The invention relates to an expandable tubular element for a fluid-inflatable cylinder, comprising a peripheral wall that is fluid-tight and formed by a plurality of panels connected in pairs by substantially rectilinear links each representing a pivot axis, the panels being more rigid than the links, so that two panels adjacent to a link can rotate about the pivot axis represented by this link, each end of a link being connected to at least two ends of other links so as to define a node, each node having a thickness greater than the minimum thickness of the adjacent links. The invention also relates to a method for producing such an expandable tubular element, as well as a fluid-inflatable cylinder comprising such an expandable tubular element.

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 positioned between the first plate and the second plate. The 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 first alignment aid is positioned between the first plate and the first electrode, the first alignment aid having an inner surface facing the first plate and an outer surface facing the first electrode.

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 positioned between the first plate and the second plate. The 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 first alignment aid is positioned between the first plate and the first electrode, the first alignment aid having an inner surface facing the first plate and an outer surface facing the first electrode.

A modular pneumatic robotic actuator, including a first elongated hollow structure and a second elongated hollow structure connected to each other at a moveable joint; an inflatable bladder comprised of an elastomeric material disposed at the said joint and immobilized between the first and second hollow structures, wherein the said inflatable bladder inflates preferentially away from the joint; and a restraining membrane comprised of an elastomeric material disposed over the bladder and connecting the first and second hollow structures, wherein the said restraining membrane is relaxed when the bladder is deflated.

In exemplary implementations of this invention, a shape controller controls the shape of a bladder as the bladder inflates. The shape controller includes a first set of regions and a second set of regions. The second set of regions is more flexible than the first set of regions. The shape controller is embedded within, or adjacent to, a wall of the bladder. When the bladder is inflated, the overall shape of the bladder bends in areas adjacent to the more flexible regions of the shape controller. For example, the shape controller may comprise paper and the more flexible regions may comprise creases in the paper. Or, for example, the more flexible regions may comprise notches or indentations. In some implementations of this invention, a multi-state shape display changes shape as it inflates, with additional bumps forming as pressure in the display increases.

Provided is a diaphragm type actuator that drives an operation rod in an axial direction of the operation rod, including: a diaphragm which is connected to the operation rod; a low pressure chamber which is adjacent to one end side of the diaphragm in the axial direction; a high pressure chamber which is adjacent to the other end side of the diaphragm in the axial direction; a return spring which is provided in the low pressure chamber and urges the diaphragm toward the high pressure chamber; and a retainer which is provided on a surface near the high pressure chamber in the diaphragm. An elastic member is disposed inside the high pressure chamber and the elastic member is disposed between a retainer and a wall surface facing the retainer in the axial direction.

Provided is a diaphragm type actuator that drives an operation rod in an axial direction of the operation rod, including: a diaphragm which is connected to the operation rod; a low pressure chamber which is adjacent to one end side of the diaphragm in the axial direction; a high pressure chamber which is adjacent to the other end side of the diaphragm in the axial direction; a return spring which is provided in the low pressure chamber and urges the diaphragm toward the high pressure chamber; and a retainer which is provided on a surface near the high pressure chamber in the diaphragm. An elastic member is disposed inside the high pressure chamber and the elastic member is disposed between a retainer and a wall surface facing the retainer in the axial direction.

An artificial muscle that includes a housing having an electrode region and an expandable fluid region, a dielectric fluid housed within the housing, an electrode pair positioned in the electrode region of the housing, the electrode pair including a first electrode and a second electrode, and an electrode insulator having one or more insulation layers. The electrode insulator is disposed on an inner electrode surface of the first electrode of the electrode pair. The second electrode includes a free inner electrode surface exposed to the dielectric fluid when the electrode pair is in a non-actuated state. The electrode pair is actuatable between the 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, expanding the expandable fluid region.

The invention relates to exoskeletons and artificial muscles for soft exoskeletons (1). The muscle (21, 22, 23, 24) comprises a first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon, each comprising an attachment means (227) for attachment of said muscle to a muscle connector (32) of the exoskeleton (1), and a muscle core (223) made of a deformable material extending between said first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon, the muscle core (223) preferably comprising an outer sleeve (225); wherein each of the first (211, 221, 231, 241) and second tendon (212, 222, 232, 242) is adapted for receiving a respective end of said muscle core (223); wherein the first tendon (211, 221, 231, 241) preferably comprises an actuation interface (229) for connection of said muscle core (223) to an actuator for generating an actuation; wherein the muscle core (223) is adapted to undergo a change in length when being actuated, thereby causing the first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon to move towards each other when said actuation received via the actuation interface is on or increased, and to move away from each other when said actuation is off or reduced.

A diaphragm latch may comprise a housing, a diaphragm disposed in the housing, a pin coupled to the diaphragm, an opening in the housing, and a pin aperture disposed in the first side, wherein the pin extends from the pin aperture. The diaphragm may be configured to move in response to a pressure being communicated through the opening, and the pin may be configured to at least one of extend or retract from the pin aperture in response to the diaphragm moving. The diaphragm latch may passively couple an inner fixed structure (IFS) to an intermediate case (IMC) during an overpressure event.