CONTINUUM STYLE MANIPULATOR ACTUATED WITH PHASE CHANGE MEDIA
First Claim
1. A manipulator comprising:
- a. at least one module, each module comprising;
i. a basal end and a terminal end;
ii. an envelope;
iii. within the envelope, a media capable of reversibly changing from a solid-like phase to a liquid-like phase;
iv. coupled with each envelope, a phase change actuator, arranged to reversibly establish phase change of the media;
b. at least two tensile members extending from the basal end to the terminal end; and
c. coupled to each tensile member, a tensile actuator, each tensile actuator arranged to provide a variable tension to the respective tensile member.
1 Assignment
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Accused Products
Abstract
A continuum style manipulator is actuated by jammable media within an envelope of a module, which is also actuated by a tensile element, such as a cable and spooler motor. Multiple modules may be reversibly added. Two or more tensile elements may also be used. Three or more actuated tensile elements can actuate three DOFs of each module, and the terminal module, as well as the entire manipulator. Jammable media may be granular, actuated by a pressure change. Coarsely ground coffee works well. Rather than a jammable media, tensile elements may alternatively be used with other phase change media, such as magnetorheological and electrorheological media. A high friction angle of the granular media is desirable, and has been achieved with a particle size dispersion including both small and relatively larger particles. Applications include endoscopes, proctoscopes, laparoscopic instruments, manufacturing and medical manipulators. Methods of actuating include unjamming all modules, positioning the manipulator with tensile elements or otherwise, jamming the base-most module, and then repositioning remaining, not-jammed modules, followed by jamming the base-most not-jammed module, and so on, until all modules are positioned and jammed.
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Citations
34 Claims
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1. A manipulator comprising:
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a. at least one module, each module comprising; i. a basal end and a terminal end; ii. an envelope; iii. within the envelope, a media capable of reversibly changing from a solid-like phase to a liquid-like phase; iv. coupled with each envelope, a phase change actuator, arranged to reversibly establish phase change of the media; b. at least two tensile members extending from the basal end to the terminal end; and c. coupled to each tensile member, a tensile actuator, each tensile actuator arranged to provide a variable tension to the respective tensile member. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. A manipulator comprising:
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a. at least one module, each module comprising; i. a basal end and a terminal end; ii. an envelope; iii. within the envelope, a jammable media capable of reversibly changing from a jammed, state to a not-jammed, state; and iv. coupled with each envelope a jamming actuator, arranged to reversibly establish a jammed and a not-jammed state of the jammable media; b. at least two tensile members extending from the basal end to the terminal end; and c. coupled to each at least two tensile members, as tensile actuator, each tensile actuator arranged to provide a variable tension to the tensile member.
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33. A method for positioning a continuum style manipulator having at least one module having an envelope containing jammable media and at least one tensile member extending along the module, the method comprising:
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a. establishing in the jammable media of at least a first module, a not-jammed state; b. positioning the first module in a desired position; c. establishing in the jammable media of the positioned first module, a jammed state; d. continuing with all remaining modules to establish in each as yet not positioned module, a not-jammed state, and then positioning the remaining modules in a desired position, and then establishing in the jammable media of the positioned remaining modules, a jammed state. - View Dependent Claims (34)
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Specification