Robots, driven by soft actuators, aim at ensuring human safety. Owing to their relatively higher output force than other soft actuators, rubber pneumatic artificial muscles (PAM) are actively researched. In particular, straight-fiber pneumatic artificial muscle (SFPAM) has high output and contraction abilities. However, significant deformation places substantial strain on rubber, shortening the lifespan of artificial muscle. Therefore, improving the lifespan of artificial muscle is important for practical applications. To achieve this, this study proposes the use of a repairable elastomer with artificial muscle. We suggest that the lifespan of artificial muscle can be improved using a maintenance process. Herein, styrene-ethylene-propylene-styrene (SEPS), a type of thermoplastic elastomer, was selected and a heat-based maintenance method proposed. Fatigue test results using the SEPS sample showed an increase in fatigue lifespan using the proposed heat treatment. However, we also have to address undesired deformation of SEPS exhibiting plastic property by heating. To avoid contact with SEPS during heating, we proposed contactless heating method with microwave. To make SEPS catch microwave, we created carbon black-blended SEPS samples. Fatigue tests indicated that the heat treatment method with microwave also increased the lifespan of carbon black-blended SEPS samples. GRAPHICAL ABSTRACT

中文翻译：

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使用热塑性弹性体从气动人工肌肉的疲劳中恢复

由软执行器驱动的机器人旨在确保人类安全。由于其输出力比其他软致动器相对较高，因此正在积极研究橡胶气动人工肌肉（PAM）。特别是直纤维气动人工肌肉（SFPAM）具有高输出和收缩能力。然而，显着的变形会给橡胶带来巨大的压力，从而缩短人造肌肉的寿命。因此，提高人造肌肉的寿命对于实际应用具有重要意义。为实现这一目标，本研究建议使用具有人造肌肉的可修复弹性体。我们建议可以通过维护过程来提高人造肌肉的寿命。在此，选择了一种热塑性弹性体苯乙烯-乙烯-丙烯-苯乙烯 (SEPS)，并提出了一种基于热的维护方法。使用 SEPS 样品的疲劳测试结果表明，使用建议的热处理可延长疲劳寿命。然而，我们还必须解决通过加热表现出塑性性能的 SEPS 的不希望的变形。为了避免在加热过程中与 SEPS 接触，我们提出了微波非接触式加热方法。为了使 SEPS 捕捉微波，我们创建了炭黑混合 SEPS 样品。疲劳测试表明，微波热处理方法也增加了炭黑混合 SEPS 样品的寿命。图形概要 我们提出了微波非接触式加热方法。为了使 SEPS 捕捉微波，我们创建了炭黑混合 SEPS 样品。疲劳测试表明，微波热处理方法也增加了炭黑混合 SEPS 样品的寿命。图形概要 我们提出了微波非接触式加热方法。为了使 SEPS 捕捉微波，我们创建了炭黑混合 SEPS 样品。疲劳测试表明，微波热处理方法也增加了炭黑混合 SEPS 样品的寿命。图形概要