Contractile and extensile fluidic artificial muscle actuator

Patent metadata

Field	Value
Publication number	US-12521870-B2
Application number	US-202218696104-A
Country	US
Kind code	B2
Filing date	Sep 22, 2022
Priority date	Sep 30, 2021
Publication date	Jan 13, 2026
Grant date	Jan 13, 2026

Abstract

A fluidic artificial muscle actuator may include at least one inflatable bladder defining a first inflatable segment coupled to a first member and to a second member arranged at opposite ends of the first inflatable segment, and a second inflatable segment coupled to a third member and to a fourth member arranged at opposite ends of the second inflatable segment, and an effector coupled to the first inflatable segment and to the second inflatable segment for providing an actuator output. The first inflatable segment is configured to contract in a longitudinal direction with increase in fluid pressure in the first inflatable segment and the second inflatable segment is configured to extend in the longitudinal direction with increase in fluid pressure in the second inflatable segment.

First claim

The invention claimed is:

1 . A fluidic artificial muscle actuator ( 10 , 20 , 40 ), comprising:
at least one inflatable bladder defining a first inflatable segment ( 11 , 511 ) and a second inflatable segment ( 12 , 512 ); the first inflatable segment ( 11 , 511 ) coupled to a first member ( 14 , 24 ) and to a second member ( 134 , 234 , 434 ) arranged at opposite ends of the first inflatable segment, the first member and the second member defining a first longitudinal direction ( 101 ); the second inflatable segment ( 12 , 512 ) coupled to a third member ( 135 , 235 , 435 ) and to a fourth member ( 15 , 25 ) arranged at opposite ends of the second inflatable segment, the third member and the fourth member defining a second longitudinal direction ( 102 ); and an effector ( 13 , 23 , 43 , 53 ) operably coupled to the first inflatable segment and to the second inflatable segment and configured to provide an actuator output; wherein the first inflatable segment ( 11 , 511 ) is configured to contract in the first longitudinal direction in response to an increase in fluid pressure in the first inflatable segment; and wherein the second inflatable segment ( 12 ) is configured to extend in the second longitudinal direction in response to an increase in fluid pressure in the second inflatable segment;
further comprising a fluid communication port ( 113 , 122 , 132 ), wherein the first inflatable segment ( 11 ) and the second inflatable segment ( 12 ) are in fluid communication through the fluid communication port.

2 . The fluidic artificial muscle actuator of claim 1 , further comprising a fluid supply system ( 18 ) configured to increase fluid pressure in the second inflatable segment ( 12 , 512 ) while increasing fluid pressure in the first inflatable segment ( 11 , 511 ).

3 . The fluidic artificial muscle actuator of claim 1 , wherein the first inflatable segment comprises a first inflatable bladder ( 11 ) and the second inflatable segment comprises a second inflatable bladder ( 12 ) distinct from the first inflatable bladder.

4 . The fluidic artificial muscle actuator of claim 1 , wherein the fluid communication port comprises a constriction ( 133 ).

5 . The fluidic artificial muscle actuator of claim 1 , comprising a first fluid supply port ( 112 ) egressing in one of the first inflatable segment ( 11 ) and the second inflatable segment ( 12 ), wherein the other one of the first inflatable segment and the second inflatable segment is configured to be inflated through the fluid communication port ( 113 , 122 , 132 ).

6 . The fluidic artificial muscle actuator of claim 1 , wherein the second member ( 134 , 234 ) and the third member ( 135 , 235 ) are fixedly attached to the effector ( 13 , 23 , 53 ).

7 . The fluidic artificial muscle actuator of claim 6 , wherein the second member ( 134 , 234 ) and the third member ( 135 , 235 ) are fixedly attached at opposite ends of the effector ( 13 , 23 , 53 ).

8 . The fluidic artificial muscle actuator of claim 1 , wherein the first member ( 14 ) and the fourth member ( 15 ) are arranged at fixed positions relative to each other.

9 . The fluidic artificial muscle actuator of claim 1 , wherein at least one of the first inflatable segment ( 11 , 511 ) and the second inflatable segment ( 12 , 512 ) comprises a braided sleeve ( 111 , 121 ) enveloping the at least one inflatable bladder along the respective inflatable segment.

10 . The fluidic artificial muscle actuator of claim 9 , wherein the braided sleeve ( 121 ) envelopes the at least one inflatable bladder along the second inflatable segment ( 12 , 512 ), the braided sleeve comprising a braid having a braid angle of at least 54.44° relative to the second longitudinal direction ( 102 ).

11 . The fluidic artificial muscle actuator of claim 1 , further comprising a tubular member ( 26 ) traversing the first inflatable segment ( 11 , 511 ) along the first longitudinal direction ( 101 ) and/or the second inflatable segment ( 12 , 512 ) along the second longitudinal direction ( 102 ).

12 . The fluidic artificial muscle actuator of claim 11 , wherein the tubular member ( 26 ) comprises a lumen ( 261 ) fluidically isolated from the respective first and/or second inflatable segment.

13 . The fluidic artificial muscle actuator of claim 11 , wherein the first and the second longitudinal directions ( 101 , 102 ) are collinear and the tubular member traverses both the first inflatable segment ( 11 ) and the second inflatable segment ( 12 ).

14 . The fluidic artificial muscle actuator of claim 1 , wherein the fluidic artificial muscle actuator is a pneumatic actuator.

15 . A device for endoscopic surgery, the device comprising the fluidic artificial muscle actuator of claim 1 .

Assignees

• Univ Leuven Kath

Inventors

• Lathrop Robert
• Vander Poorten Emmanuel
• Ourak Mouloud

Classifications

• F15B15/103

  using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators · CPC title

• F15B15/061

  by unidirectional means · CPC title

• F15B15/084

  the motor being of the rodless piston type, e.g. with cable, belt or chain · CPC title

• B25J9/142 Primary

  comprising inflatable bodies · CPC title

• B25J9/0009

  Constructional details, e.g. manipulator supports, bases · CPC title