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.

A method of manufacturing an electrode assembly includes positioning a layer stack comprising an electrode positioned between an electrode insulator and a support polymer in a vacuum bag, removing air from the vacuum bag thereby vacuum coupling the electrode to the electrode insulator, and removing the layer stack from the vacuum bag, where upon removal of the layer stack from the vacuum bag, the electrode remains vacuum coupled to the electrode insulator and the electrode insulator is in direct contact with the electrode, thereby forming an electrode assembly.

A soft pneumatic module includes a first frame defining a first path portion, a second frame opposite to the first frame and defining a second path portion, a retainer connected to the first frame and the second frame, a plurality of first crease parts disposed along a circumference of the first frame at two sides of the retainer and obliquely disposed inward from the first frame, and a plurality of second crease parts connected to the plurality of first crease parts and the second frame, disposed along a circumference of the second frame at the two sides of the retainer, and expanded along with the plurality of first crease parts as a fluid is injected into the soft pneumatic module.

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.

Exemplary embodiments relate to pressurizable housings for a soft robotic actuator. The pressurized housings may be divided into an upper chamber in fluid communication with an internal void of the actuator, and a lower chamber connected to an inlet and an outlet. The upper chamber and lower chamber may be separated by a piston. By supplying a fluid to the lower chamber via the inlet, the piston is moved into the space previously occupied by the upper chamber, which reduces the volume of the upper chamber and increases the pressure in the internal void. This action allows the actuator to be rapidly inflated, and further simplifies the pressurization system and reduces its weight.

In one aspect, system to form a pneumatically-actuated transistor logic includes a first deformable conduit; a first extensible bladder disposed at a first location along the first conduit; a first structure in proximity with the first bladder and configured to constrain expansion of the first bladder; wherein the first structure and the first bladder are configured to allow flow of fluid through the first conduit when the first bladder is in a first state and to prevent flow of fluid through the first conduit when the first bladder is in a second state.

High strain hydraulically amplified self-healing electrostatic transducers having increased maximum theoretical and practical strains are disclosed. In particular, the actuators include electrode configurations having a zipping front created by the attraction of the electrodes that is configured orthogonally to a strain axis along which the actuators. This configuration produces increased strains. In turn, various form factors for the actuator configuration are presented including an artificial circular muscle and a strain amplifying pulley system. Other actuator configurations are contemplated that include independent and opposed electrode pairs to create cyclic activation, hybrid electrode configurations, and use of strain limiting layers for controlled deflection of the actuator.