Aspects of the disclosure relate to methods, apparatus, and systems for actuating a soft robot. An actuation system includes a camshaft, a motor configured to drive the camshaft to rotate around a rotational axis, and an air bladder configured to expel fluid from the air bladder during compression and draw fluid into the air bladder during decompression. The system further includes a cam coupled to the camshaft that is configured to rotate around the rotational axis when the camshaft is driven and compress or decompress the air bladder based on a physical profile of the cam as the cam rotates around the rotational axis. The system also includes a soft robot coupled to the air bladder, wherein the soft robot is actuated to move based on the fluid inserted into the soft robot during compression or the fluid removed from the soft robot during decompression.

A cylinder housing 12 includes a cylindrical cylinder portion 21 which extends in the direction of a center axis line Z and a bent portion 22 which is bent with respect to the cylinder portion 21 and extends inward in a radial direction from an end portion of the cylinder portion 21, the cylinder portion 21 includes a first cylinder portion 25 and a second cylinder portion 26 which is located on the side of the bent portion 22 in the first cylinder portion 25 and is connected to the bent portion 22, a thickness B of the second cylinder portion 26 is equal to or larger than a thickness A of the first cylinder portion 25, and a thickness C of the bent portion 22 is larger than the thickness A of the first cylinder portion 25.

A hydraulic pressure intensifier (1) is described comprising a housing (2) having a low pressure chamber (3) and a high pressure chamber (4), force transmitting means (5) between the low pressure chamber (3) and the high pressure chamber (4), and a switching valve (8) connecting the low pressure chamber (3) to a first pressure or to a second pressure different from the first pressure. It is intended to have a large volume on the high pressure side of the pressure intensifier. To this end the switching valve (8) is controlled by a pilot valve 18.

A method is disclosed wherein two sheets of a flexible, inelastic substance are sealed along a periphery thereof, creating an interior reservoir preferably containing two or more elongate chambers, organized normal to an axis of traction. The disclosed axis of traction is an axis along which the disclosed device reduces length as a medium is introduced into the reservoir. Further disclosed is a method by which one or more bladders of flexible, inelastic substance are woven through two or more preferably parallel strips or strings. The bladders are adapted to receive a preferably gaseous or liquid medium. As the medium is moved into the bladders, the flexible strips or stings are deformed to cause the strips or strings to have a reduced length along the axis of traction.

An implement includes a mechanical coupling component configured to removably couple the implement to a support machine, a hydraulic fluid supply line configured to receive a supply flow of hydraulic fluid under pressure from a hydraulic system associated with the support machine, and a hydraulically-powered component configured to be actuated using the hydraulic fluid. The implement also includes a hydraulic fluid recovery system comprising a hydraulic fluid return line configured to fluidically couple to the hydraulic system associated with the support machine and provide a return flow of hydraulic fluid to the hydraulic system. A hydraulic fluid reservoir is configured to, when the hydraulic fluid return line is decoupled from the hydraulic system associated with the support machine, receive a portion of the hydraulic fluid from the hydraulic fluid return line when a fluid pressure in the hydraulic fluid return line increases to a pressure threshold.

One object is to reduce a weight of a fluid actuator. The fluid actuator includes: a cylinder having an inner space and a first mounting portion, the inner space being partitioned into a first fluid chamber and a second fluid chamber, the first mounting portion being disposed on an end portion of the cylinder on an axial direction A side; and a piston rod configured to reciprocate in accordance with pressures in the fluid chambers. A wall portion defining the first fluid chamber in the cylinder is made of an iron-based alloy. A wall portion defining the second fluid chamber in the cylinder is made of an aluminum alloy. The piston rod is made of an iron-based alloy.

A method is disclosed wherein two sheets of a flexible, inelastic substance are sealed along a periphery thereof, creating an interior reservoir preferably containing two or more elongate chambers, organized normal to an axis of traction. The disclosed axis of traction is an axis along which the disclosed device reduces length as a medium is introduced into the reservoir. Further disclosed is a method by which one or more bladders of flexible, inelastic substance are woven through two or more preferably parallel strips or strings. The bladders are adapted to receive a preferably gaseous or liquid medium. As the medium is moved into the bladders, the flexible strips or stings are deformed to cause the strips or strings to have a reduced length along the axis of traction.

A hydraulic forceps system includes: robotic forceps including: a gripper, first piston coupled to the gripper, first cylinder forming first pressure chamber, filled with a hydraulic fluid, together with the first piston, second piston, second cylinder forming a second pressure chamber, filled with hydraulic fluid, together with the second piston, communication passage through which the chambers communicate, motor that drives the second piston via a linear motion mechanism; control device that controls the motor based on a command position for the first piston; and position sensor used for detecting a position of the second piston. The control device includes: an observer that derives an estimated position of the first piston based on the position of the second detected by the sensor; and a position controller that derives a target rotational speed of the motor based on a deviation between the estimated position of the first piston and the command position.

A piston's stroke length may be restricted by passing a rod through a through hole in the piston. The stroke length's boundaries may be defined by the points where an interior of the through hole contacts an exterior of the rod. Adjusting a position or orientation of the rod may alter this stroke length. If the rod comprises a noncylindrical external geometry, a radius thereof may vary along an axial length of the rod or around a circumference thereof. Adjustment of the rod, via axial translation or rotation for example, may change the position of contact between the rod and the through hole. Alternately, the through hole may comprise a unique geometry in which the rod may radially translate to adjust the piston's stroke length.

An implement includes a mechanical coupling component configured to removably couple the implement to a support machine, a hydraulic fluid supply line configured to receive a supply flow of hydraulic fluid under pressure from a hydraulic system associated with the support machine, and a hydraulically-powered component configured to be actuated using the hydraulic fluid. The implement also includes a hydraulic fluid recovery system comprising a hydraulic fluid return line configured to fluidically couple to the hydraulic system associated with the support machine and provide a return flow of hydraulic fluid to the hydraulic system. A hydraulic fluid reservoir is configured to, when the hydraulic fluid return line is decoupled from the hydraulic system associated with the support machine, receive a portion of the hydraulic fluid from the hydraulic fluid return line when a fluid pressure in the hydraulic fluid return line increases to a pressure threshold.