Abstract: A soft continuum robotic module comprises a plurality of inflatable actuators disposed between plates. Via inflation or deflation of one or more of the actuators, the module may extend, contract, twist, bend, and/or exert a grasping force. One or more modules may be combined to form a robotic arm with multiple degrees of freedom.

Abstract: The apparatus consists of a highly conductive contact disc member preferably an annular circular disc that is attached rigidly to a shaft member with a shaft member collar to rotates freely with the shaft member on a pair of bearings (or bushes), in a pair of housing members. The contact disc member has an even number of piezoelectric crystals attached radially to the circumferential contact disc member electrical contacts to form a symmetric array. An equal number of equal massive members are attached to the other ends of the piezoelectric crystals, again to form, a symmetric array about the rotation axis of the shaft member. Each of the massive members has the same weight for balance. Thus, each massive member is held unto the contact disc member's circumference by a piezoelectric crystal. Each massive member has a diametrically opposite massive member that can balance its weight.

Abstract: A stiffness control and systems for the same are disclosed herein. A first plate and a second plate can be connected with rigid support, a hydraulic actuator and a high roughness surface. Upon actuation, the actuator can force the high roughness surface against the first plate, thus increasing rigidity through hydraulic pressure against the first plate and the second plate. Thus, the stiffness of the surface can be altered in a variable and reversible fashion.

Abstract: A soft robot having an integrated electrical component includes an expandable or collapsible body, the body comprising an inlet that is configured to communicate with a fluid source and a flexible strain limited layer secured to a portion of the expandable or collapsible body, wherein the strain limited layer includes at least one electrical component.

Abstract: A soft robot having an integrated electrical component includes an expandable or collapsible body, the body comprising an inlet that is configured to communicate with a fluid source and a flexible strain limited layer secured to a portion of the expandable or collapsible body, wherein the strain limited layer includes at least one electrical component.

Abstract: A soft actuator is described, including: a rotation center having a center of mass; a plurality of bucklable, elastic structural components each comprising a wall defining an axis along its longest dimension, the wall connected to the rotation center in a way that the axis is offset from the center of mass in a predetermined direction; and a plurality of cells each disposed between two adjacent bucklable, elastic structural components and configured for connection with a fluid inflation or deflation source; wherein upon the deflation of the cell, the bucklable, elastic structural components are configured to buckle in the predetermined direction. A soft actuating device including a plurality of the soft actuators and methods of actuation using the soft actuator or soft actuating device disclosed herein are also described.

Abstract: A hydraulic servo-control of a servo-controlled gearbox provided with a hydraulic accumulator, having an outer housing and a piston that is slidable axially inside the outer housing and adapted to define a first variable-volume chamber for a gaseous material and a second variable-volume chamber for a control fluid under pressure; and at least one limit stop arranged at an open end of the outer housing which serve as a lower limit stop element; wherein the outer housing is provided with an upper limit stop element, which acts to limit the pressure value inside the first variable-volume chamber within a predetermined safety range.

Abstract: An apparatus has a first member and a second member that is movable relative to the first member. The apparatus also has an activation element connected to the first member. The activation element also is wrapped about at least a portion of the second member.

Abstract: Primer apparatus and methods are described herein. An example primer apparatus includes a flexible body defining an internal chamber to be fluidly coupled to a fuel system. The body includes a first layer material having a low permeation characteristic to substantially prevent diurnal emissions from escaping the fuel system, a second layer material adjacent the first layer material having a relatively high resiliency compared to the first layer material to enable the body to return to an uncompressed shape when the body is deflected and released by a user, and a third layer material adjacent to the first layer material such that the first layer material is disposed between the second layer material and the third layer material and having a relatively high resiliency compared to the first layer material to enable the body to return to the uncompressed shape when the body is deflected and released by the user.

Abstract: The invention is an accumulator system in which multiple elastomeric accumulators are attached in series or parallel in order to generate total differential pressure in excess of that generated in a non-series system. Also disclosed is a “stacked” accumulator system. The system stores energy when the accumulators deform from their original shape in response to the flow of a pressurized fluid. The stored energy is available for use when the fluid is released from the accumulators and the accumulators return to their original shape.

Abstract: Soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible are described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into three-dimensional structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while keeping them light in weight.

Abstract: The invention relates to a cylinder piston arrangement for an especially volumetric fluid pump or a fluid motor, preferably comprising at least one axial expansion tubular membrane piston defining at least one inner pulsating working chamber. A particular field of application for such pumps or motors is the operation thereof with fluids loaded with extraneous materials, especially abrasive granulated materials. Especially high-speed machines with high working pressures of between a few hundred to a thousand bar are required, the energetic and also volumetric degree of efficiency thus becoming highly important factors. The aim of the invention is therefore to create pumps or fluid motors which are characterized by high degrees of efficiency and long service lives. To this end, at least one clearance driving body (TK1) is actively connected to the pulsating working chamber (AR).

Abstract: A hydraulic actuator includes a tubular bladder having first and second ends, an expandable and collapsible sleeve provided on the tubular bladder, a fluid inlet fitting provided in fluid communication with the tubular bladder and at least one mechanical connection provided along the tubular bladder. The hydraulic actuator may have flexibility and an overall diameter of less than about 5 mm.

Abstract: An integrated mecatronic structure for a manipulator assembly with one or more degrees of mobility controlled by one or more actuators can impart to the manipulator assembly a motion activated by control means connected to actuation means, and can include at least one flexible unit consisting of at least one flexible element attached to at least one actuator. The actuator is a volume-change actuator associated with a closely related or local dedicated power unit, including a tank and/or an element for converting the supplied power into another form of energy, able to make the manipulator assembly portable.

Abstract: An expandable accumulator and reservoir assembly includes a housing defining an interior chamber configured to contain a working fluid therein. An expandable accumulator is positioned at least partially within the housing. The expandable accumulator includes at least one flexible member configured to be at least partially immersed in the working fluid contained within the interior chamber. A rigid support member is positioned in the interior chamber and outside of the expandable accumulator. The rigid support member has at least one aperture to allow passage of the working fluid. An additional flexible member is positioned outside the rigid support member and has perimeter portions sealed to the outside of the rigid support member. The additional flexible member defines a flexible boundary between a primary reservoir inside the additional flexible member and a separate secondary reservoir outside the additional flexible member.

Abstract: A disclosed cryogenic refrigerator includes a cylinder, a displacer reciprocally moving inside the cylinder, and an elastic unit which is provided in at least one of a pair of end regions respectively including a pair of end portions within a range of a reciprocal motion of the displacer, accumulates an elastic force when the displacer approaches the end portion, and releases the elastic force when the displacer departs from the end portion.

Abstract: A pneumatic actuator is operable between an extended condition and a collapsed condition, and is capable of displacing a workpiece during movement between the extended and collapsed conditions. The pneumatic actuator can include a flex member (202) and a mounting base (204). The flex member can include a flexible wall (208) with a mounting bead (222). The mounting base can include a base portion (266) and a bead portion (268), and can be operatively connected along the flex member such the mounting bead is at least partially captured between the bead portion and the base portion. In this manner, a substantially fluid-tight seal can be formed and an actuator chamber can be at least partially defined between the flex member and the mounting base. An actuator support pad can receive and abuttingly engage at least a portion of the pneumatic actuator. A method of assembly is also included.

Abstract: The invention is a combination accumulator and reservoir which stores energy when the accumulator deforms from its original shape in response to the flow of a pressurized fluid from the reservoir. The stored energy is returned when the fluid flow is reversed and the accumulator discharges the fluid and returns to its original shape. At least one part of the novelty of the invention is that the accumulator and the fluid reservoir reside in the same housing such that the volume of each varies inversely. Accordingly, the invention is more compact and weighs less than conventional accumulators. Another feature of the invention is that fluid is located around the bladder accumulator to lubricate contact between the bladder and sides of the reservoir.

Abstract: An energy storage system used to store energy is disclosed. The system uses compression, torsion, extension and/or leaf springs to store energy. Input energy is use to compress the springs through an apparatus. The potential energy in the compressed spring is used to run a generator, which provides power to the consumer.

Abstract: A small, flexible fluidic actuator is presented which may be of millimeter scale in size and made of suitable flexible materials such as silicone. A manufacturing method and two analytical models for the device along with experimental test results are also disclosed. The flexible fluidic actuator devices disclosed include multidirectional fluidic actuator joints providing independently controllable multi-directional actuation movement. The dynamic behaviour of the joints for various pressure loads was also characterized and described herein.

Abstract: A clothing article for a foot including a sole including a sealed collapsible air cavity having disposed therein a return support for expanding a collapsed air cavity wherein the air cavity includes an outlet permitting a quantity of air to exit when the air cavity is collapsed; an upper, coupled to the sole, for covering a portion of the foot; an air-actuated active element coupled to the upper, the active element including a first mode and a second mode, the active element biased to the first mode and responsive to the quantity of air to transition from the first mode to the second mode; and a communication channel, coupled to the outlet and to the active element, for transferring the quantity of air from the air cavity to the active element.

Abstract: The invention relates to a clamping device, especially for releasably clamping a machine tool having a fixing element extending therefrom. The clamping device includes a deforming clamping element which acts on a clamping part with a clamping force in order to secure the fixing element to the clamping device. The deforming clamping element may also be controlled to act on the clamping part with a releasing force in order to release the fixing element from the clamping device. Both the clamping force and the releasing force result from the deformation of the deforming clamping element.

Abstract: First and second structures are connected by helical fibers. The orientation between the first and second structures are changed, and by doing so, the positions of the helical fibers are correspondingly changed. The position of change of the helical fibers can be used for a pumping effect, or to change some other fluidic characteristics. One other fluidic characteristics, for example, may use the movement of the helical fibers as a valve.

Abstract: An expandable accumulator and reservoir assembly includes a reservoir defining an interior chamber containing working fluid therein and an expandable accumulator. The expandable accumulator includes an inner layer and an outer layer at least partially surrounding the inner layer. The inner layer includes a higher fracture strain than the outer layer. The accumulator is at least partially positioned in the reservoir and at least partially immersed in the working fluid contained within the interior chamber. The accumulator is configured to exchange working fluid with the reservoir.

Abstract: An Extensile Fluidic Muscle Actuator (FMA) that changes the normal direction of force and motion, achieving compressive force generation and extensile motion output with just a small increase in friction, weight, and cost is disclosed. The motion conversion is accomplished by a pushrod that is attached to the inside end of one of the actuator's end fittings, and extends through the actuator body and slidably out through the other end fitting. The other end fitting is held stationary by a seal housing that contains a sealing element to retain internal fluid pressure as the actuator moves. A linear bearing may also be installed to keep the rod aligned and centered properly in the seal. Upon pressurization of the actuator, the flexible body of the actuator will expand radially, causing relative contractile motion between the two end fittings. However, as the two end fittings are drawn towards each other, the pushrod is extended.

Abstract: A fluid contact surface actuation system for a vehicle, including a first fluid contact surface constructed and arranged to act against a first fluid passing over the first fluid contact surface; and a first fluid actuator coupled to the first fluid contact surface to move the first fluid contact surface between a first position and a second position to enable control of the vehicle in a predetermined manner, the first fluid actuator having a first resilient bladder that receives a second fluid such that pressure of the second fluid moves the first bladder between a contracted configuration and an expanded configuration.

Abstract: A double-acting deformable fluid actuator with three chambers consists of three axisymmetrical coaxial membranes (10, 11 and 12), constrained by two end pieces (13 and 14) so as to identify three chambers, namely, an inner chamber (15), an intermediate chamber (16), and an outer chamber (17); each chamber is supplied with fluid under pressure through respective connectors (18, 19 and 20) set on one of the end pieces.

Abstract: A diaphragm is provided that includes a plurality of zonal portions that define reinforced and non-reinforced areas of the diaphragm. A first zonal portion extends from a marginal edge portion toward a central portion and is formed of a fabric material. A second zonal portion extends from the first zonal portion toward the central portion and is formed of an elastomer. A third zonal portion defines the central portion and is formed of a fabric material. The combination of reinforced and non-reinforced portions provides for a decrease in the radial tension (spring rate) of the diaphragm and helps prevent undesired changes to the flow control valve flow setpoint.

Abstract: A fluidic artificial muscle actuator consisting of an inner elastic bladder surrounded by a braided filament sleeve and sealed off on either end with end fittings. Pressurization of the actuator produces force and/or motion through radial movement of the bladder and sleeve which forces the sleeve to move axially. Both contractile and extensile motions are possible depending on the geometry of the braided sleeve. The fluidic artificial muscle actuator is manufactured using a swaging process which plastically deforms swage tubes around the end fittings, braided sleeve, and pressure bladder, creating a strong mechanical clamping action that may be augmented with adhesive bonding of the components. The swaging system includes the swaging die and associated components which are used to plastically deform the swage tube during assembly of the actuator.

Abstract: A valve control system for a wellbore includes a fiber composite actuator functionally coupled to a valve operating member and means for controllably charging an interior of the actuator with fluid under pressure. A valve for a wellbore includes a valve stem and a valve seat associated with a valve body. The valve stem and valve seat are configured to enable fluid flow from an inlet port in the valve body to an outlet port in the valve body when the stem is moved from the seat. An axial contraction fiber composite actuator is functionally coupled to the valve stem. The valve includes means for controllably charging an interior of the actuator with fluid under pressure.

Abstract: A pump formed from an asymmetric tube, which is pinched to form asymmetric forces, that pump fluid.

Abstract: A volume change absorber simple in construction and wide in application range, an X-ray generator having such a volume change absorber, and an X-ray imaging apparatus having such an X-ray generator, are to be provided. The volume change absorber includes a rigid pipe-like member capable of being mounted in an airtight manner through a wall of a vessel into which liquid is sealed and a flexible tube having one end portion mounted so as to cover in an airtight manner an end portion of the portion of the pipe-like member which portion lies inside the vessel and also having an opposite end portion which is sealed in a crushed state.

Abstract: A chemical liquid supplying apparatus can discharge chemical liquid with high accuracy and monitor a leakage of an incompressible medium from a region between a piston and a cylinder. A pump has a flexible tube for partitioning a pump chamber and a drive chamber, and the incompressible medium is supplied to the drive chamber by the piston reciprocating in a cylinder hole of the cylinder. A bellows cover is provided between the piston and the cylinder, and forms a seal chamber continuous to a sliding face of the piston. A seal-chamber pressure sensor is attached to the cylinder so as to detect the pressure of the incompressible medium for sealing enclosed in the seal chamber, and a deterioration degree of a seal member is determined by detecting the pressure in the seal chamber.

Abstract: A liquid cooling system utilizing minimal size and volume enclosures, air pockets, compressible objects, and flexible objects is provided to protect against expansion of water-based solutions when frozen. In such a system, pipes, pumps, and heat exchangers are designed to prevent cracking of their enclosures and chambers. Also described are methods of preventing cracking in a liquid cooling system. In all these cases, the system must be designed to tolerate expansion when water is frozen.

Abstract: A pneumatic actuator having a flexible plate, the flexible plate being made of a rigid flexible material. The pneumatic actuator further includes at least two elongate, flexible but poorly extensible pneumatic pressure ducts that are disposed side by side and are in parts connected to the flexible plate to which they are secured and on which they are arranged in such a manner that, when the pressure ducts are pressurized with compressed gas, tangential forces are generated parallel to the flexible plate causing said flexible plate to bend.

Abstract: A robot is provided with a robot weight compensation device having at least one hose element including an internally pressurized gas-tight inner hose portion cooperating with a high tensile strength outer portion. The high tensile strength outer portion includes non-elongatable fibers oriented relative to an axis of the at least one hose element by an angle not equal to 0° and 90°. An outer flexible protective jacket covers the fibers. A first fixing element is fixed to a first end of the hose element. The fixing element is connected to a first part of the robot. A second fixing element is fixed to a second end of the hose element. The second fixing element is articulated to a second part of the robot being movable relatively to the first robot element.

Abstract: A fluid power operable actuating device, which possesses a flexible contractible tube extending between two spaced head pieces, such flexible contractible tube being caused to expand radially when its inner space is subjected to fluid pressure and transmitting simultaneously axial forces, due to contraction, to the head pieces. The flexible contractible tube comprises an elastically deforming flexible tube body which has a special geometrical shape having a cross sectional outline on the inner periphery and/or the outer periphery of the flexible tube body which is non-circular and/or is in the form of several portions of the body of the flexible tube with properties of the material of the flexible tube body which are different from one another.

Abstract: A pressure sensor having a radially tensioned diaphragm for measuring fluid pressure. The pressure sensor includes a first generally concave metal body member and a second generally concave metal body member, and a radially tensioned flexible metal diaphragm located therebetween that is tensioned by heating the sensor. The first and second body members are formed from a material having a coefficient of thermal expansion in the range of approximately 0.0000056 inch/inch/° F. to 0.0000064 inch/inch/° F. The diaphragm is formed from a precipitation hardening metal material having a coefficient of thermal expansion of approximately 0.0000060 inch/inch/° F. The first body member and the second body member are formed from a ferromagnetic metal material such that the first and second body members shield the diaphragm from magnetic fields which may otherwise cause movement of the diaphragm.

Abstract: A fluidic actuator includes a central elastic tube with an interior bore and a surrounding sheath formed of braided fibers. End fittings are attached to the tube and sheath at first and second ends thereof and include a cap with a hollow cavity into which an end section of the tube and sheath are inserted and embedded in a hardened adhesive. The hardened adhesive seals off the ends of the tube and strongly bonds the fibers of the sheath to the end caps to provide strong mechanical connections. A fluid coupling may extend through one of the end caps to connection to an end of the tube, with an interior bore in the coupling in communication with the bore in the tube to allow fluid under pressure to be supplied to the interior of the tube. A liquid lubricant may be held in the fibers of the sheath to provide lubrication between the elastic tube and the fibers of the sheath to reduce wear and abrasion of the tube and extend the service life of the actuator.

Abstract: A torque-transmitting mechanism has first and second housing members, which are interconnected by a plurality of friction members. The torque-transmitting mechanism also includes an apply piston, which has an apply head slidably disposed within one of the housings and a spring body portion, which is effective to urge the apply head out of engagement with the friction members. The apply head is urged into engagement with the friction members through the application of pressure to an apply chamber formed between the apply head, the spring body, and the one housing. Upon release of the pressure within the apply chamber, the spring body enforces retraction of the apply head and disengagement of the torque-transmitting mechanism.

Abstract: A pump formed from an asymmetric tube, which is pinched to form asymmetric forces, that pump fluid.

Abstract: In a load detecting device, a hermetically sealed sensor chamber is constituted by a sensor head, a bellows, a housing and a stem. A sensor chip for detecting pressure is housed in the sensor chamber that is filled up with liquid. When load is applied to the sensor head, the bellows contracts axially to vary pressure of the liquid. The sensor chip senses the pressure of the liquid so that the load applied to the sensor chamber is detected with higher detecting accuracy.

Abstract: A hydraulically actuated artificial muscle for use with orthetic devices, prosthetic devices or as an actuator for other applications in medical or robotic devices. Working fluid is pumped between two expandable fluid-containing cells, which are complimentary active elements of the artificial muscle. This eliminates the need for a storage reservoir, thereby providing a self-contained, force efficient device. Each of the preferred embodiments described has one or more expandable fluid-containing cell defined by at least one flexible wall. The flexible walls are configured so as to have elastic properties that are limited to predefined directions of expansion and contraction.

Abstract: The present disclosure provides a method of pressurizing enclosures having bi-stable valves. The valve has an invertible element having a port therethrough, and is converted from an open mode into a closed mode by a sudden change of pressure across the valve. The method is particularly suited for pressurization of enclosures en masse.

Abstract: Apparatus for compensating for positioning, pointing and/or orientation errors caused by deflections of structural members and components of a high performance machine or device and/or for reducing vibration inputs to such machine or device and/or for micro-positioning such machine or device so as to improve the operational performance of such machine or device. The apparatus utilizes one or more active-type actuators, such as piezoelectric ceramic type actuators, which are arranged in a predetermined manner relative to the machine or device. A servo control device operating in accordance with a predetermined algorithm may be utilized for controlling the actuators or, alternatively, the apparatus may operate in an open loop manner.

Abstract: A fluid actuating drive for relative translational movement of first and second structural parts has a housing filled with a pressurizing medium, which in its longitudinal direction, runs along a gap that separates the structural parts, and is connected therewith. The width of the gap is dependent upon the relative position of opposing side walls of the housing, which side walls can be moved against one another with a pressurizing agent for the relative movement of the structure, where the side walls are alternately connected to the first and second structural part across the gap.

Abstract: An apparatus and method for pressure processing a pumpable substance, such as a pumpable food product or slurry. In one embodiment, the apparatus includes a pressure vessel having an inlet valve toward one end and outlet valve toward the other end. A flexible bladder is coupled between the inlet and outlet valves for receiving the pumpable substance. The pressure vessel can further include a high-pressure inlet port for receiving high-pressure fluid that biases the membrane inwardly to pressure process the pumpable substance. The pumpable substance is then removed from the vessel through the outlet valve.

Abstract: A pump formed from an asymmetric tube, which is pinched to form asymmetric forces, that pump fluid.

Abstract: A band controlled valve apparatus for controlling fluid flow from a source to a sink, including a base (12) having an upper surface and an aperture (16) extending from the upper surface through the base (12) allowing the flow of fluid from the source through the base (12) to the sink when the aperture (16) is not covered, an elongate flexible band (8) with a first portion (8a) in contact with the upper surface of the base (12) and a second portion (8b) extending forwardly of the first portion (8a) then upwardly and rearwardly above at least a part of the first portion (8a), the second portion (8b) being actuated to selectively move the second portion (8b) of the band (8) forwardly or rearwardly to cover or uncover, respectively, the aperture (16) with the first portion (8a) of the band (8) to thereby prevent or allow, respectively, fluid flow through the aperture (16).

Abstract: A band controlled valve apparatus for controlling fluid flow from a source to a sink, including a base (12) having an upper surface and an aperture (16) extending from the upper surface through the base (12) allowing the flow of fluid from the source through the base (12) to the sink when the aperture (16) is not covered, an elongate flexible band (8) with a first portion (8a) in contact with the upper surface of the base (12) and a second portion (8b) extending forwardly of the first portion (8a) then upwardly and rearwardly above at least a part of the first portion (8a), the second portion (8b) being actuated to selectively move the second portion (8b) of the band (8) forwardly or rearwardly to cover or uncover, respectively, the aperture (16) with the first portion (8a) of the band (8) to thereby prevent or allow, respectively, fluid flow through the aperture (16).