Programmable multi-scale fluidic artificial muscles and pistons

Patent metadata

Field	Value
Publication number	US-11628560-B2
Application number	US-201816494291-A
Country	US
Kind code	B2
Filing date	Mar 22, 2018
Priority date	Mar 22, 2017
Publication date	Apr 18, 2023
Grant date	Apr 18, 2023

Abstract

An artificial muscle system includes a collapsible skeleton, a flexible skin, and a muscle actuation mechanism. The collapsible skeleton is contained inside a volume defined, at least in part, by the flexible skin. The flexible skin and the collapsible skeleton are configured for the flexible skin to provide a pulling force on the collapsible skeleton when a pressure difference exists between the inside of the sealed volume and a surrounding environment to change at least one of the dimensions and thus geometry of the collapsible skeleton. The muscle actuation mechanism includes at least one of the following to deploy or contract the collapsible skeleton: (a) a fluid displacing, releasing, or capturing mechanism configured to increase or decrease fluid pressure inside the sealed volume; and (b) a heating or cooling element configured to change the temperature of fluid in the sealed volume.

First claim

We claim:

1. A tension piston system, comprising:
a chamber;
a piston contained in the chamber, the piston comprising:
a) a collapsible skeleton;
b) a flexible skin in which the collapsible skeleton is contained and that, at least in part, defines (i) a volume inside the piston in which the collapsible skeleton is contained and (ii) a volume outside the piston yet inside the chamber, wherein the flexible skin seals the volume inside the piston from the volume outside the piston, and wherein the flexible skin and the collapsible skeleton are configured for the flexible skin to provide a pulling force on the collapsible skeleton with a pressure difference between the volume inside the piston and the volume outside the piston to change at least one of the dimensions and thus geometry of the collapsible skeleton; and
c) a connector mounted to the collapsible skeleton or the flexible skin, and configured to be displaced or rotated when the size or geometry of the skeleton changes and to convey that displacement or rotation outside the chamber,
wherein the chamber includes at least two fluid ports, one in fluid communication with the volume inside the piston and another in fluid communication with volume outside the piston.

2. The tension piston system of claim 1 , wherein the collapsible skeleton comprises at least one of (a) hinges, (b) pin joints, and (c) rigid segments linked with flexures, wherein the rigid segments are more rigid than the flexures such that the rigid segments can pivot relative to one another at the flexures to change at least one of the size and geometry of the collapsible skeleton.

3. The tension piston system of claim 1 , wherein the collapsible skeleton comprises a coil spring.

4. The tension piston system of claim 1 , wherein the collapsible skeleton comprises a plurality of discontinuous segments mounted to the flexible skin.

5. The tension piston system of claim 1 , further comprising a compressed fluid source or vacuum in fluid communication with at least one of the fluid ports.

6. The tension piston system of claim 1 , wherein the chamber is shaped for translational piston motions.

7. The tension piston system of claim 6 , wherein the chamber is cylinder-shaped, cuboid-shaped, or prism-shaped.

8. The tension piston system of claim 1 , wherein the chamber is shaped for rotational piston motions.

9. The tension piston system of claim 8 , wherein the chamber is at least partially cylinder-shaped or at least partially sphere-shaped.

10. The tension piston system of claim 1 , wherein the chamber has a non-identical cross section along a displacement direction of the piston.

11. The tension piston system of claim 1 , further comprising at least one spring or elastic material coupled with the skeleton to return the skeleton to its original shape after the size or geometry of the skeleton is changed.

12. A method for converting a pressure difference into a displacement or rotation using a tension piston, the method comprising:
providing a tension piston system, comprising:
A) a chamber;
B) a piston contained in the chamber, the piston comprising:
i) a collapsible skeleton;
ii) a flexible skin in which the collapsible skeleton is contained and that, at least in part, defines (a) a volume inside the piston in which the collapsible skeleton is contained and (b) a volume outside the piston yet inside the chamber, wherein the flexible skin seals the volume inside the piston from the volume outside the piston; and
iii) a connector mounted to the collapsible skeleton or the flexible skin, and configured to be displaced or rotated when at least one of the dimensions of the skeleton changes and to convey that displacement or rotation outside the chamber,

wherein the chamber includes at least two fluid ports, one in fluid communication with the volume inside the piston and another in fluid communication with volume outside the piston; and
pumping fluid into or out of the chamber via at least one of the fluid ports to collapse or expand the flexible skin and skeleton as the flexible skin provides a pulling force on the collapsible skeleton due to a pressure difference between the volume inside the piston and the volume outside the piston as a result of the pumped fluid.

13. The method of claim 12 , wherein the collapse or expansion of the flexible skin and skeleton is a translational motion.

14. The method of claim 12 , wherein the collapse or expansion of the flexible skin and skeleton is a rotational motion.

15. The method of claim 12 , further comprising reversing the collapse or expansion of the flexible skin and skeleton by releasing tension or compression in at least one spring or elastic material coupled with the skeleton.

16. The method of claim 12 , further comprising using the tension piston as a valve, a switch, an actuator, or an engine to convert fluid pressure or energy to force.

17. The method of claim 12 , further comprising using the tension piston as a fluid pump, fluid compressor, fluidic damper, shock absorber, vibration insulator, fluidic suspension device, or fluidic energy storage device to convert force to pressure or energy.

Assignees

• Harvard College
• Massachusetts Inst Technology

Inventors

• Li Shuguang
• Wood Robert J
• Rus Daniela
• Vogt Daniel M
• Bartlett Nicholas W

Classifications

• F15B15/10

  the motor being of diaphragm type · CPC title

• B25J9/142 Primary

  comprising inflatable bodies · CPC title

• F15B2211/62

  Cooling or heating means · CPC title

• B25J9/1075

  with muscles or tendons · CPC title

• B25J11/00

  Manipulators not otherwise provided for · CPC title