Hydraulically energized magnetorheological replicant muscle tissue and a system and a method for using and controlling same

• US 6,168,634 B1
• Filed: 03/25/1999
• Issued: 01/02/2001
• Est. Priority Date: 03/25/1999
• Status: Expired due to Term

• Current Assignee: Geoffrey W. Schmitz
• Original Assignee: Geoffrey W. Schmitz
• Inventors: Schmitz, Geoffrey W.
• Primary Examiner(s): Willse, David H.
• Assistant Examiner(s): GHERBI, SUZETTE JAIME J
• Application Number:
  US09/275,953
• Time in Patent Office: 649 Days
• Field of Search: 623/24, 623/157, 901/2, 901/8, 901/9, 901/10, 901/22, 901/27, 901/28, 901/37, 335/29, 335/38, 414/2, 414/4
• US Class Current: 623/24
• CPC Class Codes: A61F 2/54 Artificial arms or hands or parts thereof
• CPC Class Codes: A61F 2/74 fluid , i.e. hydraulic or pneumatic
• CPC Class Codes: A61F 2002/5066 Muscles implantable A61F2002/0894
• CPC Class Codes: A61F 2002/6863 magnetic magnetic prosthetic parts A61F2002/30079
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2002/7655 for measuring fluid pressure
• 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
• CPC Class Codes: F15B 21/065 Use of electro- or magnetosensitive fluids, e.g. electrorheological fluid

Abstract

A hydraulically energized magnetorheological replicant muscle tissue is provided as well as a system and method for using and controlling the same. The artificial muscle tissue is capable of causing motion, inducing force and enabling control thereof with life-like action. Numerous muscle tissue elements may be combined together to form a tissue capable of causing motion, inducing force and enabling control. Each muscle tissue element may receive fluid from a fluid supply. Control of fluid entering and exiting the muscle tissue element through valves may be effected using a central processing unit. As a result thereof, life-like action and artificial muscle tissue may be formed that replicates actual muscle tissue.

Claims

1. An artificial muscle tissue element comprising:

a fiber forming an interior between a first end and a second end;

a valve element at each of the first end and the second end; and

magnetorheological fluid in the interior of the fiber wherein the fluid enters and exits through the valve elements.

2. The element of claim 1 wherein the valve elements include an electromagnetic coil.

3. The element of claim 1 wherein the fiber is linearly stiff and radially compliant.

4. The element of claim 1 further comprising:

a plurality of fibers wherein each of the plurality of fibers includes a valve element.

5. The element of claim 1 wherein the valve elements may be open, closed, or partially open.

6. An artificial muscle tissue comprising:

a plurality of muscle fiber elements each having an interior formed between a first end and a second end;

valve elements associated with at least one end of each of the plurality of muscle fiber elements; and

magnetorheological fluid in the interior of each of the plurality of fiber elements wherein the fluid enters and exits through the valve elements.

7. The tissue of claim 6 further comprising:

an anchor point at one end of each of the plurality of fiber elements commonly connecting the ends.

8. The tissue of claim 6 further comprising:

an electromagnetic coil at an opening at one end of each of the plurality of fiber elements.

9. The tissue of claim 6 wherein each of the plurality of muscle fiber elements varies in size and number.

10. A system for replicating and controlling artificial muscle tissue, the system comprising:

a plurality of muscle fiber elements connected commonly at their respective ends wherein each of the plurality of muscle fiber elements has an interior;

valve elements associated with one end of each of the plurality of muscle fiber elements;

magnetorheological fluid in the interior of the fiber elements wherein the fluid enters and exits through the valve elements; and

processing means connected to each of the valve elements controlling the entry and egress of the magnetorheological fluid.

11. The system of claim 10 further comprising:

heating means connected to the processing means to control temperature of the fluid.

12. The system of claim 10 further comprising:

input means connected to the processing means.

13. The system of claim 10 further comprising:

display means connected to the processing means.

14. The system of claim 10 wherein the processing means controls variables associated with the fluid.