Multi-segment reinforced actuators and applications
First Claim
1. A method for variable actuation along multiple segments of an actuator, the method comprising:
- attaching a soft actuator body to a digit of a human hand, wherein the digit includes a plurality of joints, and wherein the soft actuator body defines a chamber and includes a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body; and
pumping fluid into or out of the chamber to produce an actuation motion in each segment of the soft actuator body selected from at least one of the following types;
bending, extending, expansion, contraction, twisting and combinations thereof, wherein the respective reinforcement structures in the segments cause a first segment to actuate with a motion of a first type and cause a second segment to actuate with a motion of a second type, wherein the first type is a different type than the second type, and wherein the respective actuation motions in the respective segments cause or mechanically assist the digit to bend or straighten at the joints.
1 Assignment
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Accused Products
Abstract
A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator or body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.
8 Citations
17 Claims
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1. A method for variable actuation along multiple segments of an actuator, the method comprising:
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attaching a soft actuator body to a digit of a human hand, wherein the digit includes a plurality of joints, and wherein the soft actuator body defines a chamber and includes a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body; and pumping fluid into or out of the chamber to produce an actuation motion in each segment of the soft actuator body selected from at least one of the following types;
bending, extending, expansion, contraction, twisting and combinations thereof, wherein the respective reinforcement structures in the segments cause a first segment to actuate with a motion of a first type and cause a second segment to actuate with a motion of a second type, wherein the first type is a different type than the second type, and wherein the respective actuation motions in the respective segments cause or mechanically assist the digit to bend or straighten at the joints. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for variable actuation along multiple segments of an actuator, the method comprising:
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using a soft actuator body that defines a chamber and that includes a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body; pumping fluid into or out of the chamber to produce an actuation motion in each segment of the soft actuator body selected from at least one of the following types;
bending, extending, expansion, contraction, twisting and combinations thereof, wherein the respective reinforcement structures in the segments cause a first segment to actuate with a motion of a first type and cause a second segment to actuate with a motion of a second type, wherein the first type is a different type than the second type; andgrasping or displacing an internal body part or soft tissue with the actuator via the actuations during surgery. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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Specification