Provided is an actuator including: a stack including: an elastomer layer; and an elastic electrode disposed on each surface of the elastomer layer, in which the stack is subjected to a pre-strain of 50% or more at least in one direction.

A transfer apparatus includes a finger mechanism configured to grasp an outer circumferential face of an object, wherein the finger mechanism is equipped with a plurality of finger portions supported by a base portion, each of the finger portions includes a first bone member, a second bone member rotatably coupled to one end portion of the first bone member, and a pair of third bone members, each of which is rotatably coupled to the other end portion of the first bone member and the base portion, whereby a parallel link mechanism is formed between the first bone member and the base portion, and the finger mechanism transfers the grasped object to a containing box.

An artificial muscle including an internal electromechanically charged rod extending beyond two attach points. A plurality of mesh cylinders having a mesh cylinder top and a mesh cylinder bottom surrounding the charged rod. A fiber surrounding the mesh cylinders and mechanically attached to the mesh cylinders at an attachment spacing and wherein an electromagnetic source activates the artificial muscle through at least one microprocessor. The artificial muscle fiber may be nylon and the attach points may be titanium. The artificial muscle fiber may be coated with nylon. The artificial muscle fiber may contain a viscous fluid.

A soft continuum robotic module comprises a plurality of inflatable actuators disposed between plates. Via inflation or deflation of one or more of the actuators, the module may extend, contract, twist, bend, and/or exert a grasping force. One or more modules may be combined to form a robotic arm with multiple degrees of freedom.

An artificial muscle system includes a collapsible skeleton, a flexible skin, and a muscle actuation mechanism. The collapsible skeleton is contained inside a volume defined, at least in part, by the flexible skin. The flexible skin and the collapsible skeleton are configured for the flexible skin to provide a pulling force on the collapsible skeleton when a pressure difference exists between the inside of the sealed volume and a surrounding environment to change at least one of the dimensions and thus geometry of the collapsible skeleton. The muscle actuation mechanism includes at least one of the following to deploy or contract the collapsible skeleton: (a) a fluid displacing, releasing, or capturing mechanism configured to increase or decrease fluid pressure inside the sealed volume; and (b) a heating or cooling element configured to change the temperature of fluid in the sealed volume.

The present disclosure provides a biologically-inspired robotic device comprising: a first member; a second member pivotably connected to the first member; one or more actuators; and a coupler/decoupler mechanism (CDC) selectively coupling or decoupling of the one or more actuators to the second member, such that, when the one or more actuators are coupled to the second member, the one or more actuators act to pivot the second member relative to the first member.

Autonomous closed loop control of a flexible tendon-driven continuum manipulator having a sensor at a distal tip is performed by measuring spatial attributes of a sensor at the distal tip and estimating an orientation of a base of an articulating region of the flexible tendon-driven continuum manipulator from a kinematic model and the spatial attributes of the sensor. The manipulator control in a task space uses the estimated orientation, a desired trajectory in the task space, and the position of the sensor at the distal tip. The sensor at the distal tip may be a magnetic sensor, impedance sensor, or optical sensor.

A microcapacitor array for providing artificial muscles is described. The microcapacitor array includes a dielectric body with electrode chambers, positive electrodes in positive electrode chambers, the positive electrodes being connected by a first set of channels in the dielectric frame; negative electrodes in negative electrode chambers, the negative electrodes being connected by a second set of channels in the dielectric frame. The first and second set of channels are arranged so that application of a voltage differential between the positive electrodes and the negative electrodes generates an attractive force between each set of adjacent positive and negative electrodes.

An actuator includes a base to which first and second fluid couplings are fixed, a rotation member rotatably supported by the base, and McKibben-type first and second artificial muscles wound around the rotation member. The first and second artificial muscles are arranged in an antagonistic manner. One ends of the first and second artificial muscles are fixed to the rotation member. The other ends of the first and second artificial muscles are respectively connected to the first and second fluid couplings.

According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members, and a plurality of tensile members connected to the compressive members to form a spatially defined structure without the compressive members forming direct load-transmitting connections with each other. Each compressive member has an axial extension with a first axial end and a second axial end and a central axial region. The tensegrity robot also includes a plurality of actuators, each attached to one of the compressive members within a corresponding central axial region thereof. The tensegrity robot also includes a plurality of controllers, each attached to one of the compressive members. Each actuator is operatively connected to a corresponding tensile member so as to selectively change a tension on the tensile member in response to commands from a controllers to thereby change a center of mass of the tensegrity robot to effect movement thereof.