Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements

• US 4,784,042 A
• Filed: 02/10/1987
• Issued: 11/15/1988
• Est. Priority Date: 02/12/1986
• Status: Expired due to Term

• Current Assignee: Joseph M. Juarez
• Original Assignee: Henry M. Paynter, Nathaniel A. Hardin
• Inventors: Paynter, Henry M.
• Primary Examiner(s): Garrett, Robert E.
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US07/013,247
• Time in Patent Office: 644 Days
• Field of Search: 91/51, 91/443, 91/530, 91/534, 92/48, 92/90, 92/91, 92/92, 901/21, 901/22, 414/7
• US Class Current: 91/534
• CPC Class Codes: B25J 17/0275 Universal joints, e.g. Hooke, Cardan, ball joints
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 9/142 comprising inflatable bodies
• CPC Class Codes: F15B 15/103 using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators

Abstract

The method and system employ strings of tension actuators in opposed relationship for controlling motions or deflections of jointed members: for example, for controlling the motions of arms, legs and elephant trunks or flexible antennae in robots and for controlling the deflections of beams and columns in frames and structures. These opposed tension actuators are inflated with controlled air pressures which are oppositely varied from a predetermined common-mode pressure P_o (initial fluid pressure level P_o). In other words, as one tension actuator is being inflated with pressure increasing above P_o, the opposed tension actuator is being inflated with pressure decreasing below P_o for producing motion or deflection of the jointed member in one direction, and conversely for producing motion or deflection in the other direction. The opposed tension actuators have their ends anchored to rigid movable plates or struts containing sockets for the respective joints. By virtue of controlling the opposed actuators with a common-mode pressure level P_o, they are always exerting a net compressive force on each joint, so advantageously permitting usage of simple, inexpensive, lightweight, non-capturing joints as shown. Moreover, the jointed member automatically returns to a predetermined midrange rest position whenever air pressures are returned to P_o. A nearly uniform stiffness (or mechanical output impedance) is provided at all positions by controlling the opposed pressures to be P_o +ΔP and P_o -ΔP, where ΔP is a corresponding increment above and below the initial (common-mode) level P_o. In this way, precision open-loop proportional control is achieved.

Claims

1. A fluid-pressure actuated elongated jointed member having a longitudinal axis and capable of being moved about in various controlled directions, comprising:

a plurality of rigid elements located at respective positions spaced along said axis,

each of said elements extending across the axis and having first and second projections projecting outwardly on opposite sides of the axis, all of said first projections being on a first side of said axis and all of said second projections being on the second side of said axis,

said second side being opposite to said first side,

each of said elements being oriented generally perpendicular to the neighboring portion of the longitudinal axis at the respective position where the element crosses the axis,

a plurality of compression-carrying links positioned concentrically along the axis,

respective ones of said links extending between successive elements,

each link being rigidly connected to an element and having a pivotal relationship with the adjacent element,

first and second pluralities of fluid-inflatable tension actuators,

each of said tension actuators having an inlet end and an outlet end,

the tension actuators of the first plurality being joined end-to-end for forming a first inflatable string with the outlet end of each actuator in said first string communicating with the inlet end of the next actuator in said first string, and with the outlet end of the last actuator in said first string being blocked,

means for feeding pressurized fluid into the inlet end of said first string of tension actuators,

the tension actuators of the second plurality being joined end-to-end for forming a second inflatable string with the outlet end of each actuator in said second string communicating with the inlet end of the next actuator in said second string, and with the outlet end of the last actuator in said second string being blocked,

means for feeding pressurized fluid into the inlet end of said second string of tension actuators,

the first string of tension actuators extending generally parallel with said axis and being offset from said axis on the first side of said axis,

the second string of tension actuators extending generally parallel with said axis and being offset from said axis on the second side of said axis,

said first string of tension actuators being fastened to the first projections of said elements with respective fastening connections being located near ends of tension actuators in said first string, and

said second string of tension actuators being fastened to the second projections of said elements with respective fastening connections being located near ends of tension actuators in said second string.

2. A fluid-pressure actuated jointed member as claimed in claim 1, and in which:

pressurized fluid control means communicates with the inlet ends of the first and second strings of tension actuators for inflating said first and second strings with pressurized fluid controllably varying by equal pressure increments Δ

P in opposite directions from a common pressure level P_o for causing the jointed member to move into various positions coming to rest at various predetermined predictable positions depending directly upon the various specific values of the pressure increments Δ

P.

3. A fluid-pressure actuated jointed member as claimed in claim 2, in which:

said pressurized fluid control means comprises;

a source of pressurized air at regulated pressure,

four pressure-dropping flow resisting components connected to form a four-sided pneumatic bridge network having four corners, with an inlet junction and a vent to atmosphere located at two opposite corners of said bridge and wherein there are two junctions located at the respective other two opposite corners of the bridge forming first and second outlets from the bridge,

said source of pressurized air is connected to said inlet junction for supplying pressurized air at regulated pressure to the bridge,

the first pressure-dropping flow resisting component located between said inlet junction and said first outlet is equal in effect to the second pressure-dropping flow resisting component located between said inlet junction and said second outlet,

the third pressure-dropping flow resisting component is located between said first outlet and said vent,

the fourth pressure-dropping flow resisting component is located between said second outlet and said vent,

said first and second outlets respectively communicate with said inlet ends of said first and second actuator strings, and

variable control means are connected to said third and fourth components for varying their pressure-dropping effects by equal amounts in opposite directions from an initially equal condition.

4. A fluid-pressure actuated jointed member as claimed in claim 2, in which:

ends of the links have low-friction non-captured pivotal relationships with the adjacent elements, and

said first and second strings of tension actuators exert a net compressive force on said pivotal relationships in all positions of the jointed member,

thereby preventing separation of the links from the elements in spite of being non-captured.

5. A fluid-pressure actuated jointed member as claimed in claim 1, in which:

said elements have pairs of straight grooves facing in opposite directions,

said pair of straight grooves in each element are parallel with each other and each groove intersects the longitudinal axis of the jointed member,

said pair of parallel straight grooves in each element are oriented perpendicular to a straight line passing through the respective fastening connections on said first and second fastening connections on said first and second projections of the element, and

the pivotal relationship of the links with said elements comprises a transverse straight pivot rod on an end of each link rotatably seating in one of said grooves.

6. A fluid-pressure actuated jointed member as claimed in claim 1, in which:

said elements have first, second, third and fourth projections projecting outwardly from the axis and oriented with respect to each other about 90°

around the longitudinal axis of the arm,

there are first, second, third and fourth pluralities of fluid-inflatable tension actuators respectively joined end-to-end forming first, second, third and fourth strings of tension actuators,

said four strings of tension actuators all extend generally parallel with the axis and all are offset from the axis and are located at spaced positions separated from each other about 90°

around said longitudinal axis, and

said first, second, third and fourth strings of tension actuators being fastened to the respective first, second, third and fourth projections of said elements for bending the jointed member in various directions by varying the internal pressures of the tension actuators in the various strings.

7. A fluid-pressure actuated jointed member as claimed in claim 6, and in which:

first pressurized fluid control means communicates with the inlet ends of the first and second actuator strings

second pressurized fluid control means communicates with the inlet ends of the third and fourth actuator strings,

said first pressurized fluid control means inflates said first and second actuator strings with pressurized fluid controllably varying by equal pressure increments Δ

P in opposite directions from a common pressure level P_o, and

said second pressurized fluid control means inflates said third and fourth actuator strings with pressure increments Δ

P in opposite directions from the same common pressure level P_o,

bending said jointed member in various directions with the jointed member assuming various predictable predetermined positions determined by the various values of the equal and opposite pressure increments Δ

P.

8. A fluid-pressure actuated elongated jointed member as claimed in claim 7, in which:

said first pressurized fluid control means and said second pressurized fluid control means each comprises;

a source of pressurized air at regulated pressure,

four pressure-dropping flow resisting components connected to form a four-sided pneumatic bridge network having four corners, with an inlet junction and a vent to atmosphere located at two opposite corners of said bridge and wherein there are two junctions located at the respective other two opposite corners of the bridge forming first and second outlets from the bridge network,

said source of pressurized air is connected to said inlet junction for supplying pressurized air at regulated pressure to the bridge network,

the first pressure-dropping low resisting component located between said inlet junction and said first outlet is equal in effect to the second pressure-dropping flow resisting component located between said inlet junction and said second outlet,

the third pressure-dropping flow resisting component is located between said first outlet and said vent,

the fourth pressure-dropping flow resisting component is located between said second outlet and said vent, and

said first and second outlets of one of said bridge networks respectively communicate with the inlet ends of said first and second actuator strings, and the first and second outlets of the other of said bridge networks respectively communicate with the inlet ends of said third and fourth actuator strings, and

variable control means connected to said third and fourth components in each bridge network for varying their pressure-dropping effects by equal amounts in opposite directions from an initially equal condition.

9. A fluid-pressure actuated jointed member as claimed in claim 6, in which:

said elements have a socket aligned with the longitudinal axis, and

the pivotal relationship of the ends of the links with said elements comprises ends of the links received in said sockets.

10. A fluid-pressure actuated jointed member as claimed in claim 9, in which:

said ends of said links are tapered and are received in said sockets in low-friction non-captured relationships, and

said four actuator strings exert a net compressive force on said tapered ends and sockets in all positions of the jointed member,

thereby retaining said tapered ends in said sockets in spite of their non-captured relationship with their sockets.

11. The method for controlling movements of an elongated arm having a longitudinal axis comprising the steps of:

providing a pivotal mounting between one end of said arm and a support,

positioning first and second effectively identical fluid-inflatable tension actuators on opposite sides of said arm with said actuators extending generally parallel with the axis and being offset away from the axis on opposite sides of the arm,

connecting each tension actuator between the support and corresponding positions on the arm on opposite sides of the arm for causing the tension forces of said actuators acting on the arm to be opposed to each other,

inflating the first and second opposed tension actuators with pressurized gaseous fluid controllably varying by equal pressure increments Δ

P in opposite directions from a common pressure level Po for causing the arm to assume various predictable predetermined positions depending directly upon the various values of the pressure increments Δ

P,

said various predictable predetermined positions of the arm varying in a nearly linear relationship in response to the various specific values of the pressure increments Δ

P, and

said arm having a nearly uniform stiffness at all of its positions.

12. The method for controlling movements of an elongated arm as claimed in claim 11, including the further steps of:

providing pressurized air at a regulated pressure of 2P_o,

feeding some of such regulated pressurized air through first and second pressure-dropping components in serial relation and venting to atmosphere after flowing through the second component,

placing the first tension actuator in communication with a first outlet point in the flow path through said first and second components, such first outlet point being located between said first and second components,

feeding some of such regulated pressurized air through third and fourth pressure-dropping components in serial relationship and venting to atmosphere after flowing through the fourth component,

placing the second tension actuator in communication with a second outlet point in the flow path through said third and fourth components, such second outlet point being located between said third and fourth components,

initially setting the pressure-dropping effects of said first, second, third and fourth components to be equal for providing pressurized air at the same common pressure level P_o from said first and second outlets, and

controllably varying the pressure-dropping effects of said third and fourth components in opposite directions from their initial effects for causing the pressurized air supplied from said first and second outlets to said first and second tension actuators to vary in opposite directions by equal pressure increments Δ

P.

13. A fluid-pressure actuatable elongated jointed arm having an axis extending along the length of the arm, said arm being capable of reaching in various controlled directions, comprising:

base means,

a plurality of elongated links arranged in sequence in end-to-end relationship along the length of the axis of said arm,

the first of said links in said sequence being positioned near said base means and the last of said links in said sequence being positioned remote from said base means,

the first of said links having a pivotal mounting to said base means for enabling said first link to swing into various angular positions relative to said base means,

each successive link in said sequence having a pivotal mounting to the preceding link in said sequence for enabling each successive link to swing into various angular positions relative to the preceding link,

a plurality of rigid elements,

respective ones of said rigid elements being connected to the respective pivotal mountings between links,

said rigid elements projecting out on opposite sides of said axis,

a first plurality of fluid-inflatable tension actuators connected in sequence in end-to-end relationship with each actuator in the sequence communicating with the next successive actuator forming a first inflatable string of tension actuators,

a second plurality of fluid-inflatable tension actuators connected in sequence in end-to-end relationship with each actuator in the sequence communicating with the next successive actuator forming a second inflatable string of tension actuators,

the first string of tension actuators extending along the length of the arm and being offset to a first side of the axis,

said second string of tension actuators extending along the length of the arm and being offset to a second side of the axis opposite to said first side,

said first string of tension actuators being attached to the respective rigid elements at attachment positions offset to the first side of the axis,

said attachment positions being located along the first string at points located between tension actuators in the first string,

said second string of tension actuators being attached to the respective rigid elements at attachment positions offset to the second side of the axis, and

said latter attachment positions being located along the second string at points located between tension actuators in the second string.

14. A fluid-pressure actuatable elongated jointed arm as claimed in claim 13, in which:

controllable pressurized fluid supply means communicates with said first and second strings of tension actuators for controlling inflating said first and second strings of tension actuators with respective first and second sources of pressurized fluid variable oppositely upwardly and downwardly from a common pressure level Po for causing the arm to reach in various directions from said base means.

15. A fluid-pressure actuatable elongated jointed arm as claimed in claim 14, in which:

said first and second sources of pressurized fluid are oppositely varied by equal pressure increments Δ

P upwardly and downwardly, respectively, from a common pressure level P_o for causing the arm to reach into various predeterminable predictable specific positions depending directly upon the various magnitudes of the pressure increments Δ

P.

16. A fluid-pressure actuatable elongated jointed arm as claimed in claim 14, in which:

said pressurized fluid supply means comprises;

a source of pressurized air at regulated pressure,

four pressure dropping flow resisting components connected to form a four-sided pneumatic bridge network having four corners, with an inlet junction and a vent to atmosphere located at two opposite corners of said bridge and wherein there are two junctions located at the respective other two opposite corners of the bridge forming first and second outlets from the bridge network,

said source of pressurized air is connected to said inlet junction for supplying pressurized air at regulated pressure to the bridge network,

the first pressure-dropping flow resisting component located between said inlet junction and said first outlet is equal in effect to the second pressure-dropping flow resisting component located between said inlet junction and said second outlet,

the third pressure-dropping flow resisting component is located between said first outlet and said vent,

the fourth pressure-dropping flow resisting component is located between said second outlet and said vent,

said first and second outlets respectively communicate with said first and second actuator strings, and

there are control means connected to said third and fourth components for varying their pressure-dropping effects by equal amounts in opposite directions from an initially equal condition.

17. A fluid-pressure actuatable elongated jointed arm as claimed in claim 13, in which:

said rigid elements have first, second, third and fourth projections projecting outwardly from the axis and oriented with respect to each other about 90°

around the longitudinal axis of the arm,

there are first, second, third and fourth pluralities of fluid-inflatable tension actuators respectively joined end-to-end forming first, second, third and fourth strings of tension actuators,

said four strings of tension actuators all extend ge ne rally parallel with the axis and all are offset from the axis and are located at spaced positions separated from each other about 90°

around said longitudinal arm axis, and

said first, second, third and fourth strings of tension actuators are fastened to the respective first, second, third and fourth projections of said rigid elements for bending the jointed arm in various directions by varying the internal pressures of the tension actuators in the various strings.

18. A fluid-pressure actuatable elongated jointed arm as claimed in claim 18, in which:

a first pneumatic bridge operates said first and second actuator strings and a second pneumatic bridge operates said third and fourth actuator strings,

said first and second pneumatic bridges each comprises;

a source of pressurized air at regulated pressure,

four pressure-dropping flow resisting components connected to form a four-sided pneumatic bridge having four corners, with an inlet junction and a vent to atmosphere located at two opposite corners of said bridge and wherein there are two junctions located at the respective other two opposite corners of the bridge forming first and second outlets from the bridge,

said source of pressurized air is connected to said inlet junction for supplying pressurized air at regulated pressure to the bridge,

the first pressure-dropping flow resisting component located between said inlet junction and said first outlet is equal in effect to the second pressure-dropping flow resisting component located between said inlet junction and said second outlet,

the third pressure-dropping flow resisting component is located between said first outlet and said vent,

the fourth pressure-dropping flow resisting component is located between said second outlet and said vent, and

the first and second outlets of the first bridge communicate with said first and second actuator strings, respectively and the first and second outlets of the second bridge communicate with said third and fourth actuator strings, respectively, and

there are control means connected to said third and fourth components in both of said pneumatic bridges for varying the pressure-dropping effects of the third and fourth components in each bridge by equal amounts in opposite directions from an initially equal condition.

19. A fluid-actuatable elongated jointed arm comprising:

a support for the arm having first and second spaced fastening points,

a first rigid link extending longitudinally along the longitudinal axis of the arm,

said first link being pivotally mounted to said support at a first pivot position intermediate said first and second spaced fastening points,

first and second pneumatically inflatable tension actuators positioned on opposite sides of said link and each having an inlet end and an outlet end,

the inlet end of the first actuator being connected to the first fastening point,

the outlet end of the first actuator blocked and being connected to said link at a third fastening point remote from said pivot mounting,

the inlet end of the second actuator being connected to the second fastening point.

the outlet end of the second actuator being blocked and being connected to said link at a fourth fastening point remote from said pivot mounting,

a second rigid link extending longitudinally along the longitudinal axis of the arm pivotally mounted to the arm at a second pivot position remote from said first pivot position,

fifth and sixth spaced fastening points on said first link on opposite sides of said second pivot position and each being spaced from said second pivot position,

third and fourth pneumatically inflatable tension actuators positioned on opposite sides of said second link and each having an inlet end and an outlet end,

the inlet end of the third actuator being connected to the fifth fastening point,

the outlet end of the third actuator being blocked and being connected to said second link at a seventh fastening point remote from said second pivot position,

the inlet end of the fourth actuator being connected to the sixth fastening point, and

the outlet end of the fourth actuator being blocked and being connected to said second link at an eighth fastening point remote from said second pivot connection.

20. A fluid-actuatable elongated jointed arm as claimed in claim 19 in which:

each of said pivot mountings comprises a peg in a groove pivot.

21. A fluid-actuatable elongated jointed arm as claimed in claim 19, in which:

pressurized fluid control means communicates with the inlet ends of the first, second, third and fourth actuators for inflating said first and second actuators, respectively, and for inflating said third and fourth actuators, respectively, with pressurized fluid controllably varying by equal pressure increments Δ

P in opposite directions from a common pressure level P_o for causing the jointed arm to move into various positions coming to rest at various predetermined predictable positions depending directly upon the various specific values of the pressure increments Δ

P.

22. A fluid-pressure actuated elongated jointed member having a longitudinal axis and capable of being moved in various controlled directions, comprising:

a plurality of rigid elements located at respective positions spaced along said axis,

each of said elements extending across the axis and having first and second projections projecting outwardly on opposite sides of the axis, all of said first projections being on a first side of said axis and all of said second projections being on the second side of said axis,

said second side being opposite to said first side,

each of said elements being oriented generally perpendicular to the neighboring portion of the longitudinal axis at the respective position where the element crosses the axis,

a plurality of compression-carrying links positioned concentrically along the axis,

respective ones of said links extending between successive elements,

each link having a pivotal relationship with the adjacent element,

said compression-carrying links comprising a plurality of compressive air springs or air actuators of generally oblate form,

said air springs being constructed so that a decrease of length corresponds to a decrease in internal pressurized volume,

first and second pluralities of fluid-inflatable tension actuators,

each of said tension actuators having an inlet end and an outlet end,

the tension actuators of the first plurality being joined end-to-end for forming a first inflatable string with the outlet end of each actuator in said first string communicating with the inlet end of the next actuator in said first string, and with the outlet end of the last actuator in said first string being blocked,

the tension actuators of the second plurality being joined end-to-end for forming a second inflatable string with the outlet end of each actuator in said second string communicating with the inlet end of the next actuator in said second string, and with the outlet end of the last actuator in said second string being blocked,

the first string of tension actuators extending generally parallel with said axis and being offset from said axis on the first side of said axis,

the second string of tension actuators extending generally parallel with said axis and being offset from said axis on the second side of said axis,

said first string of tension actuators being fastened to the first projections of said elements with respective fastening connections being located near ends of tension actuators in said first string, and

said second string of tension actuators being fastened to the second projections of said elements with each respective fastening collection being located near ends of tension actuators in said second string.

23. A fluid-pressure actuated elongated jointed member as in claim 22, whose compression-carrying links comprise:

a plurality of compressive air springs of generally oblate form,

said air springs completely enveloping the tension actuators contained therein,

and where the pressure supplies for the tension actuators operate so that P_o ±

Δ

P is measured relative to the internal pressure of the compressive air springs or air-actuators.

25. A jointed member as claimed in claim 23, in which:

said compression-carrying means are pivotal links.

26. A fluid-pressure actuated elongated jointed member as claimed in claim 25, in which:

said pivotal links provide swinging movement in three dimensions,

said tension actuators are arranged in communication end-to-end forming third and fourth strings of tension actuators,

said third and fourth strings are positioned on opposite sides of said axis with respective tension actuators of said third and fourth strings so connected to said rigid elements as to form pairs of opposed tension actuators between successive rigid elements, and

said first, second, third and fourth strings are arranged in order first, second, third and fourth around said axis for enabling movement of said elongated jointed member in three dimensions of movement by controllably inflating said first, second, third and fourth strings of tension actuators.

24. A fluid-pressure actuated elongated jointed member having a longitudinal axis and capable of being moved about in various controlled directions, comprising:

a plurality of rigid elements extending across the axis at spaced positions along the axis, forming a succession of such elements,

a plurality of fluid-actuatable tension actuators,

each of said tension actuators having an inflatable flexible bladder extending between two spaced ends and said ends of each actuator having a passage therein providing communication with the interior of the bladder through each end,

said tension actuators being arranged in communication end-to-end forming first and second strings of tension actuators,

said first and second strings being positioned on opposite sides of said axis with respective tension actuators so connected to said rigid elements as to form pairs of opposed tension actuators between successive rigid elements, and

compression-carrying means positioned concentrically with respect to the axis and between successive rigid elements so as to provide pivotal joints between successive rigid elements.

27. A fluid-pressure actuated eloungated jointed member as claimed in claim 24, further comprising:

another plurality of fluid actuatable tension actuators,

each of said tension actuators of said another plurality having an inflatable flexible bladder extending between two spaced ends and said ends of each actuator having a passage therein providing communication with the interior of the bladder through each end,

said tension actuators of said another plurality being arranged in communication end-to-end forming third and fourth strings of tension actuators,

said third and fourth strings being positioned on opposite sides of said axis with respective tension actuators of said third and fourth strings so connected to said rigid elements as to form pairs of opposed tension actuators between successive rigid elements,

said first, second, third and fourth strings being arranged in order first, second, third and fourth around said axis,

said compression-carrying means providing pivotal joints enabling said rigid elements to swing into various angular positions in three dimensions, and

controllable pressurized fluid supply means communicating with the bladders of said first, second, third and fourth strings for moving said elongated jointed member into various positions with three dimensions of movement.

28. A fluid pressure actuated elongated member having a longitudinal axis and capable of being moved about in various controlled directions, comprising:

a plurality of rigid elements extending across the axis at spaced positions along the axis, forming a succession of such elements,

a plurality of fluid-actuatable tension actuators,

each of said tension actuators having an inflatable flexible bladder extending between two spaced ends and said ends of each actuator having a passage therein providing communication with the interior of the bladder through each end,

said tension actuators being arranged in communication end-to-end forming first and second strings of tension actuators,

said first and second strings being positioned on opposite sides of said axis with respective tension actuators so connected to said rigid elements as to form pairs of opposed tension actuators between successive rigid elements, and

compression-carrying means positioned concentrically with respect to the axis and between successive rigid elements so as to provide pivotal joints between successive rigid elements,

said compression-carrying means being bendable.

29. A fluid-pressure actuated elongated jointed member having a longitudinal axis and capable of being moved about in various controlled directions, comprising:

a plurality of rigid elements extending across the axis at spaced positions along the axis, forming a succession of such elements,

a plurality of fluid-actuatable tension actuators,

each of said tension actuators having an inflatable flexible bladder extending between two spaced ends and said ends of each actuator having a passage therein providing communication with the interior of the bladder through each end,

said tension actuators being arranged in communication end-to-end forming first and second strings of tension actuators,

said first and second strings being positioned on opposite sides of said axis with respective tension actuators so connected to said rigid elements as to form pairs of opposed tension actuators between successive rigid elements, and

compression-carrying means positioned concentrically with respect to the axis and between successive rigid elements so as to provide pivotal joints between successive rigid elements,

said compression-carrying means being compression actuators positioned between the opposed pairs of tension actuators.

30. A fluid-pressure actuated elongated jointed member having a longitudinal axis and capable of being moved about in various controlled directions comprising:

a plurality of rigid elements extending across the axis at spaced positions along the axis, forming a succession of such elements,

a plurality of fluid-actuatable tension actuators,

each of said tension actuators having an inflatable flexible bladder extending between two spaced ends and said ends of each actuator having a passage therein providing communication with the interior of the bladder through each end,

said tension actuators being arranged in communication end-to-end forming first and second strings of tension actuators,

said first and second strings being positioned on opposite sides of said axis with respective tension actuators so connected to said rigid elements as to form pairs of opposed tension actuators between successive rigid elements, and

compression-carrying means positioned concentrically with respect to the axis and between successive rigid elements so as to provide pivotal joints between successive rigid elements,

said compression-carrying means are compression actuators each having an inflatable flexible bladder, and

the bladder of each compression actuator encircles a pair of opposed tension actuators.

31. A jointed member as claimed in claim 30, in which:

the bladder of each compression actuator has generally the shape of a tire inner tube.

32. A fluid-pressure actuated elongated jointed member as claimed in claim 30, in which:

the flexible inflatable bladders of the compression actuators encircle said first and second strings of tension actuators, and

the flexible inflatable bladders of the compression actuators serve as the skin of the jointed member.

33. A fluid-pressure actuated elongated jointed member as claimed in claim 30, in which:

each of said rigid elements has a perimeter,

the flexible inflatable bladders of the compression actuators encircle said first and second strings of tension actuators and are connected to the perimeters of said rigid elements,

the flexible inflatable bladders of the compression actuators serve as the skin of the jointed member, and

said rigid elements include means providing communication between the flexible inflatable bladders of the compression actuators for enabling their simultaneous inflation and deflation.

34. A fluid-pressure actuated elongated jointed member as claimed in claim 30, in which:

said elongated jointed member has a skin,

the flexible inflatable bladders of the compression actuators encircle said first and second strings of tension actuators, and

the flexible inflatable bladders of the compression actuators are associated with the skin of said elongated jointed member.

35. A fluid-pressure actuated elongated jointed member having a longitudinal axis and capable of being moved about in various controlled directions comprising:

a plurality of rigid elements extending across the axis at spaced positions along the axis, forming a succession of such elements,

a plurality of fluid-actuatable tension actuators,

each of said tension actuators having an inflatable flexible bladder extending between two spaced ends and said ends of each actuator having a passage therein providing communication with the interior of the bladder through each end,

said tension actuators being arranged in communication end-to-end forming first and second strings of tension actuators,

said first and second strings being positioned on opposite sides of said axis with respective tension actuators so connected to said rigid elements as to form pairs of opposed tension actuators between successive rigid elements, and

compression-carrying means positioned concentrically with respect to the axis and between successive rigid elements so as to provide pivotal joints between successive rigid elements,

said compression-carrying means are compression actuators each having an inflatable flexible bladder, and

the bladder of each compression actuator has generally an oblate shape.

36. A fluid-pressure actuated elongated jointed member as claimed in claim 35, in which:

said tension actuators are arranged in communication end-to-end forming third and fourth strings of tension actuators,

said third and fourth strings are positioned on opposite sides of said axis with respective tension actuators of said third and fourth strings so connected to said rigid elements as to form pairs of opposed tension actuators between successive rigid elements, and

said first, second, third and fourth strings of tension actuators are arranged in order first, second, third and fourth around said axis for enabling movement of said elongated jointed member in three dimensions of movement by controllably inflating said first, second, third and fourth strings of tension actuators.

37. A fluid-pressure actuated elongated jointed member having a longitudinal axis and capable of being moved about in various controlled directions, comprising:

a plurality of rigid elements extending across the axis at spaced positions along the axis, forming a succession of such elements,

a plurality of fluid-actuatable tension actuators,

each of said tension actuators having an inflatable flexible bladder extending between two spaced ends and said ends of each actuator having a passage therein providing communication with the interior of the bladder through each end,

said tension actuators being arranged in communication nd-to-end forming first and second strings of tension actuators,

said first and second strings being positioned on opposite sides of said axis with respective tension actuators so connected to said rigid elements as to form pairs of opposed tension actuators between successive rigid elements, and

compression-carrying means positioned concentrically with respect to the axis and between successive rigid elements so as to provide pivotal joints between successive rigid elements,

said compression-carrying means are compression actuators each having an inflatable flexible bladder, and

the bladder of each compression actuator has generally toroidal shape.

38. A fluid-pressure actuated elongated jointed member as claimed in claim 37, in which:

the toroidal shaped bladder of each compression actuator encircles a pair of opposed tension actuators.

39. A fluid-pressure actuated elongated jointed member as claimed in claim 37 in which:

said tension actuators are arranged in communication end-to-end forming third and fourth strings of tension actuators,

said third and fourth strings are positioned on opposite sides of said axis with respective tension actuators of said third and fourth strings so connected to said rigid elements as to form pairs of opposed tension actuators between successive rigid elements,

said first, second, third and fourth strings of tension actuators are arranged in order around said axis for enabling movement of said elongated member in three dimensions of movement by controllably inflating said first, second, third and fourth strings of tension actuators, and

the toroidal shaped bladder of each compression actuator encircles a pair of opposed tension actuators of said first and second string and encircles a pair of opposed tension actuators of said third and fourth string.

40. A fluid-pressure actuated elongated jointed member having a longitudinal axis and capable of being moved about in various controlled directions, comprising:

a plurality of rigid elements extending across the axis at spaced positions along the axis, forming a succession of such elements,

a plurality of fluid-actuatable tension actuators,

each of said tension actuators having an inflatable flexible bladder extending between two spaced ends and said ends of each actuator having a passage therein providing communication with the interior of the bladder through each end,

said tension actuators being arranged in communication end-to-end forming first and second strings of tension actuators,

said first and second strings being positioned on opposite sides of said axis with respective tension actuators so connected to said rigid elements as to form pairs of opposed tension actuators between successive rigid elements, and

compression-carrying means positioned concentrically with respect to the axis and between successive rigid elements so as to provide pivotal joints between successive rigid elements,

said compression-carrying means are compression actuators chamber, and

said inflatable chambers are in communication with each other for enabling said compression actuators to be deflated for collapsing the jointed member upon concurrent deflation of all tension actuators so to permit compact storage of said jointed member.