In a soft actuator, a soft actuator assembly having the soft actuator, and a wearable robot having the soft actuator or the soft actuator assembly, the soft actuator includes a first spring bundle, a first conductive pad and a second conductive pad. The first spring bundle has a plurality of fine wires, and is configured to be capable of being changed between a contraction state and a relaxation state according to a change of temperature. The first conductive pad has a first connector electrically connected to a first end of the first spring bundle. The second conductive pad has a second connector electrically connected to a second end of the first spring bundle. The first connector is fixed between the first conductive pad and the first spring bundle, and the second connector is fixed between the second conductive pad and the first spring bundle.

A hybrid actuation device includes an artificial muscle, a first plate coupled to a second plate, and a shape memory alloy wire. The artificial muscle includes a housing, a first electrode and a second electrode, and a dielectric fluid. The housing includes a first film layer, a second film layer, an electrode region, and an expandable fluid region. The first electrode and the second electrode are each disposed in the electrode region of the housing. The dielectric fluid is disposed within the housing. The first plate and the second plate are positioned within the housing, the first plate positioned between the first film layer and the first electrode, and the second plate positioned between the second film layer and the second electrode. The shape memory alloy wire extends from the first plate to the second plate and through the dielectric fluid.

Disclosed is a mechanical actuator system for generating a force needed for actuating an actuating member of an EOAT device as required. The actuator system has at least one functional unit which is designed to change the dimension of the functional unit reversibly in a preferred direction (R) of the functional unit when energy is supplied. The invention further relates to an EOAT device, in particular in the form of a gripper or of a cutting tool, having at least one actuating member and an actuator system associated with the at least one actuating member.

An insertion shaft for an electrically actuated scope includes at least two wires. Each wire has a proximal end anchored to a respective proximal anchoring point and a distal end anchored to a respective distal anchoring point. The wires are disposed around a central axis and extend along the insertion shaft. Each of the wires comprises two-way memory material configured to contract when heated to or above a first predetermined temperature and return to a predetermined original length thereof upon cooling to or below a second predetermined temperature below the first predetermined temperature. The length of each wire is larger than a length along the insertion shaft between the proximal anchoring point and the distal anchoring point to which the wire is anchored, such that each of the wires is incorporated in the insertion shaft with a predetermined slack.

A hybrid actuation device including an artificial muscle is disclosed. The artificial muscle includes a housing including a first reinforcing thread extending across an expandable fluid region of the housing, an electrode pair positioned in an electrode region of the housing, and a dielectric fluid housed within the housing. The electrode pair includes a first electrode positioned adjacent a first surface of the housing and a second electrode positioned adjacent a second surface of the housing. The electrode pair is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs the dielectric fluid into the expandable fluid region. The first reinforcing thread restricts expansion of the expandable fluid region when the electrode pair is in the actuated state.

A hybrid actuation device that includes a first plate coupled to a second plate, a shape memory alloy wire coupled to the first plate, and an artificial muscle stack positioned between the first plate and the second plate. The artificial muscle stack includes a plurality of artificial muscles stacked in a vertical arrangement. Each artificial muscle includes a housing having an electrode region and an expandable fluid region, a first electrode and a second electrode each disposed in the electrode region of the housing and a dielectric fluid disposed within the housing. The expandable fluid region of the housing is positioned apart from a perimeter of the first plate and the second plate.

A gripper device (16; 30; 56; 90; 120) which is designed so as to be movable along a movement path, and which serves for grasping and holding a workpiece (70) and for moving the workpiece along the movement path, with at least one first contact section (18; 38; 66) which, to produce an operative pairing with the workpiece that effects the gripping or holding action, can be driven relative to a second contact section (20; 40; 68), which first contact section is assigned actuator means (22; 44; 54; 128), which are designed to exert a drive force in reaction to the application of a magnetic field, and which are composed of a magnetic shape-memory alloy material, wherein the actuator means for magnetic interaction are formed, for the application of a magnetic field, with magnetic field generating means that are static at one position of the movement path (52; 80; 86; 88), and/or with magnetic field generating means that are provided so as to be movable independently of the gripper device.

An articulated finger. The articulated finger comprises a first phalange; a second phalange; a self-locking joint coupling the first phalange to the second phalange, wherein the self-locking joint is configured to allow motion in a first rotational direction of the first phalange relative to the second phalange and prevent motion in a second rotational direction of the first phalange relative to the second phalange, wherein the first rotational direction is opposite the second rotational direction; and a compliant actuator configured to actuate the first phalange in the first rotational direction relative to the second phalange.

Disclosed is a mechanical actuator system for generating a force needed for actuating an actuating member of an EOAT device as required. The actuator system has at least one functional unit which is designed to change the dimension of the functional unit reversibly in a preferred direction (R) of the functional unit when energy is supplied. The invention further relates to an EOAT device, in particular in the form of a gripper or of a cutting tool, having at least one actuating member and an actuator system associated with the at least one actuating member.

A hybrid actuation device includes an artificial muscle, a first plate coupled to a second plate, and a shape memory alloy wire. The artificial muscle includes a housing, a first electrode and a second electrode, and a dielectric fluid. The housing includes a first film layer, a second film layer, an electrode region, and an expandable fluid region. The first electrode and the second electrode are each disposed in the electrode region of the housing. The dielectric fluid is disposed within the housing. The first plate and the second plate are positioned within the housing, the first plate positioned between the first film layer and the first electrode, and the second plate positioned between the second film layer and the second electrode. The shape memory alloy wire extends from the first plate to the second plate and through the dielectric fluid.