Motorized joint

• US 4,944,755 A
• Filed: 06/20/1988
• Issued: 07/31/1990
• Est. Priority Date: 10/21/1986
• Status: Expired due to Fees

• Current Assignee: Air Muscle Limited
• Original Assignee: Air Muscle Limited
• Inventors: Fluck, Peter, Hennequin, James R.
• Primary Examiner(s): Apley, Richard J.
• Assistant Examiner(s): Cheng, Joe H.
• Application Number:
  US07/213,701
• Time in Patent Office: 771 Days
• Field of Search: 623/24, 623/25, 623/26, 623/39, 623/59, 623/61, 623/62, 623/19, 623/18, 128/26, 901/21, 901/28
• US Class Current: 623/18.11
• CPC Class Codes: A61F 2/08 Muscles; Tendons; Ligaments sutures A61B17/04
• CPC Class Codes: A61F 2/30 Joints
• CPC Class Codes: A61F 2/581 Shoulder joints
• CPC Class Codes: A61F 2/604 Joints for artificial legs A61F2/605, A61F2/64, A61F2/6607 take precedence
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/74 fluid , i.e. hydraulic or pneumatic
• CPC Class Codes: A61F 2002/0894 Muscles non-implantable A61F2002/5066
• CPC Class Codes: A61F 2002/30581 having a pocket filled with fluid, e.g. liquid
• CPC Class Codes: A61F 2002/501 having an inflatable pocket filled with fluid, i.e. liquid or gas
• CPC Class Codes: A61F 2002/5039 allowing only for single rotation
• CPC Class Codes: A61F 2002/7862 Harnesses, straps for connecting prosthetic parts A61F2002/30462
• 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 invention provides a motorized joint which has a pair of members that are movable relative to one another about a joint. Power to actuate the joint is provided by an inflatable hose inflating to transmit the force due to the expansion thereof via a strap or other elements interconnecting the members. The motorized joint can be covered with artificial flesh which, together with the expansion of the inflatable hose, creates the realistic appearance of a muscle flexing.

Claims

1. A motorized joint comprising a pair of relatively movable members;

an elongate, inflatable element having an inextensible wall;

means for holding apart opposing inner surfaces of the inflatable element such that a fluid passage exists within the inflatable element;

actuating means having means for inflating the inflatable element causing it to increase in cross section; and

means mounting the two ends of said inflatable element in a folded condition on one of the relatively movable members and acting on the other relatively movable member whereby inflation of the inflatable element causes relative movement between the relatively movable members.

2. A motorized joint according to claim 1 wherein the relatively movable members are mounted for relative rotation about parallel axes, and further including means for transmitting a force resulting from inflation of the inflatable element to the other relatively movable member to effect relative rotation of the relatively movable members.

3. A motorized joint according to claim 2, wherein the relatively movable members are mounted in a framework interconnecting each other and permitting relative rotation therebetween.

4. A motorized joint according to claim 1 wherein the inflatable element comprises a length of inflatable, hollow hose sealed at one end and unsealed at the other end and having a generally flat transverse cross section when in a deflated state.

5. A motorized joint according to claim 4 wherein the means to inflate the inflatable element comprises means to supply fluid under pressure to the interior of said inflatable element, said supply fluid means including a fluid supply pipe retained in an aperture at the unsealed end of the inflatable element;

at least one sealing block means adapted to seal said unsealed end of the inflatable element having the fluid supply pipe retained therein;

clamping means to press said sealing block means into contact with said ends of the inflatable element against a reaction surface also adapted to accommodate said ends of the inflatable element;

pressurized fluid supply means selectively connectable to said supply pipe to supply inflating fluid thereto; and

venting means selectively connectable to said supply pipe for use in deflating said inflatable element.

6. A motorized joint according to claim 1 further comprising means for securing the inflatable element to at least one of said relatively movable members, said means for securing including clamping means for securing the inflatable element to at least one of said relatively movable member.

7. A motorized joint according to claim 1 wherein the means for holding apart opposing inner surfaces of the inflatable element comprises a length of flat, flexible, moulded plastic netting of narrow width than the narrowest transverse dimension of the inflatable element when inflated, said length of netting being inserted lengthwise in said inflatable element to maintain separation of opposing inner surfaces of the inflatable element on collapsing of said inflatable element on deflation, folding and kinking thereof.

8. A motorized joint according to claim 1 further comprising spring means interconnecting the relatively movable members, said spring means, on deflation of the inflatable element, causes reversal of the movement between the relatively movable members.

9. A motorized joint according to claim 1 further comprising a pneumatic circuit arranged to control inflation and deflation of the inflatable element.

10. A motorized joint according to claim 1 further comprising an hydraulic circuit arranged to control inflation and deflation of the inflatable element.