公开(公告)号：US09719534B2

公开(公告)日：2017-08-01

申请号：US14752558

申请日：2015-06-26

Applicant: President and Fellows of Harvard College

Inventor： Yanina Shevchenko ,  George M. Whitesides ,  Adam Stokes ,  Gabrielle Compton

IPC: B62D57/032 ,  F15B15/10

CPC classification number: F15B15/103 ,  B62D57/032 ,  F15B2215/305

Abstract: 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 joint and immobilized between the first and second hollow structures, wherein the 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 restraining membrane is relaxed when the bladder is deflated.

公开(公告)号：US10260533B2

公开(公告)日：2019-04-16

申请号：US15665583

申请日：2017-08-01

Applicant: President and Fellows of Harvard College

Inventor： Yanina Shevchenko ,  George M. Whitesides ,  Adam Stokes ,  Gabrielle Compton ,  Alex Nemiroski

IPC: F15B15/10 ,  B62D57/032

Abstract: 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.