Fluid actuated limb

• US 4,792,173 A
• Filed: 10/30/1987
• Issued: 12/20/1988
• Est. Priority Date: 10/30/1987
• Status: Expired due to Fees

• Current Assignee: Duke University
• Original Assignee: Duke University
• Inventors: Wilson, James F.
• Primary Examiner(s): CHERRY, JOHNNY DAN
• Application Number:
  US07/115,243
• Time in Patent Office: 417 Days
• Field of Search: 294/63.2, 294/86.4, 294/98.1, 294/99.1, 294/119.3, 52/2 H, 52/2 J, 52/2 K, 74/469, 74/479, 91/36, 92/13.2, 92/35, 92/37, 92/48, 92/90-92, 138/130, 138/144, 414/4, 414/7, 414/729, 414/735, 623/26, 623/27, 623/57, 623/64, 623/65, 901/2, 901/14, 901/16-19, 901/21, 901/22, 901/27, 901/30, 901/31, 901/36, 901/37, 901/39, 901/50
• US Class Current: 294/119.3
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 9/1075 with muscles or tendons
• 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

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.

Claims

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.

2. A fluid actuated limb according to claim 1 wherein said elongate flexible core member is a tube.

3. A fluid actuated limb according to claim 1 wherein said elongate flexible core member is a bellows.

4. A fluid actuated limb according to claim 1 said first plurality of tubes, said second plurality of tubes and said third plurality of tubes are bellows.

5. A fluid actuated limb according to claim 1 wherein said first plurality of tubes are positioned next adjacent to said core member, said second plurality of tubes are wrapped around said first plurality of tubes, and said third plurality of tubes are wrapped around said second plurality of tubes.

6. A fluid actuated limb according to claim 5 wherein said core member and each of said first plurality of tubes have an equal radius, and said first plurality of tubes are each tapered in the direction remote from the secured end of said core member.

7. A fluid actuated limb according to claim 1 wherein said second plurality of tubes are wrapped around said core member, said third plurality of tubes are wrapped around said second plurality of tubes, and said first plurality of tubes are positioned radially outwardly and substantially around the circumference of said third plurality of tubes.

8. A fluid actuated limb according to claim 7 wherein each of said first plurality of tubes has a radius equal to the radius of the bundle formed by said core member wrapped by said second and third plurality of tubes, and said limb is tapered in the direction remote from the secured end thereof.

9. A fluid actuated limb according to claim 6 or 8 wherein the outside diameter of said limb varies according to the equation:

space="preserve" listing-type="equation">D=cy.sup.1/3 +D.sub.o

where D_o is limb diameter at the unsecured end of the limb, D is limb diameter, c is a constant, and y is the distance from the unsecured end of said limb to D.

10. A fluid actuated limb according to claim 1 wherein said limb includes a compressible material in the interstices thereof.

11. A fluid actuated limb according to claim 10 wherein said compressible material comprises a polymeric cushioning material.

12. A fluid actuated limb according to claim 1 wherein said first plurality of tubes comprises about 4-8 tubes.

13. A fluid actuated limb according to claim 1 wherein said second plurality of tubes comprises about 4-20 tubes.

14. A fluid actuated limb according to claim 1 wherein said third plurality of tubes comprises about 4-20 tubes.

15. 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 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.

16. A fluid actuated limb according to claim 15 wherein said elongate flexible core member is a tube.

17. A fluid actuated limb according to claim 15 wherein said elongate flexible core member is a bellows.

18. A fluid actuated limb according to claim 15 wherein said first plurality of tubes, said second plurality of tubes and said third plurality of tubes are bellows.

19. A fluid actuated limb according to claim 15 wherein said core member and said first plurality of tubes have an equal radius, and said limb is tapered in the direction remote from the secured end thereof.

20. A fluid actuated limb according to claim 19 wherein the outside diameter of said limb varies according to the equation:

space="preserve" listing-type="equation">D=cy.sup.1/3 +D.sub.o

where D_o is the diameter at the unsecured end of limb, D is limb diameter, c is constant, and y is the distance from the unsecured end of said limb to D.

21. A fluid actuated limb according to claim 15 wherein said limb includes a polymeric cushioning material in the interstices thereof.

22. A fluid actuated limb according to claim 15 wherein said first plurality of tubes comprises 4-8 tubes, said second plurality of tubes comprises 4-20 tubes, and said third plurality of tubes comprises 4-20 tubes.

23. 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 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.

24. A fluid actuated limb according to claim 23 wherein said elongate flexible core member is a tube.

25. A fluid actuated limb according to claim 23 wherein said elongate flexible core member is a bellows.

26. A fluid actuated limb according to claim 23 wherein said first plurality of tubes, said second plurality of tubes and said third plurality of tubes are bellows.

27. A fluid actuated limb according to claim 23 wherein each of said third plurality of tubes has a radius equal to the radius of the bundle formed by said core member and said first and second plurality of tubes, and said limb is tapered in the direction remote from the secured end thereof.

28. A fluid actuated limb according to claim 27 wherein the outside diameter of said limb varies according to the equation:

space="preserve" listing-type="equation">D=cy.sup.1/3 +D.sub.o

where D_o is the diameter at the unsecured end of the limb, D is limb diameter, c is constant, and y is the distance from the unsecured end of said limb to D.

29. A fluid actuated limb according to claim 23 wherein said limb includes a polymeric cushioning material in the interstices thereof.

30. A fluid actuated limb according to claim 23 wherein said first plurality of tubes comprises 4-20 tubes, said second plurality of tubes comprises 4-20 tubes, and said third plurality of tubes comprises 4-8 tubes.