[Object] To provide a compact, high-output actuator device allowing force control. [Solution] An actuator device 1000 includes an electromagnetic coil member 110 provided over a prescribed width on an outer circumference of a cylinder 100, and a movable element 200 slidable as a piston in the cylinder 100. The movable element 200 has a magnetic member 202, and is moved relatively by excitation of the electromagnetic coil member 110. Fluid is supplied to first and second chambers 106a and 106b such that when the movable element 200 is to be moved relatively, the movable element 200 is driven in the same direction.

[Object] To provide a compact, high-output actuator device allowing force control. [Solution] An actuator device 1000 includes an electromagnetic coil member 110 provided over a prescribed width on an outer circumference of a cylinder 100, and a movable element 200 slidable as a piston in the cylinder 100. The movable element 200 has a magnetic member 202, and is moved relatively by excitation of the electromagnetic coil member 110. Fluid is supplied to first and second chambers 106a and 106b such that when the movable element 200 is to be moved relatively, the movable element 200 is driven in the same direction.

In an embodiment, a prosthetic leg including a modular knee element coupled to a modular ankle element. The modular knee element includes a knee motor rotatable about an axis of a shaft in the knee motor. The modular ankle element includes a drive portion coupled to a surface-contacting portion via a pylon having a top and bottom end. The top end is coupled to the drive portion and the bottom end is coupled to the surface-contacting portion. The drive portion includes an ankle motor coupled to a rotary series elastic actuator (RSEA) and a first pulley coupled to the RSEA. The surface-contacting portion includes a hinge and a second pulley with a belt engaging at least a portion of at least one of the first and second pulley, and a modular foot element coupled to the bottom of the hinge.

In an embodiment, a prosthetic leg including a modular knee element coupled to a modular ankle element. The modular knee element includes a knee motor rotatable about an axis of a shaft in the knee motor. The modular ankle element includes a drive portion coupled to a surface-contacting portion via a pylon having a top and bottom end. The top end is coupled to the drive portion and the bottom end is coupled to the surface-contacting portion. The drive portion includes an ankle motor coupled to a rotary series elastic actuator (RSEA) and a first pulley coupled to the RSEA. The surface-contacting portion includes a hinge and a second pulley with a belt engaging at least a portion of at least one of the first and second pulley, and a modular foot element coupled to the bottom of the hinge.

Artificial muscles comprising a body of dielectric elastomer, wherein the body contains a pair of microfluidic networks are presented. Each microfluidic network includes a plurality of channels fluidically coupled via a manifold. The channels of the microfluidic networks are interdigitated and filled with conductive fluid such that each set of adjacent channels functions as the electrodes of an electroactive polymer (EAP) actuator. By using the manifolds as compliant wiring to energize the electrodes, artificial muscles in accordance with the present disclosure mitigate some or all of the reliability problems associated with prior-art artificial muscles.

Artificial muscles comprising a body of dielectric elastomer, wherein the body contains a pair of microfluidic networks are presented. Each microfluidic network includes a plurality of channels fluidically coupled via a manifold. The channels of the microfluidic networks are interdigitated and filled with conductive fluid such that each set of adjacent channels functions as the electrodes of an electroactive polymer (EAP) actuator. By using the manifolds as compliant wiring to energize the electrodes, artificial muscles in accordance with the present disclosure mitigate some or all of the reliability problems associated with prior-art artificial muscles.

An electric prosthetic limb is provided with: a below-knee side member; an above-knee side member; a knee joint mechanism that connects the below-knee side member and the above-knee side member in a manner such that an angle formed therebetween is variable; and an extendable device that is capable of extending and contracting to change the angle formed between the below-knee side member and the above-knee side member. The extendable device is provided with a motor and a transmission transmitting power from the motor. The transmission is provided with: a first transmission mechanism that transmits the power from the motor at a first transmission gear ratio; and a second transmission mechanism that transmits the power from the motor at a second transmission gear ratio different from the first transmission gear ratio.

An electric prosthetic limb is provided with: a below-knee side member; an above-knee side member; a knee joint mechanism that connects the below-knee side member and the above-knee side member in a manner such that an angle formed therebetween is variable; and an extendable device that is capable of extending and contracting to change the angle formed between the below-knee side member and the above-knee side member. The extendable device is provided with a motor and a transmission transmitting power from the motor. The transmission is provided with: a first transmission mechanism that transmits the power from the motor at a first transmission gear ratio; and a second transmission mechanism that transmits the power from the motor at a second transmission gear ratio different from the first transmission gear ratio.

A robotic assembly control system is disclosed. The robotic assembly control system includes an exoskeleton apparatus adapted to be worn by a user, at least one robotic assembly, the at least one robotic assembly controlled by the user by way of the exoskeleton, and at least one mobile platform, the at least one mobile platform controlled by the user and wherein the at least one robotic assembly is attached to the at least one mobile platform.

A robotic assembly control system is disclosed. The robotic assembly control system includes an exoskeleton apparatus adapted to be worn by a user, at least one robotic assembly, the at least one robotic assembly controlled by the user by way of the exoskeleton, and at least one mobile platform, the at least one mobile platform controlled by the user and wherein the at least one robotic assembly is attached to the at least one mobile platform.