PNEUMATIC SENSING ACTUATOR
First Claim
1. A pneumatic actuator formed of an elastic material, the pneumatic actuator comprising:
- a chamber extending along an axis from a first end to a second end;
an inlet connected to the chamber to enable a fluid to be injected into the chamber;
a plurality of flexible fibers coupled to the first end and the second end;
a first sensor layer extending along the axis from the first end to the second end and coupled to the actuator, whereby when a fluid is injected into the chamber causing the chamber to expand, the first sensor layer is caused to expand; and
wherein the first sensor layer includes a first microchannel containing a conductive liquid extending along a portion of the actuator whereby expansion of the first sensor layer causes a change in at least one dimension of the first microchannel and a change in electrical resistance of the conductive liquid in the first microchannel.
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Accused Products
Abstract
A pneumatic artificial muscle (PAM) actuator body can be formed from an elastic material that includes an inflatable chamber and a restraining component, such as flexible, but inextensible fibers, that causes the actuator to contract when the chamber is inflated with fluid (e.g., air or water). The actuator body can be cylindrical or flat. The actuator body can include a sensor layer formed of an elastic material including a microchannel filled with a conductive fluid to sense the expansion of the actuator body. The sensor layer can be configured to expand when the actuator body is inflated causing the electrical resistance of the conductive fluid to change. A sensor layer between the actuator body and restraining component can be used to measure changes in the contraction force of the actuator and a sensor layer outside of the restraining component can be used to measure changes in the length of the actuator.
16 Citations
28 Claims
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1. A pneumatic actuator formed of an elastic material, the pneumatic actuator comprising:
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a chamber extending along an axis from a first end to a second end; an inlet connected to the chamber to enable a fluid to be injected into the chamber; a plurality of flexible fibers coupled to the first end and the second end; a first sensor layer extending along the axis from the first end to the second end and coupled to the actuator, whereby when a fluid is injected into the chamber causing the chamber to expand, the first sensor layer is caused to expand; and wherein the first sensor layer includes a first microchannel containing a conductive liquid extending along a portion of the actuator whereby expansion of the first sensor layer causes a change in at least one dimension of the first microchannel and a change in electrical resistance of the conductive liquid in the first microchannel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A pneumatic actuator formed of an elastic material, the pneumatic actuator comprising:
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a first layer forming a chamber extending along an axis from a first end to a second end; an inlet connected to the chamber to enable a fluid to be injected into the chamber; a second layer including a plurality of flexible fibers coupled to the first end and the second end; a first sensor layer extending along the axis from the first end to the second end and coupled to the actuator, whereby when a fluid is injected into the chamber causing the chamber to expand, the first sensor layer is caused to expand; and wherein the first sensor layer includes a first microchannel containing a conductive liquid extending along a portion of the actuator whereby expansion of the first sensor layer causes a change in at least one dimension of the first microchannel and a change in electrical resistance of the conductive liquid in the first microchannel. - View Dependent Claims (11, 12)
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13. A method of making a pneumatic actuator comprising
molding a first layer of an elastic material, the first layer having a first surface; -
applying a release material in a predefined pattern on the first surface to define a fluid chamber; bonding a second layer of an elastic material to the first surface containing the release material, whereby the second layer bonds to the first surface except in an area of the first surface where the release material was applied; bonding a first sensor layer to the second layer, the first sensor layer including a first microchannel containing a conductive liquid extending along a portion of the actuator whereby expansion of the first sensor layer causes a change in at least one dimension of the first microchannel and a change in electrical resistance of the conductive liquid in the first microchannel. - View Dependent Claims (14, 15)
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16. A method of making a pneumatic actuator comprising
molding a first layer of an elastic material, the first layer having a first surface; -
applying a release material in a predefined pattern on the first surface to define a fluid chamber extending along an axis from a first end to a second end; bonding a second layer of an elastic material to the first surface containing the release material, whereby the second layer bonds to the first surface except in an area of the first surface where the release material was applied; bonding a third layer to the second layer, the third layer including a plurality of flexible fibers extending along the axis from the first end to the second end. - View Dependent Claims (17, 18)
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19. A method of making a pneumatic actuator comprising
forming a first layer of an elastic material, the first layer having a first surface; -
applying a layer liquid elastomer in a predefined pattern on the first surface to define a fluid chamber; bonding a second layer of the liquid elastic material on the first surface containing, whereby the second layer bonds to the first surface in the area where the liquid elastomer was applied; bonding a first sensor layer to the second layer, the first sensor layer including a first microchannel containing a conductive liquid extending along a portion of the actuator whereby expansion of the first sensor layer causes a change in at least one dimension of the first microchannel and a change in electrical resistance of the conductive liquid in the first microchannel. - View Dependent Claims (20, 21)
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22. A method of making a pneumatic actuator comprising
forming a first layer of an elastic material, the first layer having a first surface; -
applying a layer liquid elastomer in a predefined pattern on the first surface to define a fluid chamber; bonding a second layer of the liquid elastic material on the first surface containing, whereby the second layer bonds to the first surface in the area where the liquid elastomer was applied; bonding a third layer to the second layer, the third layer including a plurality of flexible fibers extending along the axis from the first end to the second end. - View Dependent Claims (23, 24)
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25. A method of making a pneumatic actuator comprising:
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forming a base layer having an embedded microchannel; positioning the base layer in a mold; molding the base layer into the pneumatic actuator by adding liquid elastomer into the mold and allowing the liquid elastomer to cure. - View Dependent Claims (26, 27, 28)
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Specification