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1. 发明申请

WO2023047322A1 FLUIDIC ARTIFICIAL MUSCLE DEVICE 审中-公开
公开(公告)号：WO2023047322A1
公开(公告)日：2023-03-30
申请号：PCT/IB2022/058957
申请日：2022-09-22
申请人： FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA , SCUOLA SUPERIORE DI STUDI UNIVERSITARI E PERFEZIONAMENTO SANT’ANNA
发明人： DE PASCALI, Corrado , PALAGI, Stefano , NASELLI, Giovanna Adele , MAZZOLAI, Barbara
IPC分类号： B25J9/10 , B25J9/14 , F15B15/10 , B33Y80/00
摘要： Fluidic artificial muscle device comprising at least one pleated actuator (1 ) adapted to exert forces along an axis (K). Said actuator (1 ) comprises a chamber (10) delimited by closing portions (11) at the two opposite ends along said axis (K) and a flexible membrane (13) in the central portion (12) interposed to said closing portions (11). The membrane (13) has a plurality of ridges (130) and valleys (131) that alternate with each other in a circumferential direction around said axis (K) to form a pleated structure. Said actuator (1 ) consists of a single

2. 发明申请

WO2022192190A1 ACTIVE REELING AND STEERING CONTROL OF A VINE ROBOT 审中-公开
公开(公告)号：WO2022192190A1
公开(公告)日：2022-09-15
申请号：PCT/US2022/019257
申请日：2022-03-08
申请人： THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
发明人： HAGGERTY, David , HAWKES, Elliot
IPC分类号： F01B19/04 , F15B15/10 , B25J9/14 , D06G3/04 , B25J18/02 , B25J18/06
摘要： A soft vine robot includes a main body configured as a tube inverted back inside itself to define a pressure channel, such that when the channel is pressurized, the main body everts, and inverted material of the main body everts and passes out of a tip at a distal end of the main body. A reeling mechanism is controlled by a reeling motor, the reeling mechanism being within the tube and being configured to actively feed the inverted material to provide or assist eversion and to actively retract extended material of the main body back. Control and communications electronics control the reeling motor. T reeling mechanism can include a steering mechanism with a bending axis controlled by a steering motor. By actively supplying eversion or inversion forces in the robot body, the soft vine robot can grow with reduced pressure compared to base reeled robots.

3. 发明申请

WO2022036406A1 HAPTIC DEVICE 审中-公开
公开(公告)号：WO2022036406A1
公开(公告)日：2022-02-24
申请号：PCT/AU2021/050922
申请日：2021-08-20
申请人： NEWSOUTH INNOVATIONS PTY LIMITED
发明人： DO, Thanh Nho , THAI, Mai Thanh , PHAN, Phuoc Thien , HOANG, Trung Thien , LOVELL, Nigel Hamilton
IPC分类号： F15B15/10 , A61B34/00
摘要： A haptic device comprising: an array of soft hydraulic skin stretch devices, and soft microtubule muscles configured to control the skin stretch devices.

4. 发明申请

WO2020249983A1 CONTRACTILE DEVICE FOR USE AS AN ACTUATOR, PUMP OR COMPRESSOR 审中-公开
公开(公告)号：WO2020249983A1
公开(公告)日：2020-12-17
申请号：PCT/GB2020/051445
申请日：2020-06-15
申请人： ACTUATION LAB LTD
发明人： DICKER, Michael Patrick Maher
IPC分类号： F04B43/08 , F04B43/10 , F04B45/06 , F15B15/10
摘要： This invention concerns a contractile device. The device includes a body, which has a wall including a tessellation of elements. The body is deformable through pressurisation of fluid within the body between a first, extended state and a second, contracted state in which the axial length of the body is reduced and the internal volume increased compared to the first, normal state. The tessellation of elements includes a series of protruding and intruding formations which are arranged such that the body remains substantially cylindrical through its deformation between its normal and deformed states. The protruding and intruding formations of the tessellation of elements may be in the form of protruding and intruding pyramids.

5. 发明申请

WO2020180982A1 COMPOSITE LAYERING OF HYDRAULICALLY AMPLIFIED SELF-HEALING ELECTROSTATIC TRANSDUCERS 审中-公开
公开(公告)号：WO2020180982A1
公开(公告)日：2020-09-10
申请号：PCT/US2020/020978
申请日：2020-03-04
申请人： THE REGENTS OF THE UNIVERSITY OF COLORADO, A BODY CORPORATE
发明人： KEPLINGER, Christoph Matthias , MITCHELL, Shane Karl , KELLARIS, Nicholas Alexander , ROTHEMUND, Phillip
IPC分类号： F15B15/10 , B81B3/00 , F16K31/12 , F15B15/08 , F15B21/06 , H01G5/16
摘要： Hydraulically amplified self-healing electrostatic (HASEL) transducers having a composite, multi-layered structure. Specifically, a layered composite structure is contemplated such that different ones of the layers are selected for electrical properties and physical properties, respectively. Specifically, combinations of fluid dielectric layers, solid dielectric layers, electrodes, and outer layers may be used. The fluid and solid dielectric layers may be selected for favorable electrical properties and the outer layers may be selected for beneficial physical properties. An example of a composite structure includes individually actuatable fluid dielectric volumes that may have different actuation modalities. Further still, transducers may be provided with gaseous dielectric, fluid dielectric, or a combination thereof.

6. 发明申请

WO2020129743A1 流体圧アクチュエータ审中-公开
公开(公告)号：WO2020129743A1
公开(公告)日：2020-06-25
申请号：PCT/JP2019/048201
申请日：2019-12-10
申请人：株式会社ブリヂストン
发明人：大野　信吾 , 櫻井　良
IPC分类号： F15B15/10
摘要：流体圧アクチュエータは、チューブ（１１０）とチューブ（１１０）外周面を覆うスリーブ（１２０）を含むアクチュエータ本体部（１００）と、アクチュエータ本体部（１００）の封止機構（２００，３００）を備える。封止機構（２００）は、アクチュエータ本体部（１００）に挿通される封止部材（２１０）、アクチュエータ本体部（１００）を封止部材（２１０）に拘束するかしめリング（２３０）、及び封止部材（２１０）にスリーブ（１２０）を係止する係止リング（２２０）を備える。封止部材（２１０）は、頭部（２１１）、チューブ（１１０）に挿通される胴体部（２１２）、及び頭部（２１１）と胴体部（２１２）の間に設けられるスリーブ被係止部（２１３）を有する。スリーブ被係止部（２１３）は、フランジ部分（２１４）と、フランジ部分（２１４）から頭部（２１１）側に向かって外径が縮小する縮径部分（２１７）を含む。

7. 发明申请

WO2020077102A1 WIRELESS ACTUATORS 审中-公开
公开(公告)号：WO2020077102A1
公开(公告)日：2020-04-16
申请号：PCT/US2019/055658
申请日：2019-10-10
申请人： MASSACHUSETTS INSTITUTE OF TECHNOLOGY
发明人： MIRVAKILI, Seyed , HUNTER, Ian
IPC分类号： F15B15/10 , F15B15/14 , F15B21/06 , B25J9/14
摘要： A method of performing wireless actuation by inductive heating of magnetic particles. The method provides a bladder having an inner surface and an outer surface, the inner surface forming an interior area, the bladder configured to expand or retract so as to change an area of the interior area, (ii) a plurality of magnetic particles suspended in a fluid medium and disposed within the interior area, and (iii) a sleeve disposed on the outer surface of the bladder. The method excites the plurality of magnetic particles by application of an alternating magnetic field to which the particles reaction. The method causes, by the excited magnetic particles, a phase transition to the fluid medium within the interior area which causes the bladder to expand, such that the sleeve confining the bladder generates actuation from the expansion or retraction of the bladder.

8. 发明申请

WO2019087267A1 空気圧式アクチュエータ审中-公开
公开(公告)号：WO2019087267A1
公开(公告)日：2019-05-09
申请号：PCT/JP2017/039200
申请日：2017-10-30
申请人：株式会社ブリヂストン
发明人：中山　敦 , 樽谷　泰典 , 大野　信吾 , 福島　靖王
IPC分类号： F15B15/10
摘要：本発明の課題は、耐久性を向上させた空気圧式アクチュエータを提供することであり、その解決手段は、空気圧によって膨張及び収縮する筒状のチューブ（１１０）と、所定方向に配向されたコード（１２１）を編み込んだ筒状のスリーブ（１２０）と、によって構成されるアクチュエータ本体部（１００）を具え、無負荷且つ無加圧状態において、前記コード（１２１）のアクチュエータの軸方向（ＤＡＸ）に対する平均角度（Θ １）が２０度以上４５度未満であり、空気圧５ＭＰａで、前記コード（１２１）のアクチュエータの軸方向（ＤＡＸ）に対する平均角度（Θ ３）が４５度である状態において、前記アクチュエータ本体部（１００）の外表面の面積（Ｓ１）に対する前記コード（１２１）の間隙（１２２）の総面積（Ｓ２）の比（Ｓ２／Ｓ１）が３５％以下であることを特徴とする、空気圧式アクチュエータ（１０）である。

9. 发明申请

WO2018222930A1 TEXTILE ACTUATORS 审中-公开
公开(公告)号：WO2018222930A1
公开(公告)日：2018-12-06
申请号：PCT/US2018/035483
申请日：2018-05-31
申请人： PRESIDENT AND FELLOWS OF HARVARD COLLEGE
发明人： WALSH, Conor , O'NEILL, Ciaran , PHIPPS, Nathan
IPC分类号： F15B15/00 , F15B15/10 , D03D1/02 , D03D11/02 , D03D7/00 , F15B15/02 , B25J9/14
摘要： A textile actuator worn by a user comprises a textile envelope that defines a chamber made fluid-impermeable by a fluid-impermeable bladder contained in the textile envelope and/or a fluid-impermeable structure incorporated into the textile envelope. The textile envelope has a pre-determined geometry that produces an equilibrium state at a non-180-angle displacement and that stops further displacement upon pressurization of the chamber and prevents over-extension the joint. A fluid is delivered into or out of the chamber to displace the textile envelope primarily by transitioning from an uninflated state to the pre-determined geometry due to displacement of the textile envelope rather than via stretching or contraction of the textile envelope. When actuated, the textile actuator (a) displaces a body segment of the user and/or (b) supports and holds the body segment of the user in place.

10. 发明申请

WO2018175744A1 PROGRAMMABLE MULTI-SCALE FLUIDIC ARTIFICIAL MUSCLES AND PISTONS 审中-公开
公开(公告)号：WO2018175744A1
公开(公告)日：2018-09-27
申请号：PCT/US2018/023801
申请日：2018-03-22
申请人： PRESIDENT AND FELLOWS OF HARVARD COLLEGE , MASSACHUSETTS INSTITUTE OF TECHNOLOGY
发明人： LI, Shuguang , WOOD, Robert , RUS, Daniela , VOGT, Daniel , BARTLETT, Nicholas
IPC分类号： B25J9/10 , B25J9/14 , B25J11/00 , B25J18/06 , F15B15/10 , F16J3/00
摘要： 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.

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