Disclosed here is a system and method to control multiple eversion-based actuators using a single motor, or no motor, thereby reducing the size and cost of the multiple eversion-based actuators. An activation mechanism can include a motor rotating in an expansion direction, rotating shaft, clutch, brake, pressure source under high pressure, and/or valve. The activation mechanism can cause the actuators including a wound reel of material to unwind and lengthen. A retraction mechanism can include a motor rotating in a contraction direction opposite the expansion direction, rotating shaft, clutch, pressure source having low pressure, valve associated with the pressure source, and/or the passive retraction system. The retraction mechanism can cause the actuators to rewind and shorten.

A motor powered by linear actuators comprises a base plane in which a plurality of linear actuators (2, 2, 2, 20) operate by reciprocating along respective lines of action (X, X, X), an elastic conversion member (3, 30) which is adapted to move in the plane and suitable to be connected to a drive shaft (S). The linear actuators (2, 2, 2, 20) are operatively connected with the conversion member (3, 30) for converting the reciprocating motion of the linear actuators (2, 2, 2, 20) into a substantially continuous motion of the conversion member (3, 30). The motor also comprises stationary constraint means (4, 40) which are adapted to selectively interact with the conversion member (3, 30) to locally deform it and/or promote sliding and movement thereof the plane about a predetermined axis or in a predetermined direction in response to the action of the linear actuators (2, 2, 2, 20).

A motor powered by linear actuators comprises a base plane in which a plurality of linear actuators (2, 2, 2, 20) operate by reciprocating along respective lines of action (X, X, X), an elastic conversion member (3, 30) which is adapted to move in the plane and suitable to be connected to a drive shaft (S). The linear actuators (2, 2, 2, 20) are operatively connected with the conversion member (3, 30) for converting the reciprocating motion of the linear actuators (2, 2, 2, 20) into a substantially continuous motion of the conversion member (3, 30). The motor also comprises stationary constraint means (4, 40) which are adapted to selectively interact with the conversion member (3, 30) to locally deform it and/or promote sliding and movement thereof the plane about a predetermined axis or in a predetermined direction in response to the action of the linear actuators (2, 2, 2, 20).

Disclosed here is a system and method to control multiple eversion-based actuators using a single motor, or no motor, thereby reducing the size and cost of the multiple eversion-based actuators. An activation mechanism can include a motor rotating in an expansion direction, rotating shaft, clutch, brake, pressure source under high pressure, and/or valve. The activation mechanism can cause the actuators including a wound reel of material to unwind and lengthen. A retraction mechanism can include a motor rotating in a contraction direction opposite the expansion direction, rotating shaft, clutch, pressure source having low pressure, valve associated with the pressure source, and/or the passive retraction system. The retraction mechanism can cause the actuators to rewind and shorten.

Disclosed here is a system and method to control multiple eversion-based actuators using a single motor, or no motor, thereby reducing the size and cost of the multiple eversion-based actuators. An activation mechanism can include a motor rotating in an expansion direction, rotating shaft, clutch, brake, pressure source under high pressure, and/or valve. The activation mechanism can cause the actuators including a wound reel of material to unwind and lengthen. A retraction mechanism can include a motor rotating in a contraction direction opposite the expansion direction, rotating shaft, clutch, pressure source having low pressure, valve associated with the pressure source, and/or the passive retraction system. The retraction mechanism can cause the actuators to rewind and shorten.

A rotary actuator and a method of using same are disclosed. The rotary actuator includes a rotor having a body and defining a plurality of contact surfaces, and a stator having a body and defining a plurality of inflatable bladders circumferentially spaced about the stator body. The stator is positioned relative to the rotor such that upon sequential inflation of the plurality of inflatable bladders, the rotor is caused to rotate.

A rotary actuator and a method of using same are disclosed. The rotary actuator includes a rotor having a body and defining a plurality of contact surfaces, and a stator having a body and defining a plurality of inflatable bladders circumferentially spaced about the stator body. The stator is positioned relative to the rotor such that upon sequential inflation of the plurality of inflatable bladders, the rotor is caused to rotate.

A bi-directional pneumatic actuating unit includes a unitary structure having a central base member, a pair of opposed inflatable pneumatic chambers for applying force in different directions, one mounted on either side of the central base member, and air supply and exhaust access ports connected to each of the pneumatic chambers for selectively supplying air to and exhausting air from each of the pneumatic chambers.

A bi-directional pneumatic actuating unit includes a unitary structure having a central base member, a pair of opposed inflatable pneumatic chambers for applying force in different directions, one mounted on either side of the central base member, and air supply and exhaust access ports connected to each of the pneumatic chambers for selectively supplying air to and exhausting air from each of the pneumatic chambers.

One aspect of the invention provides an articulating device including: an inflatable elastic layer and a textile shell surrounding or impregnated within at least a portion of the inflatable elastic layer. The textile shell includes at least two regions having different material properties or knit patterns. The textile shell selectively constrains expansion of the inflatable elastic layer to produce controlled bending or torsion. Another aspect of the invention provides an articulating device including: an inflatable elastic layer and a textile shell surrounding or impregnated within at least a portion of the inflatable elastic layer. The textile shell has a curved profile and selectively constrains expansion of the inflatable elastic layer to produce controlled bending.