Abstract: A robotic system includes a robot for moving a payload in response to a calculated input force. Sensors in respective sensor housings are connected to a handle, each sensor including a light emitter and receiver. The sensors measure a light beam received by a respective receiver. A controller calculates the calculated input force using received light. Each sensor housing modifies an interruption of the light beam in a sensor when the actual input force is applied, and the controller controls the robot using the calculated input force. A method of controlling the robot includes emitting the light beam, flexing a portion of the sensor housing(s) using the actual input force to interrupt the light beam, and using a host machine to calculate the calculated input force as a function of the portion of the light beam received by the light receiver. The robot is controlled using the calculated input force.

Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

Abstract: In a robot, a first determining unit determines whether there is an interference region in which a first occupation region and a second occupation region are at least partially overlapped with each other. A second determining determines whether a second movable part of another robot is at least partially located in the interference region based on an actual position of the second movable part. A stopping unit begins stopping, at a predetermined timing, movement of the first movable part if it is determined that there is the interference region, and that the second movable part is at least partially located in the interference region. The predetermined timing is determined based on a positional relationship between an actual position of the first movable part and the interference region.

Abstract: Methods, systems, and computer program products for transmitting first-priority data and second-priority data. The first-priority data and second-priority data are stored in separate data buffers, and the first-priority data is transmitted preferentially over the second-priority data.

Abstract: A manipulator system having a slave tong with an input, a master handle having two outputs, and a planetary gear assembly having a sun gear, a planet gear, and a ring gear and is configured to receive the two outputs of the master handle and provide a single input to the slave tong.

Abstract: There is provided a library device which can be restored to working order quickly and reliably even when a control board containing information necessary for the operation of the library device is replaced. The library device includes a cell array which consists of an array of multiple cells each of which contains one cartridge containing a magnetic tape, magnetic tape drives in which the cartridges are removably mounted and which access the storage medium contained in the cartridges, a robot which transfers the cartridges between the cell array and the magnetic tape drives, a main control board which controls the operation of the entire library device, a barcode label which represents ID information for identification of the library device, and cell flags which are marks used to recognize the locations of the cells composing the cell array.

Abstract: Each of guided vehicles has an operating condition memory unit for storing the total travel distance, the travel time, the number of travels, the number of errors at a stop position, and the number of article transfers. These values are evaluated by an evaluation unit 53, and the machine difference is measured again for each of the guided vehicles.

Abstract: In a robot arm controlling device, a mechanical impedance set value of the arm is set by an object property-concordant impedance setting device based on information of an object property database in which information associated with properties of an object being gripped by the arm is recorded, and a mechanical impedance value of the arm is controlled to the set mechanical impedance set value by an impedance controlling device.

Abstract: A robot according to an embodiment of the present invention includes: a robot body; a first shoulder joint attached to the robot body, and rotatable with respect to the robot body; a support unit whose proximal end is attached to the first shoulder joint, and which is rotatable with respect to the robot body together with the first shoulder joint; a second shoulder joint attached to a distal end of the support unit, and rotatable with respect to the support unit; and an arm unit whose proximal end is attached to the second shoulder joint, and which is rotatable with respect to the support unit together with the second shoulder joint.

Abstract: A remotely operable machine (1) comprises a manipulator arm (17), a machine body (3), and a support (5). The support is disposed between the machine body and the manipulator arm for coupling the arm to the body. The support is movable from one position (D) to another (E) relative to said body so as to provide for variation or extension of the reach of the manipulator arm. The support may be provided by a linkage having an attachment (15) for pivotally supporting the arm, the attachment being pivotally coupled to an extension arm (19) at one end thereof, the extension arm being pivotally coupled to the machine body at its other end. Alternatively, a track assembly for facilitating movement of the support on the machine body may be provided. The track assembly or linkage are configured to allow deployment of the support on the ground adjacent to said body.

Abstract: The present invention discloses apparatuses and method for configuring a compartmentable equipment to accommodate emergency responses. An exemplary equipment comprises a plurality of removable compartments for storing workpieces so that in emergency events, such as power failure or equipment failure, the workpieces can be removed from the equipment for continuing processing without disrupting the flow of the fabrication facility. The compartmentable equipment can comprise emergency access ports, including mating interface to a portable workpiece removal equipment to allow accessing the individual compartments without compromising the quality, defects and yield of the workpieces stored in the stocker.

Abstract: Provided is a vial conveyance device which includes, in order to hold and release a vial (2), at least two arms (26) that can be opened and closed, an urging member (31) that urges the arms (26) in an opening direction, a frame body (27) for opening and closing the arms (26), and a frame body stopper (26a) that stops the frame body (27) in a state in which the arms (26) are closed.

Abstract: A robot hand apparatus (1) includes a base (2); a motor (M); a first-link (10) supported by the base (2) while allowing the rotation around a first axis (S1), which is in parallel to an actuation axis (G) of the motor (M) and is positioned apart from the actuation axis (G), the first-link (10) has a first guide path (11b) movably supporting a control axis (42); a second link (20) which connects with the actuation axis (G) and supports the control axis (42), and moves the control axis (42) within the first guide path (11b) in accordance with the rotation of the actuation axis (G); and a finger link (F1) supported by the first link (10) while allowing the rotation around a second axis; and the finger link (F1) directly or indirectly links with the control axis (42) and is rotated by the actuation of the control axis (42).

Abstract: A wafer transfer robot, having a robot hand which transfers a wafer in an improved driving manner by changing a driving force transfer device of the robot hand, is disclosed. The wafer transfer robot having at least robot hand to transfer a wafer includes an arm frame supported on an elevating shaft to vertically move the robot hand, wherein the robot hand includes a first robot arm rotatably supported on the arm frame, a second robot arm rotatably supported at an end of the first robot arm, a first driving device which rotates the first robot arm to rotate the robot hand, a second driving device which rotates the second robot arm to extend and contract the robot hand in a radial direction with the first driving device, and a controller which operates the first driving device and stops the second driving device when the robot hand is rotated, and operates both the first driving device and the second driving device at the same time when the robot hand is extended and contracted in a radial direction.

Abstract: A coordinated joint control system for controlling a coordinated joint motion system, e.g an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modeling of the desired trajectory of the end effector in system space can be avoided. The invention includes image generation and matching systems.

Abstract: A fitting device for fitting a first fitting member held in a hand mounted at the forward end of a robot arm to a corresponding second fitting member, comprising a detection unit for detecting the force or moment generated when the first and second fitting members come into contact with each other, and a judging unit for judging, based on the force or moment detected by the detection unit, whether a one-point contact state prevails in which the first and second fitting members are in contact with each other at one point or a two-point contact state prevails in which the first and second fitting members are in contact with each other at least two points. In the one-point contact state, the first fitting member held in the hand is pressed against the second fitting member in the fitting direction thereby to proceed with the fitting operation while maintaining the holding posture of the robot arm.

Abstract: A robot or the like able to precisely grip an object by flexibly changing an operation in accordance with various environments. When it is judged that a robot is in a “first state”, the action of the robot is controlled in accordance with a “first action mode”. Thus, the robot does not move and moves an arm or the like on the spot so that a first object W1 can be gripped by a hand. On the other hand, when the judging result is denial, the robot acts in an action mode different from the first action mode so that a relative position or the like of the first object W1 with the robot as a reference is changed. As a result, the robot can be changed from a non-first state to the first state.

Abstract: A substrate processing apparatus is described. The apparatus includes a substrate load lock chamber. A plurality of storage bays may be used to store flat-panel display substrates. A first set of one or more multi-axis robot arms may transfer one or more flat-panel display substrates between the substrate load lock chamber and the plurality of storage bays. A substrate transfer chamber is vacuum coupled to the substrate load lock chamber. A plurality of process chamber modules are vacuum coupled to the substrate transfer chamber. A second set of one or more multi-axis robot arms may transfer flat-panel display substrates between the storage bays and the plurality of process chamber modules under sub-atmospheric conditions.

Abstract: In one embodiment of the present invention, a remote control device is disclosed which enables a user to intuitively operate a target to control such as a robot arm with a little burden, and command various motions to the target. The remote control device includes a master arm main body, joints, and a handgrip controller, and an elbow switch. The master arm main body conveys motions of the user's arm to the robot arm. The elbow switch is provided at a position of the master arm body, on which the user can place his elbow, and has a motion control with 2 degrees of freedom.

Abstract: Methods for operating robotic devices (i.e., “robots”) that employ adaptive behavior relative to neighboring robots and external (e.g., environmental) conditions. Each robot is capable of receiving, processing, and acting on one or more multi-device primitive commands that describe a task the robot will perform in response to other robots and the external conditions. The commands facilitate a distributed command and control structure, relieving a central apparatus or operator from the need to monitor the progress of each robot. This virtually eliminates the corresponding constraint on the maximum number of robots that can be deployed to perform a task (e.g., data collection, mapping, searching). By increasing the number of robots, the efficiency in completing the task is also increased.

Abstract: The present invention was developed by a neurosurgeon and seeks to mimic the results of primate neurological research which is indicative of a human's actual neurological control structures and logic. Specifically, the motor proprioceptive and tactile neurophysiology functioning of the surgeon's hands and internal hand control system from the muscular level through the intrafusal fiber system of the neural network is considered in creating the robot and method of operation of the present invention. Therefore, the surgery is not slowed down as in the art, because the surgeon is in conscious and subsconscious natural agreement and harmonization with the robotically actuated surgical instruments based on neurological mimicing of the surgeon's behavior with the functioning of the robot. Therefore, the robot can enhance the surgeon's humanly limited senses while not introducing disruptive variables to the surgeon's naturally occurring operation of his neurophysiology.

Abstract: A lifting support for a boiling water reactor nuclear fuel assembly comprising a grappling head configured to allow attachment to a lifting device, a body with an upper end and a lower end, the upper end connected to the grappling head, the body configured to be inserted into a water channel of a boiling water reactor nuclear fuel assembly, and an end connected to the lower end, the end configured to be accepted by the nuclear fuel assembly.

Abstract: A robotically controlled endoscopic medical instrument that includes an end effector coupled to a wrist. The wrist provides two separate degrees of freedom about the same pivot point. The end effector can be moved and actuated by pins. The pins allow for a compact minimally invasive medical instrument that has a wrist with two degrees of freedom.

Abstract: Methods for operating robotic devices (i.e., “robots”) that employ adaptive behavior relative to neighboring robots and external (e.g., environmental) conditions. Each robot is capable of receiving, processing, and acting on one or more multi-device primitive commands that describe a task the robot will perform in response to other robots and the external conditions. The commands facilitate a distributed command and control structure, relieving a central apparatus or operator from the need to monitor the progress of each robot. This virtually eliminates the corresponding constraint on the maximum number of robots that can be deployed to perform a task (e.g., data collection, mapping, searching). By increasing the number of robots, the efficiency in completing the task is also increased.

Abstract: A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon.

Abstract: Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.

Abstract: An apparatus for measuring the temperature of workpieces transported on a conveyor is disclosed. In one broad aspect of the invention, the apparatus includes a translatable assembly which has a pick-up tool for picking up workpieces and a temperature-sensing device which is in proximity to the pick-up tool for measuring the temperature of the workpiece. Other embodiments are disclosed, including eliminating the pick-up tool, provided the temperature sensing device travels with the workpiece. Scanners can be utilized to designate the largest of the workpieces to be measured or for detecting overlapping workpieces. Feedback temperature control is achieved by varying a parameter, such as conveyor speed or a heat engine temperature. Also, a modeling module can be incorporated to assist with temperature control of the workpieces.

Abstract: A medical master/slave manipulator is excellent in operability and capable of reducing burden on the operator. The medical master/slave manipulator includes a master unit provided with an operation control portion, a slave unit provided with a working device, an interlocking mechanism interlocking the slave unit with the master unit, an orientation difference measuring mechanism for measuring the orientation difference between the orientation of the master unit and that of the slave unit, and a control mechanism for controlling the slave unit to adjust the orientation of the slave unit to that of the master unit so that the orientation difference is reduced to zero in a transient master/slave operation mode in which an operation mode changes from an unrestricted operation mode to a master/slave operation mode.

Abstract: A robotically controlled endoscopic medical instrument that includes an end effector coupled to a wrist. The wrist provides two separate degrees of freedom about the same pivot point. The end effector can be moved and actuated by pins. The pins allow for a compact minimally invasive medical instrument that has a wrist with two degrees of freedom.

Abstract: The invention provides an input device for robotic surgical techniques and other applications. The input device has a handle supported by a linkage having joints with a redundant degree of freedom, with the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, or the like, and also to drive the linkage toward a freely articulatable configuration. In one embodiment, a robotic master controller includes an arm assembly supporting a gimbal having such a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle.

Abstract: An automatic tablet dispensing and packaging system comprises a tablet dropping unit and a tablet packaging unit. The tablet dropping unit has door cabinets serving as a front double door of the system and slider cabinets horizontally aligned in rear of the door cabinets. The slider cabinets are linearly slidable to move back and forth so that the forward sliding (toward the door cabinet) of the slider cabinets can be effected when the door cabinets are swung open. Tablet cassettes having tablets are detachably racked in each cabinet in columns and rows. Hoppers to guide down the tablets into the tablet packaging unit are provided such that angles formed by a vertical line and respective inner side surfaces of the hoppers are gradually decremented to efficiently decrease tablet impact on the inner side surfaces of the hoppers.

Abstract: In order cost effectively and in spite of the lowest possible expenditure on construction to permit the logical provision of printing plates of different types and sizes for an extremely wide range of printing plate exposers, in an apparatus for loading and/or unloading an exposer, in particular a drum exposer, with printing plates, having a suction means comprising at least one sucker plate and at least two suction heads connected to a vacuum system for picking up printing plates, in particular thermal printing plates, and a pivoting device for pivoting the suction means, it is proposed that the sucker plate be constructed in the form of a cylindrical segment and the suction means be pivotable about an axle which is arranged substantially parallel to the axis of the cylindrical segment.

Abstract: A delivery device (5) for cassettes and/or specimen slides for histological preparations in a printing system (11) is described. The cassettes and/or specimen slides are in each case arranged one above another in stack magazines (6), a control device (1) being provided for removal of a cassette and/or specimen slide from the stack magazines (6). The improvement comprises a drive shaft (12) having a motor (13) for at least two stack magazines (6), and the motor (13) is connected to the control device (1).

Abstract: A robot which incorporates a body, arms with a hand grip, legs, several sensors, light elements, an audio system, and a video system. The sensors allows the robot to interact with objects in the room, and prevents the robot from traveling off an edge or bumping into obstacles. The light elements allow the robot to express moods. The audio system allows the robot to detect and transmit sounds. The video system allows a user to remotely view the area in front of the robot. Additionally, the robot may operate in a plurality of modes, including modes that allow the robot to operate autonomously. The robot may operate autonomously in an automatic mode, a security mode, a greet mode, and a monitor mode. Further, the robot can be manipulated remotely.

Abstract: An intralumen medical device which incorporates electroactive polymer actuators into various sections of flexible medical probes results in a device capable of precisely navigating through tortuous passageways. Electroactive polymer actuators can be attached to or replace various sections of flexible medical probes and selectively activated via a controller to produce various coordinated movements or states of rigidity in the flexible medical probe.

Abstract: A method and apparatus that perfects media while maintaining a constant grip on the media during the perfection process. A media perfection device comprises a rotating arrangement that rotates a gripper bar. The gripper bar comprises a fixed part, and a rotatable part to hold media. The rotation of the rotating arrangement rotates the rotatable part of the gripper bar, thus perfecting the media.

Abstract: Remote control of a mechanical transmission, more particularly to the remote control of at least one gripping element by a monodirectional action, whereby the gripping element includes an articulation which can close by converging upon the object which is to be gripped and which can be locked in an active position upon contact with said object and the control device can be disengaged in the gripping position.

Abstract: A device for docking two means (100, 200), more particularly a probe (100) and a tester (200), including a first mounting board (110) arranged at the first means (100) and a second mounting board (210) arranged at the second means (200) which in the docked condition of the means (100, 200) are adjoined in a docking plane, the first mounting board (110) being provided with a recess (111) oriented inclined to the docking plane for engaging at least one peg (220) shiftingly mounted on the second mounting board (210), the second mounting board (210) comprising an actuator (300) by means of which the peg (220) guided in the recess (111) is shiftable between an open position and a docked position mutually clamping the first mounting board (110) and the second mounting board (210), wherein the actuator (300) has a slide (310, 311) mounting the peg (220) which is movable by means of a spindle (330, 331) between the open position and the docked position of the peg (220) in order to achieve a compact design and relativ

Abstract: In a system and a method for remotely controlling a slave manipulator easily and highly accurately, operations of three master manipulators are consolidated, and one slave manipulator is remotely controlled in accordance with the consolidation result, thereby ensuring that the slave manipulator is moved along a target path.

Abstract: The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) by fixable by means of passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon.

Abstract: A transfer robot includes a machine base, at least one hand for holding a workpiece, a hand moving mechanism for moving the hand horizontally reciprocally at least in an X direction, a first arm pivotally connected to the machine base for rotation about an axis extending in the X direction. The robot further includes an intermediate arm pivotally connected to the first arm for rotation about another axis extending in the X direction, a second arm pivotally connected to the intermediate arm for rotation about a further axis extending in the X direction. The second arm is also connected to the hand moving mechanism which is rotatable about a still another axis extending in the X direction. A driving mechanism is provided for rotating the first arm, the second arm, the intermediate arm and the hand moving mechanism about the respective axes.

Abstract: A method provides an exact measurement of the tool center point (TCP) being carried out, preferably in the whole working area of the robot. In this measurement, the robot moves very slowly so that little heat is generated by the driving assemblies and the temperature gradients are as low as possible. The measurement can be made, for example, using a high-precision laser distance and angle measurement system. The measurement is carried out such that a measuring point is moved to working area points and then the deviations of the positions and/or orientations of the measuring point are determined using the laser distance and angle measurement system, i.e. a nominal/actual comparison is made. The TCP can preferably serve as the measuring point. The point must always be selected so that the positioning and orientation deviations of the kinematic chain with respect to the PCT can be determined with sufficient accuracy.

Abstract: A six-degrees-of-freedom parallel mechanism for micro-positioning work is disclosed. This mechanism freely performs a desired motion of translation and rotation of a moving platform using internal and external links actuated by linear actuators capable of precisely controlling the link positions, thus being effectively used as a 6d of parallel mechanism required to carry out a variety of micro-positioning works within a limited workspace. In the mechanism of this invention, a moving platform 10 is placed at an upper position, with a multiaxial spherical joint 40 mounted to the central portion of the moving platform 10. A base platform 20 is placed at a lower position of the mechanism. Three external links 30 couple the moving platform 10 to the base platform 20, while three internal links 50 couple the multiaxial spherical joint 40 to the base platform 20. In this mechanism, the internal links 50 are commonly coupled to the multiaxial spherical joint 40 so as to form a tetrahedral structure.

Abstract: The present invention is a substrate processing method comprising the steps of successively extracting unprocessed wafers from a cassette, successively conveying the extracted wafers to a plurality of processing units, causing the processing units to process the wafers in parallel, and returning the processed wafers to a cassette. A process completion prediction time at which processes for one lot are completed is calculated and displayed corresponding to a process recipe that has been set to a plurality of wafers for at least one lot. Corresponding to the process completion prediction time, a cassette that contains a plurality of unprocessed wafers for one lot is accepted. A cassette that contains a plurality of processed wafers for one lot is returned.

Abstract: A method and an apparatus for collating a plurality of groups of mail items, such as flats mail, each group being pre-sequenced according to prioritized delivery addresses, into a final sequenced set of the mail items from the groups, utilizing the prioritized delivery addresses. Each bundle of mail items is formed into a single input stream of the individual mail items. The mail items are transported along a conveyor system from the input stream to a staging station. The mail items are sorted at the staging station into a plurality of subsets of mail items re-sequenced as an intermediate step to achieving the final sequenced sets. The mail items are then collated and merged into a single output stream from the respective subsets of mail items in the final sequenced set. Portions of the output stream from the staging station are collected in batches having justified unbound edges which maintain the sequence consistent with the prioritized delivery order sequence of the mail for a given carrier route.

Abstract: A robot apparatus including a mechanical system having at least one mechanical portion arranged to be operated by a drive portion; a mechanical-system-command converter arranged to receive a command which is independent from a mechanical system and which does not depend on the mechanical system to convert the command independent from the mechanical system into a command depending on the mechanical system and adaptable to the mechanical system; and a control portion for controlling the operation of the drive portion in accordance with the command depending on the mechanical system supplied from the mechanical-system-command converter.

Abstract: A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon.

Abstract: Disposable loading units (DLUs) configured for mounting to a robotic arm for performing at least one surgical task are presented. Each DLU includes an attachment platform having at least one connector for engaging at least one connector on a distal end of the robotic arm for connecting the DLU to the robotic arm, a head portion connected to the attachment platform at one end and configured for housing an electro-mechanical actuation assembly therein, and at least one surgical tool member extending from the head portion and operatively associated with the electro-mechanical actuation assembly for controlling the operation and movement of the at least one surgical tool member. The at least one surgical tool member may include a cutting assembly, an aortic hole punch assembly, a lasing assembly, a coring assembly, or a vascular suturing assembly.

Abstract: A hydraulically-operated micromanipulator apparatus is disclosed.

Abstract: A chemical (coating and reduction)/mechanical/electrical treatment of ion-exchange materials (preferably ion-exchange membranes) to convert them to artificial muscles. The figure is a perspective view of an actuator of the invention showing the treated membrane actuator (A) with electrodes (25 and 26) placed at one end of the membrane, the electrodes being further attached to a power source (35). Artificial muscles created by the inventive method are capable of undergoing electrically-controllable large deformations resembling the behavior of biological muscles. A typical flap muscle of 0.2-0.4 mm thickness, 2-5 mm width and 20 mm length manufactured by the inventive process can achieve a completely reversible maximum deflection of 12-15 mm under a maximum voltage of 2.0-2.5 volts.