 4102 for wrist actuation.

Referring to Figure 46, an actuation module 4002 may be coupled to an object (or component) 4070, e.g., a subject’s hand or a wearable item such as a glove, using a coupling element 4034 at one part of the component 4070 and another coupling element (e.g., in the form of a strap) 4036 across the palm portion. An interconnection element (e.g., cable or tendon) 4072 may be coupled to the actuation module 4002 and the coupling element 4036, passing through or guided by a guide element 4073. During operation, when the SMA arrangement of the actuation module 4002 contracts, wrist bending or actuation, whether directly or via the wearable item, may occur. Referring to Figure 47, an actuation module 4102 may be coupled to an object (or component) 4170, e.g., a subject’s hand or a wearable item such as a glove, using a coupling element 4134 at one part of the component 4170 and coupling elements 4136 at the finger portions, e.g., at the base regions of the finger portions. A plurality of interconnection elements (e.g., cables or tendons) 4172 may be provided, each being coupled to the actuation module 4102 and a respective coupling element 4136, passing through or guided by a guide element 4173. During operation, when the SMA arrangement of the actuation module 4102 contracts, wrist bending or actuation, whether directly or via the wearable item, may occur.

The actuator assembly of various examples, or the actuation module(s) thereof, including the actuation modules 3802, 3902, 4002, 4102, may be used to actuate the fingers of a human arm and/or a robotic arm.

Figure 48 shows a schematic view of actuation module 4202 for hip actuation. The actuation module 4202 may be coupled or attached to the waist region 4270 of a subject using a coupling element (e.g., a waist band) 4234 and to the leg 4271 of the subject using another coupling element (e.g., in the form of a strap) 4236. During operation, when the SMA arrangement of the actuation module 4202 contracts, actuation of the hip/leg may occur.

Figures 49 and 50 show schematic views of actuation modules 4302, 4402 for lower limb actuation.

Referring to Figure 49, a pair of actuation modules 4302a, 4302b may be coupled or attached to the leg 4370 of a subject using coupling elements (e.g., straps) 4334, 4336 at the upper and lower portions of the leg 4370. The actuation modules 4302a, 4302b may be connected to the coupling element 4336 using interconnection elements (e.g., cables or tendons) 4372. The actuation modules 4302a, 4302b may form or define an agonistantagonist SMA pair. During operation, when the SMA arrangement of one of the actuation modules 4302a, 4302b contracts, the SMA arrangement of the other of the actuation modules 4302a, 4302b expands. The actuation modules 4302a, 4302b may allow actuation of the lower part of the leg 4270 in different directions.

Referring to Figure 50, a pair of actuation modules 4402a, 4402b may be coupled or attached to the leg 4470 of a subject using coupling elements (e.g., straps) 4334, 4336 at the lower portion and the foot of the leg 4470. The actuation modules 4402a, 4402b may be connected to the coupling element 4436 using interconnection elements (e.g., cables or tendons) 4472. The actuation modules 4402a, 4402b may form or define an agonist-antagonist SMA pair. During operation, when the SMA arrangement of one of the actuation modules 4402a, 4402b contracts, the SMA arrangement of the other of the actuation modules 4402a, 4402b expands. The actuation modules 4402a, 4402b may allow actuation of the foot of the subject in different directions.

Figures 51 to 54 show schematic block diagrams for control modules 4550, 4650, 4750, 4850, according to various examples.

Referring to Figure 51, the control module 4550 (e.g., in the form of an optics/power pack) may include a power source or power pack 4554. The power source 4554 may include a battery 4555a, or may include components to receive power (or electricity) from a battery 4555a, the mains supply 4555b, or solar power 4555c.

The control module 4550 may further include a controller 4556 for controlling operation of the control module 4550 and/or the actuation module 4502. The controller 4556 may be powered by the power source 4554.

In examples where the actuation module 4502 may include an LED source 4513a as the stimulation element to provide a non-mechanical stimulus to an SMA arrangement (not shown) of the actuation module 4502, the control module 4550 may further include an LED driver 4559a to drive the LED source 4513a. The LED driver 4559a may be controlled by a low-level control unit 4557 of the controller 4556. Cooling or heat dissipation components 4520a, 4560a, may be provided respectively for the LED source 4513a and the LED driver 4559a.

Alternatively, in examples where the actuation module 4502 may include a laser source 4513b to provide a non-mechanical stimulus to an SMA arrangement (not shown) of the actuation module 4502, the control module 4550 may further include a laser driver 4559b to drive the laser source 4513b. The laser driver 4559b may be controlled by the low-level control unit 4557 of the controller 4556. Cooling or heat dissipation components 4520b, 4560b, may be provided respectively for the laser source 4513b and the laser driver 4559b.

In the control system closed loop configuration shown in Figure 51, one or more sensors (or sensing components) 4558 may be provided to sense parameters or characteristics associated with the SMA arrangement of the actuation module 4502 and provide inputs or feedback to the low-level control unit 4557.

Alternatively, the sensor(s) 4558 may be omitted for a control system open loop configuration. Referring to Figure 52, the control module 4650 (e.g., in the form of an optics/power pack) may include a power source or power pack 4654. The power source 4654 may include a battery 4655a, or may include components to receive power (or electricity) from a battery 4655a, the mains supply 4655b, or solar power 4655c.

The control module 4650 may further include a controller 4656 for controlling operation of the control module 4650 and/or the actuation module 4602. The controller 4656 may be powered by the power source 4654.

In examples where the actuation module 4602 may include an LED source 4613a as the stimulation element to provide a non-mechanical stimulus to an SMA arrangement (not shown) of the actuation module 4602, the control module 4650 may further include an LED driver 4659a to drive the LED source 4613a. Cooling or heat dissipation components 4620a, 4660a, may be provided respectively for the LED source 4613a and the LED driver 4659a.

Alternatively, in examples where the actuation module 4602 may include a laser source 4613b to provide a non-mechanical stimulus to an SMA arrangement (not shown) of the actuation module 4602, the control module 4650 may further include a laser driver 4659b to drive the laser source 4613b. Cooling or heat dissipation components 4620b, 4660b, may be provided respectively for the laser source 4613b and the laser driver 4659b.

The LED driver 4659a and the laser driver 4659b may be controlled by a high- level control unit 4657a and/or a low-level control unit 4657b of the controller 4656. The high-level control unit 4657a may control the low-level control unit 4657b.

The low-level control unit 4657b may be employed to control the stimulation element(s) to be precise as the immediate (or current) action is taking place, while the high-level control unit 4657a may be employed to control what the overall system needs to do now and in the future. Using a robotic arm as a non-limiting example, the low-level control unit 4657b may be used for controlling motor(s) in the robotic arm, while the high-level control unit 4657a may be used to determine or control what the whole robotic arm needs to do.

In various examples, the controller 4656 may be split into the high-level control unit 4657a and the low-level control unit 4657b to avoid race conditions (or timing conflicts).

In the control system closed loop configuration shown in Figure 52, one or more sensors (or sensing elements) 4658a may be provided to sense parameters or characteristics associated with the SMA arrangement of the actuation module 4602 and provide inputs or feedback to the high-level control unit 4657a. Further, one or more sensors (or sensing elements) 4658b may be provided to sense parameters or characteristics associated with the SMA arrangement of the actuation module 4602 and provide inputs or feedback to the low-level control unit 4657b.

Alternatively, the sensing elements 4658a, 4658b may be omitted for a control system open loop configuration.

The controller 4656 may further receive user inputs provided via a human machine interface (HMI) 4662.

Referring to Figure 53, the control module 4750 (e.g., in the form of an optics/power pack) may include a power source or power pack 4754, a control system or controller) 4756, and an LED driver 4759. The LED driver 4759 may be powered by the power source 4754. The controller 4756 may be powered by the power source 4754.

The LED driver 4759 may drive an LED source 4713 in the actuation module 4702. The LED source 4713 may act as the stimulation element to provide a nonmechanical stimulus to an SMA arrangement 4708 of the actuation module 4702.

Referring to Figure 54, the control module 4850 (e.g., in the form of an optics/power pack) may include a power source or power pack 4854, a control system or controller) 4856, and a laser driver 4859. The laser driver 4859 may be powered by the power source 4854. The controller 4856 may be powered by the power source 4854.

The laser driver 4859 may drive a laser source 4830 to provide light. Light from the laser source 4830 may pass through a collimator 4831 to form a parallel beam, which may then be optically coupled, via a fibre optic coupler 4832 to a fibre optic 4833 and propagated to an optical splitter 4834. A portion of the light may then be optically coupled, via another fibre optic coupler 4835, to a waveguide or light guide 4813 in the actuation module 4802. The waveguide 4813 acts as a stimulation element to provide the light as a non-mechanical stimulus to the SMA arrangement 4808.

The laser driver 4859, the laser source 4830, the collimator 4831, the fibre optic coupler 4832, the fibre optic 4833, and the optical splitter 4834 may define or form part of an optoelectronics module.

While the applications have been described above in terms of the SMA arrangement contracting in response to a non-mechanical stimulus, it should be appreciated that in some examples, the SMA arrangement may be configured to expand in response to a non-mechanical stimulus. Further, it should be appreciated that a plurality of actuation modules may be provided for any one of the applications described above, arranged in series (“longer” system) and/or laterally from one another (“wider” system).

In the context of various examples described herein, as shown in Figures 36 and 37, an SMA arrangement 3008 may include or may be defined by a plurality of SMA units 3009a, 3009b, 3009c, 3009d, 3009e. Figure 36 shows the plurality of SMA units 3009a, 3009b, 3009c, 3009d, 3009e in an idle state, while Figure 37 shows an activated state where the SMA units 3009a, 3009b, 3009c, 3009d, 3009e contract in response to receiving a non-mechanical stimulus. The SMA units 3009a, 3009b, 3009c, 3009d, 3009e may be spaced apart from one another and connected via linkages (or linkage members) 3090a, 3090b, 3090c, 3090d, 3090e, 3090f. There may be linkages 3090b, 3090c, 3090d, 3090e that connect adjacent SMA units 3009a, 3009b, 3009c, 3009d, 3009e. There may also be linkages 3090a, 3090f that connect SMA units 3009a, 3009e to respective coupling elements 3034, 3036. The linkages 3090a, 3090b, 3090c, 3090d, 3090e, 3090f may act as force translation components to translate the force resulting from the contraction of the SMA units 3009a, 3009b, 3009c, 3009d, 3009e.

While Figures 36 and 37 show the SMA units 3009a, 3009b, 3009c, 3009d, 3009e, being spaced apart from each other and are attached via linkages 3090a, 3090b, 3090c, 3090d, 3090e, 3090f, it should be appreciated that the SMA units 3009a, 3009b, 3009c, 3009d, 3009e may be directly connected to one another and to the coupling elements 3036, i.e., without the linkages 3090a, 3090b, 3090c, 3090d, 3090e, 3090f.

Further, while Figures 36 and 37 show five SMA units 3009a, 3009b, 3009c, 3009d, 3009e, it should be appreciated that any number of SMA units may be provided, including one, two, three, four, five, six or any higher number.

In the context of various examples, the SMA arrangement and the stimulation element, or parts thereof, may be separated from one another or independent of each other, to aid or facilitate a smooth(er) or free(r) movement of the SMA arrangement, for example, as the SMA arrangement contracts.

Terminology and definitions

In the context of various examples, a component or element that is flexible may mean that the component or element may be, for example, bendable and/or twistable, etc.

In the context of various examples, a component or element that is stretchable may mean that at least one dimension (e.g., length, width, depth, thickness) of the component or element may be variable. The at least one dimension may increase or decrease. As a non-liming example, the length of the component or element may change or vary, e.g., decrease.

The term ‘comprising’ as used in this specification and claims means ‘consisting at least in part of or ‘including, but not limited to’ such that it is to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense. When interpreting each statement in this specification and claims that includes the term “comprising”, features other than that or those prefaced by the term may also be present. Related terms such as “comprise” and “comprises” are to be interpreted in the same manner.

The term ‘and/or’ means ‘and’ or ‘or’, or both.

As used herein, the phrase of the form of “at least one of A or B” may include A or B or both A and B. Correspondingly, the phrase of the form of “at least one of A or B or C”, or including further listed items, may include any and all combinations of one or more of the associated listed items.

The use of ‘(s)’ following a noun means the plural and/or singular forms of the noun.

Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain examples include, while other examples do not include, certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more examples or that one or more examples necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and/or steps are included or are to be performed in any particular example.

Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than 10% of, within less than 5% of, within less than 1% of, within less than 0. 1% of, and within less than 0.01% of the stated amount.

In this specification where reference has been made to patent specifications, other external documents, or other sources of information, this is generally for the purpose of providing a context for discussing the features of the invention. Unless specifically stated otherwise, reference to such external documents is not to be construed as an admission that such documents, or such sources of information, in any jurisdiction, are prior art, or form part of the common general knowledge in the art.

In the above description, specific details are given to provide a thorough understanding of the examples. However, it will be understood by one of ordinary skill in the art that the examples may be practiced without these specific details. For example, software modules, functions, circuits, etc., may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known modules, structures and techniques may not be shown in detail in order not to obscure the examples.

Aspects of the systems and methods described above may be operable on any type of general purpose computer system or computing device, including, but not limited to, a desktop, laptop, notebook, tablet, smart television, gaming console, or mobile device. The term "mobile device" includes, but is not limited to, a wireless device, a mobile phone, a smart phone, a mobile communication device, a user communication device, personal digital assistant, mobile hand-held computer, a laptop computer, wearable electronic devices such as smart watches and head-mounted devices, an electronic book reader and reading devices capable of reading electronic contents and/or other types of mobile devices typically carried by individuals and/or having some form of communication capabilities (e.g., wireless, infrared, short-range radio, cellular etc.).

Aspects of the systems and methods described above may be operable or implemented on any type of specific-purpose or special computer, or any machine or computer or server or electronic device with a microprocessor, processor, microcontroller, programmable controller, or the like, or a cloud-based platform or other network of processors and/or servers, whether local or remote, or any combination of such devices.

One or more of the components and functions illustrated the figures may be rearranged and/or combined into a single component or embodied in several components without departing from the scope of the disclosure. Additional elements or components may also be added without departing from the scope of the disclosure. Additionally, the features described herein may be implemented in software, hardware, as a business method, and/or combination thereof.

Although this disclosure has been described in the context of certain examples and examples, it will be understood by those skilled in the art that the disclosure extends beyond the specifically disclosed examples to other alternative examples and/or uses and obvious modifications and equivalents thereof. In addition, while several variations of the examples of the disclosure have been shown and described in detail, other modifications, which are within the scope of this disclosure, will be readily apparent to those of skill in the art. It is also contemplated that various combinations or sub-combinations of the specific features and aspects of the examples may be made and still fall within the scope of the disclosure. For example, features described above in connection with one example can be used with a different example described herein and the combination still fall within the scope of the disclosure. It should be understood that various features and aspects of the disclosed examples can be combined with, or substituted for, one another in order to form varying modes of the examples of the disclosure. Thus, it is intended that the scope of the disclosure herein should not be limited by the particular examples described above. Accordingly, unless otherwise stated, or unless clearly incompatible, each example of this disclosure may comprise, additional to its essential features described herein, one or more features as described herein from each other example of the invention disclosed herein.

This disclosure may also be said broadly to consist in the parts, elements and features referred to or indicated in this disclosure, individually or collectively, and any or all combinations of any two or more said parts, elements or features, and where specific integers are mentioned herein which have known equivalents in the art to which this disclosure relates, such known equivalents are deemed to be incorporated herein as if individually set forth.

Features, materials, characteristics, or groups described in conjunction with a particular aspect, example, or example are to be understood to be applicable to any other aspect, example or example described in this section or elsewhere in this specification unless incompatible therewith. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive. The protection is not restricted to the details of any foregoing examples. The protection extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.

Furthermore, certain features that are described in this disclosure in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations, one or more features from a claimed combination can, in some cases, be excised from the combination, and the combination may be claimed as a subcombination or variation of a subcombination.

Moreover, while operations may be depicted in the drawings or described in the specification in a particular order, such operations need not be performed in the particular order shown or in sequential order, or that all operations be performed, to achieve desirable results. Other operations that are not depicted or described can be incorporated in the example methods and processes. For example, one or more additional operations can be performed before, after, simultaneously, or between any of the described operations. Further, the operations may be rearranged or reordered in other implementations. Those skilled in the art will appreciate that in some examples, the actual steps taken in the processes illustrated and/or disclosed may differ from those shown in the figures. Depending on the example, certain of the steps described above may be removed, others may be added. Furthermore, the features and attributes of the specific examples disclosed above may be combined in different ways to form additional examples, all of which fall within the scope of the present disclosure. Also, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described components and systems can generally be integrated together in a single product or packaged into multiple products.

For purposes of this disclosure, certain aspects, advantages, and novel features are described herein. Not necessarily all such advantages may be achieved in accordance with any particular example. Thus, for example, those skilled in the art will recognize that the disclosure may be embodied or carried out in a manner that achieves one advantage or a group of advantages as taught herein without necessarily achieving other advantages as may be taught or suggested herein.

The scope of the present disclosure is not intended to be limited by the specific disclosures of examples in this section or elsewhere in this specification, and may be defined by claims as presented in this section or elsewhere in this specification or as presented in the future. The language of the claims is to be interpreted broadly based on the language employed in the claims and not limited to the examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive.

Various examples of the present disclosure will now be explained with reference to the following clauses.

Clause 1. An actuator assembly comprising: an actuation module; and a plurality of coupling elements coupled to the actuation module, wherein the actuation module comprises at least three layers of smart material actuator (SMA) arrangements and stimulation elements arranged one over the other, wherein the stimulation elements are configured to provide a stimulus to the SMA arrangements to cause a geometrical change resulting in generation of a force.

Clause 2. The actuator assembly according to clause 1, wherein the SMA arrangements and the stimulation elements of the at least three layers are arranged alternately.

Clause 3. The actuator assembly according to clause 1 or 2, wherein each of the SMA arrangements is configured to mechanically contract in response to receiving the stimulus.

Clause 4. The actuator assembly according to clause 1 or 2, wherein each of the SMA arrangements is configured to mechanically expand in response to receiving the stimulus.

Clause 5. The actuator assembly according to any one of clauses 1 to 4, wherein each of the SMA arrangements is configured to change geometrically along one axis in response to receiving the stimulus.

Clause 6. The actuator assembly according to any one of clauses 1 to 5, wherein each of the SMA arrangements is configured to change geometrically along a plurality of axes in response to receiving the stimulus.

Clause 7. The actuator assembly according to any one of clauses 1 to 6, wherein the at least three layers are configured as a thin film array.

Clause 8. The actuator assembly according to any one of clauses 1 to 7, wherein, for each of the SMA arrangements, the SMA arrangement comprises a phase change material configured to, in response to receiving the stimulus, change from a first phase to a second phase for the SMA arrangements to change geometrically.

Clause 9. The actuator assembly according to any one of clauses 1 to 8, wherein, for each of the SMA arrangements, the SMA arrangement comprises a plurality of SMA units arranged in series with one another.

Clause 10. The actuator assembly according to clause 9, wherein the plurality of SMA units are directly connected to one another.

Clause 11. The actuator assembly according to clause 9, wherein the plurality of SMA units are spaced apart from each other, wherein the SMA arrangement further comprises a plurality of linkages, and wherein a respective linkage of the plurality of linkages is arranged between respective adjacent SMA units of the plurality of SMA units to connect the respective adjacent SMA units to each other.

Clause 12. The actuator assembly according to any one of clauses 1 to 11, wherein each of the stimulation elements is flexible.

Clause 13. The actuator assembly according to any one of clauses 1 to 12, wherein, for each of the stimulation elements, the stimulation element is stretchable and configured to change geometrically with the SMA arrangements in response to the SMA arrangements receiving the stimulus.

Clause 14. The actuator assembly according to any one of clauses 1 to 12, wherein each of the stimulation elements is non-stretchable.

Clause 15. The actuator assembly according to any one of clauses 1 to 14, further comprising at least one termination element configured to terminate at least one end of each of the SMA arrangements.

Clause 16. The actuator assembly according to clause 15, wherein the least one termination element is configured to terminate at least one end of the actuation module.

Clause 17. The actuator assembly according to clause 16, wherein the at least one termination element is configured to seal the at least one end of the actuation module.

Clause 18. The actuator assembly according to any one of clauses 1 to 17, further comprising a force translation component coupled to one end of each of the SMA arrangements. Clause 19. The actuator assembly according to any one of clauses 1 to 18, further comprising a shell configured to house the SMA arrangements and the stimulation elements.

Clause 20. The actuator assembly according to clause 19, wherein the shell comprises: a first shell segment of a first cross-sectional dimension; and a second shell segment of a second cross-sectional dimension, the second cross-sectional dimension being smaller than the first cross-sectional dimension, wherein the second shell segment is slidably movable relative to the first shell segment and is receivable by the first shell segment.

Clause 21. The actuator assembly according to clause 20, wherein the shell further comprises a third shell segment of a third cross-sectional dimension, the third cross-sectional dimension being smaller than the first cross-sectional dimension, and wherein the third shell segment is slidably movable relative to the first shell segment and is receivable by the first shell segment.

Clause 22. The actuator assembly according to any one of clauses 19 to 21, wherein the shell is flexible.

Clause 23. The actuator assembly according to any one of clauses 19 to 22, wherein the shell is stretchable.

Clause 24. The actuator assembly according to any one of clauses 19 to 22, wherein the shell is non-stretchable.

Clause 25. The actuator assembly according to any one of clauses 1 to 23, wherein the plurality of coupling elements are configured to couple to one another to form the actuation module into a loop.

Clause 26. The actuator assembly according to any one of clauses 25, wherein the actuation module is configured as a strap or a sleeve.

Clause 27. The actuator assembly according to any one of clauses 1 to 26, wherein the plurality of coupling elements are configured to couple the actuation module to at least one external object.

Clause 28. The actuator assembly according to any one of clauses 1 to 27, wherein the actuation module further comprises at least one heat dissipation component.

Clause 29. The actuator assembly according to any one of clauses 1 to 28, wherein the actuation module further comprises at least one sensing element. Clause 30. The actuator assembly according to any one of clauses 1 to 29, wherein the actuation module further comprises an anti-frictional agent.

Clause 31. The actuator assembly according to clause 30, wherein the anti- frictional agent comprises at least one of a lubrication agent or a non-stick material.

Clause 32. The actuator assembly according to any one of clauses 1 to 31, wherein the at least three layers comprise planar layers.

Clause 33. The actuator assembly according to any one of clauses 1 to 32, wherein the actuation module further comprises at least one pulley, and wherein the SMA arrangements are wound around the at least one pulley.

Clause 34. The actuator assembly according to any one of clauses 1 to 31, wherein the at least three layers comprise concentric layers.

Clause 35. The actuator assembly according to clause 34, wherein the actuation module further comprises an elastic inner tube surrounded by the at least three layers, and wherein, in response to receiving the stimulus, each of the SMA arrangements is configured to generate the force to act on the elastic inner tube.

Clause 36. The actuator assembly according to any one of clauses 1 to 35, further comprising at least one interconnection element configured to couple at least one of the plurality of coupling elements to the actuation module.

Clause 37. The actuator assembly according to any one of clauses 1 to 36, further comprising at least one connection element coupled to at least one of the plurality of coupling elements, the at least one connection element being configured to couple to an external object.

Clause 38. The actuator assembly according to any one of clauses 1 to 37, wherein each of the SMA arrangements comprises a photo-responsive actuator arrangement, a magneto-responsive actuator arrangement, a thermos-responsive actuator arrangement, a dielectric actuator arrangement, a conductive polymer actuator arrangement, or an electroactive hydrogel actuator arrangement.

Clause 39. The actuator assembly according to clause 38, wherein each of the SMA arrangements comprises the photo-responsive actuator arrangement configured to receive light as the stimulus.

Clause 40. The actuator assembly according to clause 39, wherein each of the SMA arrangements comprises at least one fibre, and wherein each of the stimulation elements comprises at least one fibre optic. Clause 41. The actuator assembly according to clause 40, further comprising a laser source or LED optically coupled to the at least one fibre optic.

Clause 42. The actuator assembly according to clause 39, wherein each of the stimulation elements comprises a light guide configured to transmit the light to the SMA arrangements.

Clause 43. The actuator assembly according to clause 42, further comprising a light source configured to generate the light.

Clause 44. The actuator assembly according to clause 39, wherein each of the stimulation elements comprises a plurality of LEDs configured to generate the light.

Clause 45. The actuator assembly according to clause 44, wherein the plurality of LEDs are mounted on a printed circuit board.

Clause 46. The actuator assembly according to clause 45, wherein the printed circuit board is flexible or stretchable.

Clause 47. The actuator assembly according to any one of clauses 39 to 46, wherein the actuator assembly further comprises an optoelectronics module.

Clause 48. The actuator assembly according to any one of clauses 1 to 47, further comprising a controller configured to control an operation of the actuation module.

Clause 49. The actuator assembly according to any one of clauses 1 to 48, further comprising a power source.

Clause 50. The actuator assembly according to any one of clauses 1 to 49, wherein each of the stimulation elements comprises one or more thermal conductors.

Clause 51. The actuator assembly according to any one of clauses 1 to 50, wherein each of the stimulation components comprises at least one of an electroluminescence material, a chemiluminescence material, or a bioluminescence material.

Clause 52. The actuator assembly according to any one of clauses 1 to 51, wherein the plurality of coupling elements comprise straps.

Clause 53. The actuator assembly according to any one of clauses 1 to 52, comprising a plurality of actuation modules.

Clause 54. The actuator assembly according to clause 53, wherein the plurality of actuation modules are arranged in series.

Clause 55. The actuator assembly according to clause 53 or 54, wherein the plurality of actuation modules are arranged at least substantially parallel to each other. Clause 56. The actuator assembly according to clause 53 or 54, wherein the plurality of actuation modules are arranged along different axes.

Clause 57. An actuator arrangement comprising: an object; and an actuator assembly according to any one of clauses 1 to 56, wherein an actuation module of the actuator assembly is configured to generate a force to act on the object.

Clause 58. The actuator arrangement according to clause 57, further comprising a flexible guide element, wherein the actuation module is arranged within the flexible guide element.

Clause 59. The actuator arrangement according to clause 57 or 58, wherein the actuation module is coupled to the object.

Clause 60. The actuator arrangement according to any one of clauses 57 to 59, wherein the actuation module is arranged surrounding a part of the object.

Clause 61. The actuator arrangement according to clause 60, wherein the actuation module is configured as a strap or a sleeve.

Clause 62. The actuator arrangement according to any one of clauses 57 to 61 , wherein the actuation module is wound around the object in a helical configuration.

Clause 63. The actuator arrangement according to any one of clauses 57 to 62, wherein at least one of the plurality of coupling elements of the actuator assembly is configured as a strap or a band.

Clause 64. The actuator arrangement according to any one of clauses 57 to 63, wherein the object is flexible.

Clause 65. The actuator arrangement according to any one of clauses 57 to 64, wherein the object comprises a wearable item.

Clause 66. The actuator arrangement according to clause 65, wherein the wearable item comprises at least one of a garment, a fabric, a glove, or a sleeve.

Clause 67. The actuator arrangement according to clause 66, wherein the wearable item comprises the glove, and wherein the actuation module is configured to generate the force to act on finger portions of the glove.

Clause 68. The actuator arrangement according to clause 66, wherein the wearable item comprises the glove, wherein the actuator assembly comprises a plurality of actuation modules configured to generate the force to act on finger portions of the glove, and wherein, for a respective actuation module of the plurality of actuation modules, the respective actuation module is configured to generate the force to act on a respective finger portion of the finger portions.

Clause 69. The actuator arrangement according to clause 66, wherein the wearable item comprises the glove, and wherein the actuation module is configured to generate the force to act on a palm portion of the glove.

Clause 70. The actuator arrangement according to any one of clauses 57 to 63, wherein the object is rigid.

Clause 71. The actuator arrangement according to clause 70, wherein the object comprises a lever, a rotatable component, pivotable components, or a pair of gripping components.

Clause 72. The actuator arrangement according to any one of clauses 57 to 71, wherein the actuator assembly comprises a plurality of actuation modules configured to generate the force to act on the object.

Clause 73. The actuator arrangement according to clause 72, wherein the plurality of actuation modules comprise a pair of agonist-antagonist actuation modules arranged on opposite sides of the object.

Clause XL An actuator assembly comprising: at least one smart material actuator (SMA) arrangement comprising a smart material; at least one stimulation element, wherein the at least one stimulation element is arranged to provide a non-mechanical stimulus to the at least one SMA arrangement to cause a geometrical change to the SMA arrangement resulting in generation of a force.

Clause X2. The actuator assembly of clause XI, further comprising a coupling element directly or indirectly attached to the at least one SMA arrangement, wherein the coupling element is arranged to be directly or indirectly attachable to an object to translate the generated force to the object when attached. Clause X3. The actuator assembly of Clause XI or X2, comprising at least one actuation module including at least one of the SMA arrangement(s) and at least one of the stimulation element(s).

Clause X4. An actuator module comprising: at least one smart material actuator (SMA) arrangement comprising a smart material; at least one stimulation element, wherein the at least one stimulation element is arranged to provide a non-mechanical stimulus to the at least one SMA arrangement to cause a geometrical change to the SMA arrangement resulting in generation of a force; wherein the actuation module is arranged to be directly or indirectly attached to a coupling element directly or indirectly attachable to an object to translate the generated force to the object when attached.

Clause X5. The actuator assembly of any one of Clause XI to X3 or actuation module of Clause X4, wherein the non-mechanical stimulus relates to an energy-based external stimuli.

Clause X6. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein at least one of the SMA arrangement(s) is arranged in a first layer and at least one of the stimulation element(s) is arranged in a second layer, wherein the second layer at least partly overlaps the first layer.

Clause X7. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, comprising at least a first SMA arrangement of the at least one SMA arrangement arranged in a first layer; at least a second SMA arrangement of the at least one SMA arrangement arranged in a second layer; and at least a first stimulation element of the at least one stimulation element arranged in a third layer, wherein the third layer is provided between the first layer and second layer.

Clause X8. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, comprising: at least a first stimulation element of the at least one stimulation element arrangement arranged in a first layer; at least a first SMA arrangement of the at least one SMA arrangement arranged in a second layer; and at least a second SMA arrangement of the at least one SMA arrangement arranged in a third layer, wherein the third layer is provided between the first layer and second layer.

Clause X9,. The actuator assembly or actuation module of Clause X7 or X8, wherein the at least three layers are arranged alternately.

Clause XI 0. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein each of the SMA arrangements is configured to mechanically contract in response to receiving the stimulus.

Clause XI 1. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein each of the SMA arrangements is configured to mechanically expand in response to receiving the stimulus.

Clause X12. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein each of the SMA arrangements is configured to change geometrically along one axis in response to receiving the stimulus.

Clause XI 3. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein each of the SMA arrangements is configured to change geometrically along a plurality of axes in response to receiving the stimulus.

Clause X14. The actuator assembly or actuation module of Clause X7 or X8„ wherein the at least three layers are configured as a thin film array.

Clause XI 5. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein, for each of the SMA arrangements, the SMA arrangement comprises a phase change material configured to, in response to receiving the stimulus, change from a first phase to a second phase for the SMA arrangements to change geometrically.

Clause XI 6. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein, for each of the SMA arrangements, the SMA arrangement comprises a plurality of SMA units arranged in series with one another.

Clause X 17. The actuator assembly or actuation module of Clause X 16, wherein the plurality of SMA units are directly connected to one another.

Clause X18. The actuator assembly or actuation module of Clause X16, wherein the plurality of SMA units are spaced apart from each other, wherein the SMA arrangement further comprises one or more linkages, and wherein a respective linkage of the one or more linkages is arranged between respective adjacent SMA units of the SMA units to connect the respective adjacent SMA units to each other.

Clause XI 9. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein each of the stimulation elements is flexible.

Clause X20. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein, for each of the stimulation elements, the stimulation element is stretchable and configured to change geometrically with the SMA arrangement(s) in response to the SMA arrangement(s) receiving the non-mechanical stimulus.

Clause X21. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein at least one of the stimulation elements is non-stretchable.

Clause X22. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, further comprising at least one termination element configured to terminate at least one end of each of the SMA arrangements.

Clause X23. The actuator assembly or actuation module of Clause X22, wherein the least one termination element is configured to terminate at least one end of the actuation module.

Clause X24. The actuator assembly or actuation module of Clause X23 , wherein the at least one termination element is configured to seal the at least one end of the actuation module.

Clause X25. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, further comprising a force translation component coupled to one end of each of the SMA arrangements.

Clause X26. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, , further comprising a housing configured to house the SMA arrangements and the stimulation elements.

Clause X27. The actuator assembly or actuation module of Clause X26, wherein the housing comprises: a first housing segment of a first cross-sectional dimension; and a second housing segment of a second cross-sectional dimension, the second cross-sectional dimension being smaller than the first cross-sectional dimension, wherein the second housing segment is slidably movable relative to the first housing segment and is receivable by the first housing segment.

Clause X28. The actuator assembly or actuation module of Clause X27, wherein the housing further comprises a third housing segment of a third cross- sectional dimension, the third cross-sectional dimension being smaller than the first cross- sectional dimension, and wherein the third housing segment is slidably movable relative to the first housing segment and is receivable by the first housing segment.

Clause X29. The actuator assembly or actuation module of any one of Clauses X26 to X28, wherein the housing is flexible.

Clause X30. The actuator assembly or actuation module of any one of Clauses X26 to X29, wherein the housing is stretchable.

Clause X31. The actuator assembly or actuation module of any one of Clauses X26 to X29, wherein the housing is non-stretchable.

Clause X32. The actuator assembly of Clause X2 or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein two or more coupling elements are configured to couple to one another to form the actuation module into a loop.

Clause X33. The actuator assembly or actuation module of Clause X32 to X29, wherein the actuation module is configured as a strap or a sleeve.

Clause X34. The actuator assembly of Clause X2 or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein a plurality of coupling elements are configured to couple the actuation module to at least one external object.

Clause X35. The actuator assembly of Clause X3 or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein the actuation module further comprises at least one heat dissipation component.

Clause X36. The actuator assembly of Clause X3 or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein the actuation module further comprises at least one sensing element.

Clause X37. The actuator assembly of Clause X3 or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein the actuation module further comprises an anti-frictional agent.

Clause X38. The actuator assembly or actuation module of Clause X37, wherein the anti-frictional agent comprises at least one of a lubrication agent or a non-stick material.

Clause X39. The actuator assembly or actuation module of Clause X7 or X8 or any Clause dependent thereon,, wherein the at least three layers comprise planar layers.

Clause X40. The actuator assembly of Clause X3 or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein the actuation module further comprises at least one pulley, and wherein the SMA arrangement(s) is/are wound around the at least one pulley.

Clause X41. The actuator assembly or actuation module of Clause X7 or X8 or any Clause dependent thereon, wherein the at least three layers comprise concentric layers.

Clause X42. The actuator assembly of Clause X3 in combination with Clause X7 or X8 or any Clause dependent thereon, or actuation module of Clause X4 in combination with Clause X7 or X8 or any Clause dependent thereon, wherein the actuation module further comprises an elastic inner tube surrounded by the at least three layers, and wherein, in response to receiving the stimulus, each of the SMA arrangements is configured to generate the force to act on the elastic inner tube.

Clause X43. The actuator assembly of Clause X3 or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, further comprising at least one interconnection element configured to couple at least one of the plurality of coupling elements to the actuation module.

Clause X44. The actuator assembly of Clause X3 or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, further comprising at least one connection element coupled to at least one of the plurality of coupling elements, the at least one connection element being configured to couple to an external object.

Clause X45. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein at least one or each of the SMA arrangements comprises a photo-responsive actuator arrangement, a magneto-responsive actuator arrangement, a thermos-responsive actuator arrangement, a dielectric actuator arrangement, a conductive polymer actuator arrangement, or an electroactive hydrogel actuator arrangement.

Clause X46. The actuator assembly or actuation module of Clause X47, wherein at least one or each of the SMA arrangements comprises the photo-responsive actuator arrangement configured to receive light as the stimulus.

Clause X47. The actuator assembly or actuation module of Clause X46, wherein each of the SMA arrangements comprises at least one fibre, and wherein each of the stimulation elements comprises at least one fibre optic.

Clause X48. The actuator assembly or actuation module of Clause X48, further comprising a laser source or LED optically coupled to the at least one fibre optic.

Clause X49. The actuator assembly or actuation module of Clause X46, wherein at least one or each of the stimulation elements comprises a light guide configured to transmit the light to the SMA arrangements.

Clause X50. The actuator assembly or actuation module of Clause X49, further comprising a light source configured to generate the light.

Clause X51. The actuator assembly or actuation module of Clause X46, wherein at least one or each of the stimulation elements comprises a plurality of LEDs configured to generate the light.

Clause X52. The actuator assembly or actuation module of Clause X51, wherein the plurality of LEDs are mounted on a printed circuit board.

Clause X53. The actuator assembly or actuation module of Clause, wherein the printed circuit board is flexible or stretchable. Clause X54. The actuator assembly or actuation module of any one of Clause X46 to X53, further comprising an optoelectronics module.

Clause X55. The actuator assembly of Clause X3 or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, further comprising a controller configured to control an operation of the actuation module.

Clause X56. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, further comprising a power source.

Clause X57. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein at least one or each of the stimulation elements comprises one or more thermal conductors.

Clause X58. The actuator assembly of Clause XI or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein at least one or each of the stimulation components comprises at least one of an electroluminescence material, a chemiluminescence material, or a bioluminescence material.

Clause X59. The actuator assembly of Clause X2 or any Clause dependent thereon, or actuation module of Clause X4 or any Clause dependent thereon, wherein at least one of the coupling elements comprise a strap.

Clause X60. The actuator assembly of Clause X3 or any Clause dependent thereon,, comprising a plurality of actuation modules.

Clause X61. The actuator assembly of Clause X60, wherein the plurality of actuation modules are arranged in series.

Clause X62. The actuator assembly Clause X60 or X61, wherein the plurality of actuation modules are arranged at least substantially parallel to each other.

Clause X63. The actuator assembly of Clause X60 or X61, wherein the plurality of actuation modules are arranged along different axes.

Clause X64. An actuator arrangement comprising: an non-living object; and an actuator assembly according to any one of clauses X3 or any clause dependent thereon, wherein an actuation module of the actuator assembly is configured to generate a force to act on the object. Clause X65. The actuator arrangement according to clause X64, further comprising a flexible guide element, wherein the actuation module is arranged within the flexible guide element.

Clause X66. The actuator arrangement according to clause X64 or X65 , wherein the actuation module is coupled to the object.

Clause X67. The actuator arrangement according to any one of clauses X64 to X66, wherein the actuation module is arranged surrounding a part of the object.

Clause X68. The actuator arrangement according to clause X67, wherein the actuation module is configured as a strap or a sleeve.

Clause X69. The actuator arrangement according to any one of clauses X64 to X68, wherein the actuation module is wound around the object in a helical configuration.

Clause X70. The actuator arrangement according to any one of clauses X64 to X69, wherein at least one of the plurality of coupling elements of the actuator assembly is configured as a strap or a band.

Clause X71. The actuator arrangement according to any one of clauses X64 to X70, wherein the object is flexible.

Clause X72. The actuator arrangement according to any one of clauses X64 to X71, wherein the object comprises a wearable item.

Clause X73. The actuator arrangement according to clause X72, wherein the wearable item comprises at least one of a garment, a fabric, a glove, or a sleeve.

Clause X74. The actuator arrangement according to clause X73, wherein the wearable item comprises the glove, and wherein the actuation module is configured to generate the force to act on finger portions of the glove.

Clause X75. The actuator arrangement according to clause X73, wherein the wearable item comprises the glove, wherein the actuator assembly comprises a plurality of actuation modules configured to generate the force to act on finger portions of the glove, and wherein, for a respective actuation module of the plurality of actuation modules, the respective actuation module is configured to generate the force to act on a respective finger portion of the finger portions.

Clause X76. The actuator arrangement according to clause X73, wherein the wearable item comprises the glove, and wherein the actuation module is configured to generate the force to act on a palm portion of the glove.

Clause X77. The actuator arrangement according to any one of clauses X64 to X, wherein the object is rigid.

Clause X78. The actuator arrangement according to clause X77, wherein the object comprises a lever, a rotatable component, pivotable components, or a pair of gripping components.

Clause X79. The actuator arrangement according to any one of clauses X64 to X78, wherein the actuator assembly comprises a plurality of actuation modules configured to generate the force to act on the object when the actuator assembly or actuation module is connected to object.

Clause X80. The actuator arrangement according to clause X79, wherein the plurality of actuation modules comprise a pair of agonist-antagonist actuation modules arranged on opposite sides of the object.

Clause X81. A smart material actuator (SMA) arrangement, comprising a smart material, wherein the SMA arrangement is arranged to undergo a geometrical change subject to receiving a non-mechanical stimulus, wherein the geometrical change results in the generation of a force.

Clause X82. The smart material actuator (SMA) arrangement of clause X81, further arranged to be directly or indirectly attached to a coupling element, wherein the coupling element is arranged to be directly or indirectly attachable to an object to translate the generated force to the object when attached.

Clause X83. The SMA arrangement of Clause X81 or X82, wherein the SMA arrangement is a thermal-responsive SMA arrangement or photo-thermal responsive SMA arrangement.

Clause X84. The SMA arrangement of any one of the Clauses X81 to X83, wherein the SMA arrangement is a photo-responsive SMA arrangement.

Clause X85. The SMA arrangement of any one of the Clauses X81 to X84, wherein the smart material comprises or is at least partially made of a photo -responsive shape memory polymer.

Clause X86. The SMA arrangement of Cluse X85, wherein the photo-responsive shape memory polymer comprises or is at least partially made of any one of: spiropyran-based polymers; diarylethene -containing polymers; azobenzene -containing polymers; liquid crystal elastomers; and polydopamine-modified polymers.

Claims

1. An actuator assembly comprising: at least one smart material actuator (SMA) arrangement comprising a smart material; at least one stimulation element, wherein the at least one stimulation element is arranged to provide a non-mechanical stimulus to the at least one SMA arrangement to cause a geometrical change to the at least one SMA arrangement resulting in generation of a force; and at least one coupling element directly or indirectly attached to the at least one SMA arrangement, wherein the at least one coupling element is arranged to be directly or indirectly attachable to an object to translate the generated force to the object when attached.

2. The actuator assembly of claim 1, wherein the non-mechanical stimulus is limited to any one or more of the following: optical energy (such as light) and thermal energy (heat).

3. The actuator assembly of any one of the preceding claims, wherein at least one the SMA arrangement(s) is thermal-responsive or photo-thermal responsive.

4. The actuator assembly of any one of the preceding claims, wherein at least one of the SMA arrangement(s) is photo-responsive.

5. The actuator assembly of any one of the preceding claims, wherein the smart material comprises or is at least partially made of a photo-responsive shape memory polymer.

6. The actuator assembly of claim 5, wherein the photo-responsive shape memory polymer comprises or is at least partially made of any one of: spiropyran-based polymers; diarylethene -containing polymers; azobenzene -containing polymers; liquid crystal elastomers; and polydopamine-modified polymers.

7. The actuator assembly of any one of the preceding claims, wherein at least one of the SMA arrangement(s) is arranged in a first layer and at least one of the stimulation element(s) is arranged in a second layer, wherein the second layer at least partly overlaps the first layer.

8. The actuator assembly of any one of the preceding claims, comprising at least a first SMA arrangement of the at least one SMA arrangement arranged in a first layer; at least a second SMA arrangement of the at least one SMA arrangement arranged in a second layer; and at least a first stimulation element of the at least one stimulation element arranged in a third layer, wherein the third layer is provided between the first layer and second layer.

9. The actuator assembly of any one of claims 1 to 7, comprising: at least a first stimulation element of the at least one stimulation element arrangement arranged in a first layer; at least a first SMA arrangement of the at least one SMA arrangement arranged in a second layer; and at least a second SMA arrangement of the at least one SMA arrangement arranged in a third layer, wherein the third layer is provided between the first layer and second layer.

10. The actuator assembly of any one of the preceding claims, comprising a at least one actuation module including at least one of the SMA arrangement(s) and at least one of the stimulation element(s).

11. The actuator assembly of claim 10 when dependent on claim 2, wherein the coupling element is indirectly or directly attached to the at least one actuation module.

12. The actuator assembly of claim 10, wherein at least one of the actuation module(s) comprises a stretchable housing.

13. The actuator assembly of any one of the preceding claims, wherein the at least one stimulation element is stretchable.