Fluid actuated limb
First Claim
1. A fluid actuated limb comprising:
- an elongate flexible core member adapted to be secured at one end to a support;
a first plurality of flexible elongate tubes extending substantially parallel to said core member and being radially spaced therefrom around substantially the entire circumference of said core member, said first plurality of tubes being adapted for longitudinal extension and contraction in response to increases and decreases, respectively, in fluid pressure applied thereto;
a second plurality of flexible elongate tubes being radially spaced from said core member and helically wrapped around substantially the entire length thereof in a first helical direction, said second plurality of tubes being adapted for longitudinal extension and contraction in response to increases and decreases, respectively, in fluid pressure applied thereto; and
a third plurality of flexible elongate tubes being radially spaced from said core member and helically wrapped around substantially the entire length thereof in a second helical direction opposite to said first helical direction, said third plurality of tubes being adapted for longitudinal extension and contraction in response to increases and decreases, respectively, in fluid pressure applied thereto;
whereby said limb may be selectively actuated to effect movement including extension and contraction, bending, right hand and left hand twisting, and desired combinations thereof.
1 Assignment
0 Petitions
Accused Products
Abstract
A fluid actuated limb comprising an elongate flexible core member having a first plurality of bellows extending parallel to the core member and being radially spaced from the core member around substantially the entire circumference thereof. A second plurality of bellows are radially spaced from the core member and helically wrapped around the length of the core member in a first helical direction, and a third plurality of bellows are radially spaced from the core member and helically wrapped around the length thereof in a second helical direction opposite to the first helical direction. Fluid air pressure selectively applied to the limb results in limb movements including extension and contraction, bending with resistance to torsion, right hand and left hand rotation, and combinations of the aforementioned movements.
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Citations
30 Claims
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1. A fluid actuated limb comprising:
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an elongate flexible core member adapted to be secured at one end to a support; a first plurality of flexible elongate tubes extending substantially parallel to said core member and being radially spaced therefrom around substantially the entire circumference of said core member, said first plurality of tubes being adapted for longitudinal extension and contraction in response to increases and decreases, respectively, in fluid pressure applied thereto; a second plurality of flexible elongate tubes being radially spaced from said core member and helically wrapped around substantially the entire length thereof in a first helical direction, said second plurality of tubes being adapted for longitudinal extension and contraction in response to increases and decreases, respectively, in fluid pressure applied thereto; and a third plurality of flexible elongate tubes being radially spaced from said core member and helically wrapped around substantially the entire length thereof in a second helical direction opposite to said first helical direction, said third plurality of tubes being adapted for longitudinal extension and contraction in response to increases and decreases, respectively, in fluid pressure applied thereto; whereby said limb may be selectively actuated to effect movement including extension and contraction, bending, right hand and left hand twisting, and desired combinations thereof. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A fluid actuated limb comprising:
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an elongate flexible core member adapted to be secured at one end to a support; a first plurality of flexible elongate tubes extending substantially parallel to said core member and positioned next adjacent to and substantially around the circumference thereof, said first plurality of tubes being adapted for longitudinal extension and contraction in response to increases and decreases, respectively, in fluid pressure applied thereto; a second plurality of flexible elongate tubes helically wrapped around said first plurality of tubes in a first helical direction, said second plurality of tubes being adapted for longitudinal extension and contraction in response to increases and decreases, respectively, in fluid pressure applied thereto; and a third plurality of flexible elongate tubes helically wrapped around said second plurality of tubes in a second helical direction opposite to said first helical direction, said third plurality of tubes being adapted for longitudinal extension and contraction in response to increases and decreases, respectively, in fluid pressure applied thereto; whereby said limb may be selectively actuated to effect movements including extension and contraction, bending, right hand and left hand twisting, and desired combinations thereof. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22)
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23. A fluid actuated limb comprising:
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an elongate flexible core member adapted to be secured at one end to a support; a first plurality of flexible elongate tubes helically wrapped around said core member in a first helical direction, said first plurality of tubes being adapted for longitudinal extension and contraction in response to increases and decreases, respectively, in fluid pressure applied thereto; a second plurality of flexible elongate tubes helically wrapped around said first plurality of tubes in a second helical directed opposite to said first direction, said second plurality of tubes being adapted for longitudinal extension and contraction response to increases and decreases, respectively, in fluid pressure applied thereto; a third plurality of flexible elongate tubes extending substantially parallel to said core member and positioned radially outwardly from and around the circumference of said second plurality of tubes, said third plurality of tubes being adapted for longitudinal extension and contraction in response to increases and decreases, respectively, in fluid pressure applied thereto; whereby said limb may be selectively actuated to effect movements including extension and contraction, bending, right hand and left hand twisting, and desired combinations thereof. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30)
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Specification