Spring-over-muscle actuator
First Claim
1. A muscle actuator comprising an inner bladder comprising a first end and a second end and the inner bladder being configured to communicate with a pneumatic source, a braided material wrapped over at least a substantial portion of the inner bladder, an end fitting attached to both the first end and the second end, and a helical coil spring positioned over at least a portion of the braided material or inside the inner bladder.
1 Assignment
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Accused Products
Abstract
Pneumatic muscles capable of delivering bi-directional forces are described having an actuator with a tube or bladder surrounded by a braided material mounted in parallel with a resilient spring. When the bladder is pressurized with a pneumatic source, it expands, and its length contracts. During the contraction cycle, the resilient spring is compressed and stores energy until subsequently released, which corresponds when the pressure in the bladder is released. As the spring expands, it produces an expansion force. The contraction and expansion forces are controllable using a number of configurations, including changing the equilibrium position of the resilient spring, using a different rated bladder, and using different initial pressure.
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Citations
36 Claims
- 1. A muscle actuator comprising an inner bladder comprising a first end and a second end and the inner bladder being configured to communicate with a pneumatic source, a braided material wrapped over at least a substantial portion of the inner bladder, an end fitting attached to both the first end and the second end, and a helical coil spring positioned over at least a portion of the braided material or inside the inner bladder.
- 10. A muscle actuator comprising an inner bladder comprising a first end and a second end and the inner bladder being configured to communicate with a pneumatic source, a braided material wrapped over at least a substantial portion of the inner bladder, an end fitting attached to both the first end and the second end, and a mechanical device capable of receiving a compression force and generating a pushing force when the compression force is removed mounted in parallel with the muscle actuator.
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33. A combination pneumatic actuator muscle and a mechanical device capable of receiving a compression force and generating a pushing force when the compression force is removed mounted to a first surface and a second surface,
wherein a passage is incorporated in a header of the pneumatic actuator muscle for receiving a pressurized source, wherein the pneumatic actuator muscle produces a pulling force to compress the mechanical device when the pressurized source enters the pneumatic actuator muscle; - and
wherein the mechanical device generates a pushing force when the pressurized source is discharged from the pneumatic actuator muscle. - View Dependent Claims (34, 35, 36)
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Specification