AU691798B2

AU691798B2 - Hinge

Info

Publication number: AU691798B2
Application number: AU60828/94A
Authority: AU
Inventors: Amiram Steinberg
Original assignee: Individual
Current assignee: Individual
Priority date: 1993-01-05
Filing date: 1994-01-04
Publication date: 1998-05-28
Anticipated expiration: 2014-01-04
Also published as: WO1994016182A1; EP0678146A1; AU6082894A; EP0678146A4; CA2153310A1

Description

WO 94/16182 PCT/US94/00120 1 1

HINGE

2 3 4 The present invention relates to hinge mecha- 6 nisms, watercraft and foil assemblies which include 7 hinges, to hinged undulating propulsion elements, and 8 to hinge controls therefor.

9 11 12 There exists a variety of watercraft includ- 13 ing hydrofoils. A preferred embodiment of watercraft 14 including a retractable hydrofoil is described in applicant's U.S. Patent No. 4,715,304 and in the refer- 16 ences cited therein. The hydrofoil has a main portion 17 and a tip portion attached thereto.

18 In addition to providing retractable and 19 adjustable hydrofoils, it would also be advantageous to be able to accurately and easily adjust the angular 21 orientation of the hydrofoil tip portion relative to 22 the main portion, thereby improving the instantaneous 23 hydrodynamic characteristics of the hydrofoil and, 24 therefore, of the watercraft.

26 27 28 29 31 32 33 34 36 37 38 ~I~B~EW~Rlb~l~snssl~B~sPa~~; 2 The present invention seeks to provide a fluidic hinge assembly, such as a hydraulic, pneumatic or combined hydraulic-pneumatic hinge assembly, which may be incorporated into mechanical control systems such as used with hydrofoils, airfoils, robot systems, artificial limbs, lifting devices such as -ranes, and fish-tail propulsion devices.

There is disclosed herein a hinge apparatus comprising: first and second hinge members arranged for relative rotation about a hinge axis; and fluidic actuator apparatus which includes: a force transfer member having a first end attached to said first hinge member at an anchor location spaced from said hinge axis; e *il *oe [N:\LIBLL]O1O09KE sir d~' 3 expandable pillow apparatus associated with said force transfer member and operative to expand when exposed to a fluidic pressure thereby to apply a force along said force transfer member to said first hinge member so as to cause rotation of said first hinge member relative to said second hinge member in at least a first direction; and valve apparatus for selectably coupling said expandable pillow apparatus to a fluidic pressure source, wherein said pillow apparatus has a flexible, expandable contact surface and said force transfer member has a second end attached to said second hinge member such that said force transfer member is positioned against said contact surface, and wherein pressurisation of said pillow apparatus causes a lateral displacement of said force transfer member by said contact surface, thereby to cause a force to be applied along said force transfer member to said first hinge member.

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l*~pll~arap a~a3~ There is further disclosed herein a hinge apparatus comprising: first and second hinge members arranged for relative rotation about a hinge axis; a resilient pivot member arranged along said hinge axis and between said first and second hinge members and adapted to elastically deform in response to application to said pivot member of a rotational force via said first hinge member, thereby to permit relative rotation of said first and second hinge members; actuator apparatus arranged to selectably apply a rotational force to said first hinge member thereby to cause a relative rotation of said first and second hinge members, and wherein said actuator apparatus comprises fluidic actuator apparatus which includes: o a force transfer member having a first end attached to said first hinge member at an anchor location spaced from said hinge axis, and a a a a a a.

9** hA« c JI [N:\LIBLL]01509:KEUI p~ II I expandable pillow apparatus associated with said force transfer member and operative to expand when exposed to a fluidic pressure thereby to apply a force along said force transfer member to said first hinge member so as to cause rotation of said first hinge member relative to said second hinge member in at least a first direction, and also including valve apparatus for selectably coupling said expandable pillow apparatus to a fluidic pressure source, and wherein said pillow apparatus has a flexible, expandable contact surface and said force transfer member has a second end attached to said second hinge member such that said force transfer member is positioned against said contact surface, and wherein pressurisation of said pillow apparatus causes a lateral displacement of said force transfer member by said contact surface, thereby to cause a force to be applied along said force transfer member to said first hinge member.

A preferred form of the present invention will now be described by way of example with reference to the accompanying drawings, wherein: oo *le e go* [N:\LIBLL]01509:KEH I-L _L hI Figs. 1A and 1B are pictorial views of a fluidic hinge assembly constructed and operative in accordance with the present invention, illustrated in respective first and second operative orientations; Fig. 2 is a pictorial view of a hinge actuator assembly constructed and operative in accordance with a preferred embodiment of the present invention; Figs. 3A and 3B are schematic cross-sectional side view illustrations of a pair of hinge actuator assemblies in respective first and second operative modes corresponding to the first and second orientao" tions of the hinge assembly illustrated in Figs. IA and 1B and 2; :"igs. 4A and 4B are schematic side-view illustrations of a joint portion of the hinge assembly illustrated in Figs. IA and 1B, in respective first and second operative orientations corresponding to the first and second orientations illustrated in Figs. 3A and 3B; Fig. 4C is an exploded pictorial view of part of the joint portion of the hinge assembly illustrated in Figs. 4A and 4B; Figs. 5A and 5B are schematic side-view illustrations of a joint portion of a hinge assembly similar to that illustrated in Figs. IA and 1B but employing a non-cylindrical, resilient pivot member, in respective first and second operative orientations, in accordance with an alternative embodiment of the invention; Fig. 5C is a schematic illustration of a joint portion of a hinge assembly in a partially folded orientation, substantially as illustrated in Fig. 4A, WN Q,4/11;1B? P'T/ ,Icoil/nn7n 1 but employing a non-cylindrical resilient pivot member 2 as shown in Figs. 5A and 5B in conjunction with piston 3 assemblies; 4 Fig. 5D is a schematic illustration of a joint portion of a hinge assembly in a partially folded 6 orientation, substantially as illustrated in Fig. 7 but employing a cylindrical resilient pivot member; 8 Figs. 6A and 6B are respective pictorial and 9 sectional illustrations of a hinge actuator assembly including bumper apparatus in accordance with an embod- 11 iment of the invention; 12 Figs. 7A and 7B are respective pictorial and 13 sectional illustrations of a hinge actuator assembly 14 including bumper apparatus in accordance with an alternative embodiment of the invention; 16 Figs. 8 and 9 are schematic side view 17 illustrations of the hinge actuator assemblies of Figs.

18 3A and 3B but including additional bumper apparatus in 19 accordance with further embodiments of the invention; Fig. 10 is a schematic side view illustration 21 of a multiple hinge assembly constructed in accordance 22 with a further embodiment of the invention; 23 Fig. 11 is an exploded pictorial view of a 24 joint portion of the multiple hinge assembly illustrated in Fig. 26 Fig. 12 is a partially schematic, partially 27 pictorial illustration of watercraft including shock 28 absorbers constructed in accordance with an embodiment 29 of the invention and having retractable foils which have adjustable tips and which incorporate the hinge 31 assembly of Figs. IA and IB; 32 Figs. 13A, 13B and 13C are illustrations of 33 the operation of the watercraft of Fig. 12 wherein the 34 foils and the shock absorbers are in three different operative orientations; 36 Figs. 14A and 14B are respective side view 37 and bottom view illustrations of the watercraft of Fig.

38 12, each of which illustrates the orientations of the \IVA iIA11r1mi irr 11 QcnA I lnn I' T'v I7*jIAUA 8 5 IIV U37IL«ji 1 foils in the three different operative orientations 2 shown in Figs. 13A, 13B and 13C; 3 Fig. 15 is a simplified illustration of 4 apparatus for mounting a foil and for governing the orientation of the tip thereof; 6 Fig. 16 is a simplified illustration of part 7 of the apparatus of Fig. 8 Figs. 17A and 17B are illustrations of part 9 of the foil of Fig. 15 in respective partially folded and straight orientations; 11 Fig. 18 is a simplified pictorial illustra- 12 tion a portion of the apparatus of Fig. 13 Figs. 19A and 19B are respective general and 14 detailed illustrations of the use of an alternative embodiment of shock absorbers in accordance with an 16 alternative embodiment of the invention; 17 Figs. 20A, 20B and 20C are illustrations of 18 the operation of the apparatus of Figs. 19A and 19B 19 wherein the foils and the shock absorbers are in three different operative orientations; 21 Figs. 21A and 21B are respective side sec- 22 tional view illustrations of the apparatus of Figs. 19A 23 and 19B, each of which illustrates the orientations of 24 the foils in a different operative orientation; Fig. 22 illustrates part of shock absorber 26 equipped apparatus for foils which is useful in the 27 embodiment of Fig. 28 Fig. 23 is a simplified illustration of 29 apparatus for mounting a foil and for governing the orientation of the tip thereof in accordance with 31 another embodiment of the present invention; 32 Fig. 24 is a schematic cut-away view of a 33 multiple-jointed foil constructed in accordance with a 34 further embodiment of the invention; Fig. 25 is a pictorial illustration of an 36 undulating hinged propulsion assembly for use in a 37 watercraft, and employing the multiple hinge assembly 38 of Fig.

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W OA11'QI PrT/ ICUd/lnn1n 9 1 Fig. 26 is a top section illustration of the 2 assembly of Fig. 25, taken along the line 29-29 there- 3 in; 4 Fig. 27 is a more detailed view of the assembly illustrated in Fig. 26, showing operation thereof; 6 Figs. 28A, 28B and 28C are simplified illus- 7 trations of a shock absorber equipped foil assembly 8 constructed and operative in accordance with another 9 preferred embodiment of the invention in three alternative operative orientations; 11 Figs. 29A and 29B are simplified illustra- 12 tions of a hinge forming part of the apparatus of Figs.

13 28A 28C in two alternative operative orientations; 14 Figs. 30A and 30B are simplified illustrations of a hinge according to an alternative embodiment -6 of the invention which is useful in the apparatus of 17 Figs. 28A 28C; 18 Fig. 31 is a sectional illustration of part 19 of the apparatus of Figs. 28A 28C; and Figs. 32A, 32B and 32C are illustrations of a 21 pillow actuator useful in the apparatus of Figs. 28A 22 28C in three alternative operative orientations.

23 24 26 27 28 29 31 32 33 34 36 37 38 g WO 94/16182 PCT/US94/00120 1 2 3 Reference is made to Figs. 1A and 1B, in 4 which is shown a fluidic hinge assembly, referenced generally 10, constructed and operative in accordance 6 with a preferred embodiment of the invention. Hinge 7 assembly 10 includes first and second hinge members, 8 respectively referenced 12 and 14, which are spaced 9 apart by a pivot member 16 which defines a hinge axis 18. In Fig. 1A, hinge assembly 10 is shown in a par- 11 tially folded orientation, while in Fig. 1B, hinge 12 assembly 10 is in a generally straightened orientation.

13 Mounted in second hinge member 12 are first 14 and second fluidic actuator assemblies denoted by and 22, respectively. Assemblies 20 and 22 have associ- 16 ated therewith flexible fore, transfer members, respcc- 17 tively referenced 23 and 24. Selectable tensioning of 18 force transfer members 23 and 24 via actuator assem- 19 blies 20 and 22 causes a rotation of first hinge member 12 about hinge axis 18.

21 According to the present invention, the force 22 transfer members 23 and 24 may be any suitable members, 23 including flexible rods, push-pull elements such as the 24 Push Pull by Teleflex Co., cables, chains, belts and bands. Preferably, the force transfer members are 26 formed of Kevlar, having approximately 2% elongation 27 vs. steel having only approximately 0.5% elongation.

28 This contributes to the shock absorbing chain.

29 Reference is now made to Figs. 2, 3A and 3B, in which actuator assemblies 20 and 22 are illustrated.

31 The structure and operation of assemblies 20 and 22 are 32 similar. Accordingly, for purposes of conciseness, only 33 first actuator assembly 20 is described in detail 34 herein, and components of second assembly 22 described in conjunction with first assembly 20 bear reference 36 numbers similar to their corresponding components in 37 first assembly 20, but with the addition of a prime 38 notation.

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Wn O/II6182 PrC'T/Sf94/r0J12ii 1 Assembly 20 has an expandable pillow 25 made 2 preferably of a resilient, rubberized, reinforced, gas 3 impermeable material. Pillow 25 becomes inflated when 4 pressurized and becomes deflated when de-pressurized.

The inflated and deflated positions of pillow 25 are 6 illustrated in Fig. 2 in full and broken lines, respec- 7 tively. It is appreciated that side walls are provided, 8 similar to side walls 652 in the embodiment of Figs.

9 32A 32C, however, these are not shown in Pig. 2.

Pressurization of the pillow is provided via 11 a fluid supply conduit 26 by operation of a valve 12 assembly 27 in conjunction with a suitable fluidic 13 pressure source 28. De-pressurization of the pillow may 14 be provided by venting of the fluid therein, as indicated by an arrow 27a (Fig. via fluid supply con- 16 duit 26 and valve assembly 27.

17 According to one embodiment of the invention, 18 fluidic pressure source 28 is a hydraulic pressure 19 source. According to alternative embodiments of the invention, however, the fluidic pressure source may 21 comprise a pneumatic pressure source or a combination 22 hydraulic/pneumatic pressure source.

23 Pillow 25 is seated in a recess 29 of a base 24 30, which is preferably a rearward extension of hinge member 14 (Figs. 1A and 1B).

26 Preferably, TEFLON sliding bearing surfacr; 27 33 and 35 are provided which facilitate the motion of 28 flexible force transfer member 23 relative to the 29 pillow Referring now to Figs. 4A 4C, it is seen 31 that hinge members 12 and 14 have respective, generally 32 semicircular, first and second seating members 32 and 33 34 which are arranged to engage a cylindrical outer 34 surface 36 of the pivot member 16. The contact between the respective surfaces of the seating members 32 and 36 34 and the pivot member 16 is a low friction contact so 37 as to enable relative rotation of the hinge members 12 38 and 14 about hinge axis 18.

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II Il~- e~p~j ~i~fpl~p I WO 94/16182 PCT'rS94/00120 1 Typically, the low friction contact is facil- 2 itated by the provision of a lubricaL such as grease, 3 to the interface between the seating members 32 and 34 4 and the pivot 16. Alternatively, a low friction contact between seating members 32 and 34 and pivot member 16 6 may be provided by forming pivot member 16 from a 7 suitable polymeric material such as TEFLON (poly- 8 tetrafluoroethene) or by coating the pivot member 16 9 therewith.

Each of seating members 32 and 34 defines a 11 pair of generally rearward-facing channel portions 38 12 and 39 in which are provided a plurality of openings 13 40. Referring now particularly to Figs. 4A and 4B, 14 first and second flexible force transfer members 23 and 24 (also shown in Figs. 1A 3B) are seen to extend 16 through openings 40 and are anchored, at first ends 42, 17 to respective rod members 44 located in generally 18 rearward facing channel portions 38 of first seating 19 member 32.

Referring now also to Figs. 2 3B, it is 21 seen that second ends 48 of force transfer members 23 22 and 24 are anchored to base 30 via a rigid roller 23 support 49. A freely rotatable roller 50 is mounted 24 across force transfer member 23 parallel to roller support 49 in order to support force transfer member 23 26 along a predetermined path.

27 Force transfer members 23 and 24 are arranged 28 to apply a pulling force to first hinge member 12 and 29 pivot member 16 in the direction of second hinge member 14, thereby to maintain contact therebetween. It will 31 thus be appreciated that adjustment of the pulling 32 force in force transfer members 23 and 24 by respective 33 first and second actuator assemblies 20 and 22 causes a 34 relative rotation of the hinge members about the hinge axis. This is described hereinbelow in more detail, in 36 conjunction with Figs. 3A 4B.

37 The relative rotation between hinge members 38 12 and 14 is limited to a predetermined rotational WO 94116182 PCTUS94100120 1 sector by the spacing between opposing channel portions 2 38 and 39 of the respective hinge members. Accordingly, 3 in the present example, a first extreme operative 4 orientation of the hinge assembly is illustrated in Fig. 4A, wherein rotation of hinge member 12 has been 6 provided in the direction indicated by an arrow 46. In 7 the position illustrated, further rotation in this 8 direction is prevented by the abutting of adjacent 9 channel portions 39 of the respective hinge members 12 and 14.

11 A second extreme operative orientation of the 12 hinge assembly is illustrated in Fig. 4B. In this 13 position, the hinge assembly 10 has been straightened 14 by rotating hinge member 12 in the direction indicated by an arrow 51. In the position illustrated, further 16 rotation in this direction is prevented by the abut- 17 ting of adjacent channel portions 38 of the respective 18 hinge members 12 and 14.

19 With particular reference to Fig. 4C, according to one embodiment of the invention, pivot member 16 21 defines a plurality of sheaf-like surface protrusions 22 52a which are configured for engagement with similarly 23 configured depressions 52b formed in second seating 24 member 34. This provides locking of the pivot member 16 with the second seating member and, therefore, with 26 second hinge member 14, such that during relative 27 rotation of first hinge member 12 with respect to 28 second hinge member 14, pivot member 16 remains fixed 29 with respect to second hinge member 14. Sheaf-like protrusions 52a define, together with surface 36 of 31 pivot member 16, grooves 53 which define a path for 32 force transfer member 23.

33 A lubrication nipple 54 is connected with 34 openings 56 in pivot member 16 via a hollow interior space therein (not shown), thereby to facilitate peri- 36 odic replenishment of a lubrication fluid to the inter- 37 face between seating members 32 and 34 and pivot member 38 16.

~e WO 94/16182 PCT/US94/00120 1 The operation of actuator assemblies 20 and 2 22 is now described.

3 Referring now particularly to Figs. 3A, 4A 4 and 4B, it is seen that when it is sought to rotate hinge assembly 10 from the position shown in Fig. 4B to 6 the position shown in Fig. 4A, valve assembly 27 is 7 operated so as to de-pressurize pillow 25 of first 8 assembly 20 and to pressurize pillow 25' of second 9 assembly 22. The respective de-pressurization and pressurization are indicated by arrows 58 and 59 (Fig.

11 3A).

12 According to an embodiment of the invention, 13 valve assembly 27 may be arranged so as to cause a 14 closed circuit transfer of fluid from the pillow to be de-pressurized directly to the pillow to be pressur- 16 ized.

17 Deflation of pillow 25 causes a slackening in 18 force transfer member 23. At the same time, the infla- 19 tion of pillow 25' of second assembly 22 causes a lateral expansion of the pillow, in a direction indi- 21 cated generally by an arrow 63, against the second 22 force transfer member 24. As force transfer member 24 23 is prevented by roller 50' from moving laterally, the 24 force applied to the force transfer member is translated into a generally axial pulling force in the general 26 direction of support 49'. The pulling force increases 27 as a contact surface 64' of pillow 25' continues to 28 push laterally outward against force transfer member 29 24. The direction of the pulling force applied to second force transfer member 24 is indicated by an 31 arrow 65 (Figs. 3A and 4A).

32 As the position of pivot member 16 relative 33 to base 30' is fixed, the pulling force applied to the 34 hinge member 12 via the force transfer member 24 and via rod 42 causes a sliding rotation of the hinge 36 member 12 about the pivot member 16 in the direction 37 indicated by arrow 46 (Fig. 4A). Rotation of the hinge 38 member 12 about the pivot member 16 continues until I 111r% A I Z 001 7f nA~rc~ Ar.. isL O A~ I UOW'4(MI 44 I the hinge assembly becomes folded such that adiacent 2 channel portions 39 of hinge members 12 and 14 touch 3 (Fig. 4A) and force transfer member 23 is subjected to 4 a maximum extension, thereby preventing further relative rotation of the hinge assembly in the direction 6 described.

7 In order to straighten hinge assembly 10, the 8 above-described respective inflation and deflation of 9 pillows 25' and 25 is reversed. Accordingly, pillow of second assembly 22 is de-pressurized, as indicated 11 by an arrow 60 (Fig. 3B) via conduit 26', and pillow 12 of first assembly 20 is pressurized, as indicated by an 13 arrow 61 (Fig. 3B), and thus inflated by supplying a 14 fluid via conduit 26.

Deflation of pillow 25' causes a slackening 16 in second force transfer member 24. At the same time, 17 the inflation of pillow 25 of first assembly 20 causes 18 a lateral expansion, of the pillow, in a direction 19 indicated generally by-an arrow 62, against the first force transfer member 23. As described above in con- 21 junction with Fig. 3A, the lateral force applied to the 22 force transfer member is translated into an axial 23 pulling force. The pulling force increases as contact 24 surface 64 of pillow 25 continues to push laterally outward against force transfer member 23. The direction 26 of the pulling force applied to first force transfer 27 member 23 is indicated by an arrow 66.

28 As the position of pivot member 16 (Figs. 4A 29 and 4B) relative to base 30 is fixed, the pulling force applied to the hinge member 12 via the force transfer 31 member and via rod 42 causes a sliding rotation of the 32 hinge member 12 about the pivot member 16 in the direc- 33 tion indicated by arrow 51 (Fig. 4B). Once the hinge 34 assembly has been straightened, as illustrated in Fig.

4B, adjacent channel portions 38 of the hinge members 36 12 and 14 touch (Fig. 45) and force transfer member 24 37 is subjected to a maximum extension, thereby prevent- 38 ing further relative rotation of the hinge assembly in WO 94/16182 PCT/US94/00120 1 the direction described.

2 Hinge assembly 10 is shown and described 3 above in conjunction with Figs. 1A, 1B, 4A and 4B as a 4 knee-type joint whereih in one extreme position (Fig.

4B) hinge members 12 and 14 are substantially coaxial 6 so as to define an angle of 180°. It will be appreciat- 7 ed, however, that this is for exemplary purposes only, 8 and, in accordance with an alternative embodiment of 9 the invention, hinge assembly 10 may be adapted for relative rotation between two non-coaxial positions.

11 Reference is now made to Figs. 5A and 5B, in 12 which a joint portion of a hinge assembly, referenced 13 generally 10a, is illustrated in respective partially 14 folded and straight (unfolded) operative orientations.

In accordance with the present embodiment of the inven- 16 tion, pivot member 16, shown and described above in 17 conjunction with Figs. 4A 4C, is replaced by a non- 18 cylindrical, flexible, resilient pivot member 16a.

19 Pivot member 16a may be made of any suitable resilient material, of which an example is an elastomer having a 21 shore A-hardness (DIN 53505) of 80, such as Fibroflex 22 type no. 5 sold by Fibro of Germany.

23 Pivot member 16a defines an exterior surface 24 36a which is disposed between and engages seating members 32 and 34. Accordingly, a force is applied 26 along either of force transfer members 23 or 24, rela- 27 tive rotation of first and second hinge members 12 and 28 14 is permitted by elastic deformation of flexible 29 member 16a. This may be seen by a comparison of Fig. with Fig. 31 In Fig. 5A, the hinge assembly is seen to be 32 in a partially folded orientation, wherein first force 33 transfer member 23 applies a force to first hinge 34 member 12, so as to compress an upper portion A of member 16a. A reduction in the force along first force 36 transfer member 23 and application of a force to first 37 hinge member 12 via second force transfer member 24 38 permits an elastic return of upper portion A of member WO 94/16182 PCT/US94/00120 1 16a to a non-compressed state, and causes compression 2 of a lower portion B of member 16a, as seen in Fig. 3 Although flexible member 16a is illustrated 4 as being made of a solid piece of material, it may alternatively be provided with a hollow space C as 6 indicated by the broken line. Provision of the hollow 7 space allows substantially any desired degree of flexi- 8 bility of pivot member 16a to be realized. The presence 9 of an unfilled hollow space C may impart greater flexibility to the pivot member 16a. However, the hollow 11 space C may be filled with a rigid material such as 12 metal or plastic, so as to decrease flexibility.

13 Although the pivot member 16a illustrated in 14 Figs. 5A and 5B is generally elliptical in cross-section, this is for exemplary purposes only and it may be 16 provided with any suitable cross-sectional configura- 17 tion.

18 Further according to the present embodiment, 19 there may also be provided flexible cover members, referenced 17. Cover members 17 define surfaces 19 21 which, when members 17 are properly seated between 22 seating members 32 and 34, define a low drag extension 23 of members 32 and 34. This is particularly important 24 in aero- and hydrodynamic applications. Cover members 17 also prevent dirt from entering the interfaces 26 between the pivot member and the hinge members.

27 Reference is now made to Fig. 5C, in which is 28 illustrated a joint portion of a hinge assembly in a 29 partially folded orientation, substantially as illustrated in Fig. 4A, but employing the non-cylindrical, 31 resilient, flexible pivot member 16a of Figs. 5A and 32 5B, and further employing any type of suitable actuator 33 for applying rotational forces via force transfer mem- 34 bers 23 and 24. In the present example, the actuators, referenced 20a and 22a, are piston and cylinder assem- 36 blies, although they may be replaced by any suitable 37 mechanical or fluidic actuators.

38 Reference is now made to Fig. 5D, in which is WO 94/16182 PCT/US94/00120 1 illustrated a joint portion of a hinge assembly 10b in 2 a partially folded orientation, substantially as illus- 3 trated in Fig. 5C, but employing a flexible, resilient 4 pivot member, referenced 16b, that has a cylindrical configuration. Pivot member 16b may be made of a mate- 6 rial similar to that of resilient pivot member 16a, 7 described in conjunction with Figs. 5A and 5B above, or 8 may be formed of a rigid material.

9 The hinge assembly may employ any type of suitable actuator for applying rotational forces via 11 force transfer members 23 and 24. In the present exam- 12 ple, the actuators, referenced 20b and 22b, are piston 13 and cylinder assemblies, although they may be replaced 14 by any suitable mechanical or fluidic actuators.

It will be appreciated by persons skilled in 16 the art that the provision of a flexible, resilient 17 pivot member enables the hinge assembly to withstand 18 impact forces to a greater degree than may be possible 19 with a pivot member made of a non-resilient material.

Reference is now made to Figs. 6A 9 in 21 which are shown actuator assemblies similar to those 22 shown and described hereinabove in conjunction with 23 Figs. 2 3B, but which include bumper apparatus for 24 absorbing sudden impact forces applied to the hinge assembly. For the purpose of conciseness, all compo- 26 nents shown and described above in conjunction with 27 Figs. 2 3B are denoted in Figs. 6A 9 by similar 28 reference numerals and are not described again except 29 as may be necessary for understanding of the present embodiments.

31 In the embodiment illustrated in Figs. 6A and 32 6B, a pair of fluidic bumpers 67 is mounted in base 33 in abutting contact with side portions 68 of pillow 34 According to the present embodiment bumpers 67 are fluid filled cushions. The internal fluid pressure of 36 the bumpers is maintained by respective fluid pumps 69 37 as shown. Alternatively, pumps 69 may be replaced by a 38 single fluid pump.

I L WO 94/16182 PCT/US94/00120 1 As described above in conjunction with Figs.

2 3A and 3B, pressurization of the pillow 25 causes 3 expansion thereof in the direction of arrow 62. Accord- 4 ingly, bumpers 67 are maintained at a sufficiently high pressure so as to withstand any lateral forces applied 6 thereto by pillow 25 during normal use. However, in 7 order to protect the hinge assembly, bumpers 67 are 8 adapted to permit a lateral expansion of pillow 25, as 9 indicated by arrows 70, in response to a momentary impact force which may be applied to the hinge assem- 11 bly, and, consequently, also to the force transfer 12 member 23 and pillow 13 Referring now briefly to Figs. 7A and 7B, 14 there is illustrated a fluidic actuator assembly similar to that illustrated in Figs. 6A and 6B, except 16 that, in the present embodiment, a pair of solid bump- 17 ers 71 is provided in place of the fluid filled bumpers 18 67 (Figs. 6A and 6B). Bumpers 71 may be formed of 19 rubber or of any either similarly resilient material.

In the embodiment illustrated in Fig. 8, 21 fluidic bumpers 72 and 72' are mounted in depressions 22 74 and 74' formed in respective recesses 29 and 29' of 23 bases 30 and 30', respectively, so as to abut rear 24 sides 76 and 76' of pillows 25 and 25' respectively.

According to the present embodiment bumpers 72 and 72' 26 are fluid filled cushions. The internal fluid pressure 27 of the bumpers is maintained by respective fluid pumps 28 78 as shown. Alternatively, pumps 78 may be replaced by 29 a single fluid pump.

As described above in conjunction with Figs.

31 3A and 3B, pressurization of one of the pillows, for 32 example, pillow 25 causes expansion thereof in the 33 direction of arrow 62. Accordingly, bumpers 72 are 34 maintained at a sufficiently high pressure so as to withstand any forces applied thereto by pillow 36 during normal use. However, in order to protect the 37 hinge assembly, bumpers 72 are adapted to permit a 38 rearward expansion of pillow 25, as indicated by arrows %)Un QA/IfIVIP rif-4'1'If l it\ Ifl 4 i~ 1 80, in response to a momentary impact force which may 2 be applied to the hinge assembly, and, consequently, 3 also to the force transfer member 23 and pillow 4 In the embodiment illustrated in Fig. 9, a plurality of bumpers 82 is provided so as to operate in 6 a manner similar to that of bumpers 72, as described 7 above in conjunction with Fig. 8. According to the 8 present embodiment, however, bumpers 82 are formed of 9 a solid, resilient material, substantially as described above in conjunction with bumpers 71.

11 Reference is now made to Fig. 10, in which is 12 illustrated a multiple hinge assembly, referenced 13 generally 84, constructed and operative in accordance 14 with a further embodiment of the invention. Hinge assembly 84 comprises a plurality of hinge members, 16 respectively referenced A, B, C and D attached in 17 series via a plurality of joints 86. Joints 86 may be 18 constructed according to any of the embodiments shown 19 and described above in conjunction with Figs. 1A According to the illustrated arrangement, 21 each of the hinge members may be oriented separately 22 via a pair of fluidic actuator assemblies 88 (shown 23 only for hinge members B and whose construction and 24 operation is similar to the construction and operation of fluidic actuator assemblies 20 and 22 described 26 hereinabove in conjunction with Figs. 3A and 3B.

27 In the present embodiment, however, orienta- 28 tion adjustment and control of the hinge members is 29 provided via a primary fluidic supply line 90 with which secondary fluidic supply lines 92 interconnect 31 via fluidic selectors 94 controlled via electrical 32 control signals provided along an electrical line 96.

33 Referring now also to Fig. 11, there is 34 shown, in exploded pictorial form, a joint 86 of the hinge assembly 84 illustrated in Fig. 10, in accordance 36 with one embodiment. In the present embodiment, joint 37 86 is similar to the arrangement illustrated in Fig.

38 4C. Accordingly, components of joint 86 similar to WO 94/16182 I'CT/US9410020 1 those in the arrangement of Fig. 4C are denoted by like 2 reference numerals.

3 According to the present embodiment, however, 4 a rotation joint 98 of any suitable construction is provided at an end portion 99 of pivot member 16, 6 thereby to mechanically isolate the primary fluidic 7 supply line 90 and the electrical line 96 from stresses 8 arising out of angular adjustments of the hinge mem- 9 bers.

It will be appreciated by persons skilled in 11 the art, that both the dual hinge assembly 10 (Figs. 1A 12 9) and the multiple hinge assembly 84 (Fig. 10) of 13 the present invention have many different possible 14 applications. These applications include incorporation into mechanical control systems such as used with 16 hydrofoils, airfoils, robot systems, artificial limbs, 17 lifting devices such as cranes, and fish-tail propul- 18 sion devices.

19 Furthermore, among advantages of the hinge assemblies of the present invention are the capability 21 to be incorporated into an integral hinge-actuator 22 assembly, an absence of fasteners for attaching hinge 23 assemblies of the present invention to surfaces that it 24 is sought to rotate, the provision of surfaces having low drag coefficients for aero- and hydrodynamic appli- 26 cation, shock resistance, a relatively small number of 27 components and easy assembly.

28 In accordance with a preferred embodiment of 29 the invention, the hinge assembly of the invention is incorporated into a system for controlling the angular 31 orientation of the tip of a hydrofoil constructed and 32 operative substantially as illustrated and described 33 hereinbelow in conjunction with any of Figs. 12 26.

34 Reference is now made to Figs. 12, 13A, 13B, 13C, 14A and 14B, which illustrate a watercraft which 36 comprises a hull 110 and at least one pair of hydro- 37 foils 112 associated with the hull for engagement with 38 water. Shock absorbing apparatus is provided for ab- WO 94/16182 I'CT/US94/00120 1 sorbing mechanical shocks received from the waves and 2 preventing them from being fully transferred to at 3 least a portion of the hull. According to a preferred 4 embodiment of the invention, each foil 112 comprises a main portion 164 and a tip portion 160. The tip portion 6 160 is arranged for angular adjustment relative to the 7 main portion 164 via a hinge assembly constructed and 8 operative substantially as described hereinabove in 9 conjunction with any of the embodiments shown and described above in conjunction with Figs. 3A 11 The shock absorbing apparatus typically 12 comprises at least one shock absorber 116 associated 13 with each foil 112 to absorb upwardly directed forces 14 imparted thereto as a result of upward wave motion, and at least one shock absorber 118 associated with each 16 foil to absorb downwardly directed forces imparted 17 thereto as a result of the post-wave descending motion 18 of the craft.

19 It is noted that the shock absorbers 116 and 118 are preferably pivotably mounted with respect to 21 the foils 112 and are mounted onto the hull by means of 22 brackets 120 engaging a pivotably mountable base 122.

23 The shock absorbers may be of any suitable construction 24 and may be commercially available mechanical, hydraulic or pneumatic shock absorbers, such as Catalog No. R1061 26 of Monroe, Inc., U.S.A; or such as the 8000 Series of 27 shock absorbers marketed by Koni, Holland.

28 The extension and retraction of the shock 29 absorbers 116 and 118 with different relative orientations of the foils 112 can readily be seen from a 31 consideration of Figs. 13A 13C and 14A 14B which 32 illustrate two extreme orientations and an intermediate 33 orientation of the foils 112 relative to the hull 110.

34 In accordance with the teachings of applicant's U.S. Patent 4,715,304, the foils may be retract- 36 able.

37 Reference is now made to Figs. 15 17B, 38 which illustrate fluidic apparatus for governing the WA9 A/It12 PnrvTlrnAitnI l T V 3 23A 1 orientation of the tip 160 of a hydrofoil 112 relative 2 to the main portion 164 of the hydrofoil.

3 A foil mounting pin 201 has intejrally formed 4 therein a fluidic valve 202 associated with a fluid source (not shown). The pin 201 is pivotably seated in 6 a socket 207 integrally formed in a wall 208 of the 7 hull. Also integrally formed in wall 208 is a cavity 8 211 for seating a ball pivot protrusion 205, integrally 9 formed in hydrofoil 112. Formed in the wall of ball pivot protrusion 205 is an elongated groove 206 (Fig.

11 18).

12 As the hydrofoil 112 chan,:: its angle in the 13 plane of Fig. 15 and the shock absorbers are opera- 14 tive, pivot protrusion 205 moves relative to pin 201 causing pin 201 to be in different relative positions 16 along groove 206. This hydrofoil motion forces a valve 17 control handle 203 to change its position relative to 18 valve 202, thus effecting opening and closing of the 19 valve. Valve 202 is connected via conduits 204 to fluidic actuators 20 and 22, substantially as described 21 hereinabove in conjunction with Figs. 3A and 3B. Actua- 22 tors 20 and 22 activate respective force transfer 23 members 23 and 24 which effect a pivotal change in 24 position of the tip 160 of hydrofoil 112 relative to main portion 164 thereof about a pivot member 16.

26 Reference is now made to Figs. 19A, 19B, 27 20B, 20C, 21A, 21B, 22 and 23 which illustrate water- 28 craft which comprises a hull 310 and at least one pair 29 of hydrofoils 312 associated with the hull for engagement with water, and wherein fluid filled resilient 31 shock absorbing apparatus is provided. The shock ab- 32 sorbing apparatus is operative to absorb mechanical 33 shocks received from the waves and to prevent the 34 shocks from being fully transferred to at least a portion of the hull.

36 Preferably, the shock absorbing apparatus 37 comprises a pair of fluid filled pillow assemblies 316 38 associated with each foil 312 to absorb upwardly dirU WO 94/16182 P1CT1'S94/09120 1 rected forces imparted thereto as a result of upward 2 wave motion, and downwardly directed forces imparted 3 thereto as a result of the post-wave descending motion 4 of the craft.

Pillow assemblies 316 each typically comprise 6 a plurality of fluid filled pillows 319, typically 7 formed of suitable conventional rubber or plastic 8 materials and filled with gas or a liquid. Normally the 9 interiors of the fluid filled pillows of each assembly 316 are not interconnected. Rather, for each pillow 11 assembly 316, each pair of corresponding individual 12 pillows 319 lying on opposite sides of a foil 312 are 13 interconnected by a suitable conduit 320 and valve 324.

14 Valves 324 govern the rate of fluid flow between the pillows of each pair and thus the amount and rate of 16 damping produced by the assemblies. Valves 324 may be 17 manually or automatically controlled to vary the oper- 18 ating parameters of the shock absorbing apparatus for 19 optimum performance under various conditions.

According to one embodiment of the invention, 21 separate valves and separate associated command wiring 22 may be provided for the individual pillows. This also 23 may be the case for the embodiments of Figs. 24 and 27.

24 Pillow assemblies 316 are mounted onto the hull 310 by means of brackets 325 and onto the foils 26 312 by means of a mounting asseimbly 326, which is 27 illustrated in Fig. 19B. It is seen from Fig. 19B that 28 an elongate curved recess 327 extending along the 29 peripheral edge of foil 312 is slidably engaged by low friction solidified filling material 328, which forms 31 part of a bracket 329 to which both of pillow assem- 32 blies 316 are mounted.

33 The slidable engagement between material 328 34 and foil 312 is designed to accommodate pivotal motion of the foils 312 about ball pivots 317 in response to 36 actuation of a piston and cylinder combination 318 37 which is operatively connected thereto so as to provide 38 retraction of the foils.

~MMW WO 94/16182 WO9418 CTlUV9402OO 1 The extension and icetraction of the pillow 2 assemblies 316 with different relative orientations of 3 the foils 312 can readily be seen from a consideration 4 of Figs. 20A 20C, 21A and 21B which illustrate two extreme orientations and an intermediate orientation of 6 the foils 312 relative to the hull 310.

7 In accordance with the teachings of appli- 8 cant's U.S. Patent No. 4,715,304, the foils may be 9 retractable as by piston and cylinder assembly 318.

They are preferably fully retractable into the hull 310 11 via a slot 330.

12 Reference is now made to Fig. 23, which 13 illustrates an alternative embodiment of fluidic appa- 14 ratus for governing the orientation of the tip 360 of a hydrofoil 362 relative to the main portion 364 of the 16 hydrofoil.

17 A foil mounting pin 401 has integrally formed 18 therein a valve 402 associated with a fluidic pressure 19 source (not shown). The pin 401 is pivotably seated in a socket 407 integrally formed in a wall 408 of the 21 hull. Also integrally formed in wall 408 is a cavity 22 411 for seating a ball pivot protrusion 405, integrally 23 formed in hydrofoil 362, similarly to the embodiment of 24 Figs. 15 and 18.

As the hydrofoil 362 changes its angle in the 26 plane of Fig. 23 and the shock absorbing apparatus is 27 operative, hydrofoil motion forces a valve control 28 handle 403 to change its position relative to valve 29 402, thus effecting opening and closing of the valve.

Valve 402 is connected via conduits 404 to fluidic 31 actuators 20 and 22, substantially as described herei- 32 nabove in conjunction with Figs. 3A and 3B.

33 Actuators 20 and 22 activate respective force 34 transfer members 23 and 24 which effect a pivotal change in position of the tip 360 of hydrofoil 362 36 relative to main portion 364 thereof about a generally 37. cylindrically shaped pivot member 16.

38 In accordance with a preferred embodiment of WO 94/16182 PCT[US94/00120 1 the invention, actuators 20 and 22 each receive a 2 fluidic input from a respective one of the pillow 3 assemblies 316 via a respective conduit 430.

4 The apparatus of Fig. 23 enables the angular orientation of the tip 360 relative to the water 6 surface to be generally maintained notwithstanding 7 changes of the orientation of the main portion 364.

8 Reference is now made to Fig. 24, which is a 9 schematic cut-away illustration of a multiple-jointed foil, referenced generally 440, constructed in accord- 11 ance with a further embodiment of the invention. Foil 12 440 has a main portion 442 attached to a portion 444 of 13 a craft and further has, in the presen'- example, first, 14 second and third adjustable portions, respectively referenced 446, 448 and 450. Third adjustable portion 16 450 is a tip portion.

17 The construction and operation of foil 440 18 are generally similar to the construction and operation 19 of multiple hinge assembly 84 and are, therefore, not described herein in detail. It will be appreciated, 21 however, that the precise configuration of individual 22 foil portions is selected so as to minimize the drag of 23 the foil. According to one embodiment of the invention 24 the foil is a hydrofoil. According to an alternative embodiment of the invention, however, the foil is an 26 airfoil.

27 Reference is now made to Figs. 25, 26 and 27, 28 which illustrate an undulating hinged propulsion assem- 29 bly, referenced generally 500, for undersea use with a watercraft. Assembly 500 employs the multiple hinge 31 assembly 84 (Fig. 10) described hereinabove, components 32 of which are not specifically described again herein.

33 Propulsion assembly 500 is in the form of a 34 fishtail 502 which produces thrust by undulating along an axis 501 perpendicular to the forward motion of the 36 fishtail. Fishtail 502 is typically comprised of a 37 multiplicity of hinge members 504 which are assembled 38 as illustrated in Fig. 27 and in accordance with the WO 94/16182 PCT/US94/00120 1 hereinabove-described hinge assembly 84 of Fig. 10. The 2 hinge joints 86 are numbered 2 9 in Fig. 26, the 3 first joint being the location of attachment of the 4 assembly 500 to the hull 506 of a watercraft.

Fluidic actuator assemblies 88 are controlled 6 via a command center such that they operate in unison 7 to produce undulations. As is known in the art, the 8 undulation and the forward motion of the watercraft 9 produce eddies 508 (Fig. 26) staggered along the sides of the fishtail 502.

11 As seen in Fig. 26, each eddy 508 begins as 12 an eddy 508a near joints 1 and 2. This happens because 13 the fishtail 502 drags with it as a wake the water near 14 joints 1 and 2, giving the water a rotational motion.

The undulation of the fishtail 502 causes it 16 to travel along the boundary of the eddy 508a, which 17 remains stationery in the water. The fishtail 502 18 returns to eddy 508a at a location further along the 19 fishtail 502, in a region of concavity such as at joints 4 6. The fishtail harnesses the eddy and pulls 21 it along so as to impart more rotational energy there- 22 to. This amplifies the eddy to the size shown in eddy 23 508b. This process continues such that the eddies 508 24 along the body of the fishtail 502 become progressively larger.

26 The final eddy, shown as an eddy 508c, is 27 typically quite large. The end portion 510 of the 28 fishtail 502, at joints 7 9, typically grabs the eddy 29 508c when the end portion 510 is oriented such that a considerable forward thrust component exists. The 31 forward direction is defined by the arrow 511 in Fig.

32 26.

33 The water on the eddy or pressure side of the 34 end portion 510 typically moves fairly slowly, while the water on the non-eddy or suction or leeward side of 36 the end portion 510 moves more quickly. Thus there is 37 created a lift vector in a direction having a major 38 component in the direction of forward motion, transfer- 111n nA ineiol) PrT/MI tO o AIn 1v '91 L0A06. 28 1 ring energy from the eddy 508c to the fishtail 502, 2 thereby to give forward thrust to the watercraft.

3 Optionally, eddies may be initially intro- 4 duced by artificial means such as nozzles.

It is appreciated that propulsion with undu- 6 lation is possible even with a single hinge, having two 7 surfaces. However, the propulsion becomes more effi- 8 cient as more surface segments are provided.

9 Reference is now made to Figs. 28A, 28B and 28C, which are simplified illustrations of a shock 11 absorber equipped foil assembly constructed and opera- 12 tive in accordance with another preferred embodiment of 13 the invention in three alternative operative orienta- 14 tions.

A main foil portion 600 is pivotably mounted 16 onto a hull 602 and is provided with a pair of inte- 17 grally formed multi-stage shock absorbers 604 and 606 18 for absorbing shocks in both directions of permitted 19 rotation of the main foil portion.

Hingedly mounted onto the main foil portion 21 600 is a foil tip portion 608, whose position with 22 respect to the main foil portion 600 is determined by 23 the relative positions of a pair of positioning bands 24 610 and 612 whose extreme ends are coupled to opposite sides of foil tip portion 608, as more clearly shown in 26 Figs. 29A and 29B.

27 The positions of positioning bands 610 and 28 612 are respectively determined by a pair of fluid 29 operated pillow assemblies 614 and 616, a preferred embodiment of which is illustrated in Figs. 32A 32C.

31 It is noted that in Fig. 28A, the main foil 32 portion is located at an intermediate position with 33 respect to the hull and in Figs. 28B and 28C, the main 34 foil portion is located at two opposite extreme positions.

36 Reference is now made additionally to Fig.

37 31, which is a sectional illustration of the shock 38 absorbers 604 and 606 in the orientation of Fig. 28C.

JV

-r I I WO 94/16182 PCTIUS94/00120 1 It is seen that when a shock absorber, such as shock 2 absorber 606, is fully compressed, each of the multiple 3 chambers thereof at least partially nests in the larger 4 chamber adjacent thereto. It is noted that the various chambers are not volumetrically isolated from each 6 other and are preferably all formed in a single molding 7 process.

8 Reference is now made to Figs. 29A and 29B 9 which are simplified illustrations of a hinge forming part of the apparatus of Figs. 28A 28C in two alter- 11 native operative orientations. It is seen that the 12 hinged connection between the main foil portion 600 and 13 the foil tip portion 608 employs a flexible core 620, 14 typically formed of polyurethane. It is seen that the core 620, not only provides relative motion between the 16 main foil portion 600 and the foil tip portion 608 but 17 also defines flexible, shock absorbing bumper portions 18 622, which limit the pivotal motion of the foil tip 19 portion 608 relative to the main foil portion 600.

The core 620 includes first and second pro- 21 trusions 624 and 626, which are seated in corresponding 22 recesses 628 and 630 in the foil tip portion 608 and 23 the main foil portion 600 respectively. The flexibility 24 of the core not only permits pivotal motion between the foil tip portion 608 and the main foil portion 600 but 26 also acts as a spring, urging the foil tip portion 608 27 and the main foil portion 600 into coaxial alignment.

28 Reference is now made to Figs. 30A and 29 which are simplified illustrations of a hinge according to an alternative embodiment of the invention which is 31 useful in the apparatus of Figs. 28A 28C. Here the 32 main foil portion 600 and the foil tip portion 608 are 33 joined by a flexible elongate intermediate foil portion 34 640, which is preferably shaped as a streamlined continuation of the foil elements to define a continuous 36 foil assembly. The functionality of the foil portion 37 640 is similar to that of core 620, except that bumpers 38 are not provided. Rigid elements 642 may be embedded in I WO 94/16182 30 PCTIUS94/00120 1 portion 640 to limit the radius of bending of this 2 portion.

3 Reference is now made to Figs. 32A, 32B and 4 32C which are illustrations of a pillow actuator useful in the apparatus of Figs. 28A 28C in three alterna- 6 tive operative orientations. The pillow actuator com- 7 prises a rigid containment housing 650 typically a 8 cylinder of elliptical cross section. A pair of end 9 portions 652 define a location for two pillows 654 and 656, which receive fluid inputs via respective conduits 11 658 and 660.

12 Each of pillows 654 and 656 engages a corre- 13 sponding positioning band, such as bands 610 and 612.

14 It is noted that the elongate edges 662 and 664 of the bands 610 and 612 are preferably configured with a 16 wedge configuration so as to press the elongate edges 17 662 and 664 against end portions 652.

18 Fig. 32A illustrates both pillows in the same 19 orientation, which would normally cause the foil tip portion 608 to assume a partially folded orientation 21 relative to the main foil portion 600. Fig. 32B shows 22 pillow 656 relatively deflated as compared with pillow 23 654 and Fig. 32C shows pillow 656 relatively inflated 24 as compared with pillow 654. Thus if the operative orientation of Fig. 32B corresponds, for example to the 26 orientation of 29B, the operative orientation of Fig.

27 32C corresponds to the positioning of the foil tip 28 portion 608 in the opposite direction, as in Fig. 29A.

29 It will be appreciated by persons skilled in the art that the present invention is not limited by 31 what has been particularly shown and described hereina- 32 bove. Rather the scope of the present invention is 33 defined only by the claims which follow: 34 36 37 38

Claims

1. Hinge apparatus comprising: first and second hinge members arranged for relative rotation about a hinge axis; and fluidic actuator apparatus which includes: a force transfer member having a first end attached to said first hinge member at an anchor location spaced from said hinge axis; expandable pillow apparatus associated with said force transfer member and operative to expand when exposed to a fluidic pressure thereby to apply a force along said force transfer member to said first hinge member so as to cause rotation of said first hinge member relative to said second hinge member in at least a first direction; and valve apparatus for selectably coupling said expandable pillow apparatus to a fluidic pressure source, wherein said pillow apparatus has a flexible, expandable contact surface and said force transfer member has a second end attached to said second hinge member such that said force transfer member is positioned against said contact surface, and wherein pressurisation of said pillow apparatus causes a lateral displacement of said force transfer member by said contact surface, thereby to cause a force to be applied along said force transfer member to said first hinge member.

2. Apparatus according to claim 1, and wherein said force transfer member 20 is a first force transfer member and said hinge apparatus also includes a second force transfer member which has a first end attached to said first hinge member at an anchor location spaced from said hinge axis, and wherein said pillow apparatus has an additional 0 o 0 flexible, expandable contact surface and said second force transfer member has a second end attached to said second hinge member such that said second force transfer member is positioned against said additional contact surface, and wherein pressurisation of said pillow apparatus causes a lateral displacement of said second force transfer member by said additional contact surface, thereby to cause a force to be applied along said force transfer member to said first hinge member.

3. Apparatus according to claim 2, and wherein said fluidic actuator apparatus is operable in a first mode to cause rotation of said first hinge member relative to said second hinge member in a first direction, and is further operable, in a second mode, to cause rotation of said first hinge member relative to said second hinge member in a second direction.

4. Apparatus according to claim 3, and wherein said valve apparatus is 3' operative to permnit expansion of a single predetermined one of said contact surfaces in accordance with a selected operational mode of said actuator apparatus.

Apparatus according to claim 4, and wherein said pillow apparatus comprises a pair of fluid filled pillow members each having one of said contact surfaces.

6. Apparatus according to either of claims 4 or 5, and wherein said valve ,4o apparatus is also operative to permit de-pressurisation of one of said pillow members [N:\LIBLL]01509:KEH I BClsR"LZ~ WII*RI rZ~C4aararrrr~3-"lmr~ 32 thereby to permit contraction of said contact surface thereof when the other of said pillow members is pressurized.

7, Apparatus according to any one of the preceding claims, and also comprising bumper apparatus mounted in association with said pillow apparatus for absorbing an impact force applied thereto.

8. Apparatus according to any one of the preceding claims, and wherein said hinge axis is a first hinge axis, said pillow apparatus is first pillow apparatus and said valve apparatus is first valve apparatus, and said hinge apparatus also comprises: at least a third hinge member associated with a predetermined one of said first and second hinge members and arranged for rotation relative thereto about a second hinge axis; at least one additional force transfer member having a first end attached to said predetermined one of said first and second hinge members at an anchor location spaced from said second hinge axis; second expandable pillow apparatus associated with said at least one additional force transfer member and operative to expand when exposed to a fluidic pressure thereby to apply a force to said at least one force transfer member so as to cause rotation of said third hinge member about said second hinge axis in at least a first direction; and 99 9second valve apparatus for coupling said second pillow apparatus to a fluidic o. 20o pressure source so as to operate said second pillow apparatus to cause rotation of said third hinge member.

9. Apparatus according to claim 1, and also comprising: first and second seating members rigidly attached to adjacent end portions of said first and second hinge members respectively; and S 25 a pivot member disposed between said first and second seating members so as to permit relative rotation of said first and second seating members about said pivot member in response to the application of a force along said force transfer member.

10. Apparatus according to claim 9, and wherein said pivot member has a surface configuration which cooperates with at least one of said first and second seating 30 members so as to define a predetermined path of movement for the force transfer member.

11. Apparatus according to claim 9, and wherein said first and second seating members are generally cylindrical and said pivot member defines a generally cylindrical pivot surface for engagement with said first and second seating members.

12. Apparatus according to claim 9, and wherein said pivot member is formed of a flexible, resilient material.

13. Apparatus according to claim 12, and wherein said pivot member is a non-cylindrical flexible, resilient member, adapted to elastically deform in response to application thereto of a force via said force transfer member, thereby to permit relative 4k, rotation of the first and second hinge members. [N:\LIBLL]01509:KEH 11~11 11 ~I C7 II I~eP its 33

14. Hinge apparatus comprising: first and second hinge members arranged for relative rotation about a hinge axis; a resilient pivot member arranged along said hinge axis and between said first and second hinge members and adapted to elastically deform in response to application to said pivot member of a rotational force via said first hinge member, tLereby to permit relative rotation of said first and second hinge members; actuator apparatus arranged to selectably apply a rotational force to said first hinge member thereby to cause a relative rotation of said first and second hinge members, and wherein said actuator apparatus comprises fluidic actuator apparatus which includes: a force transfer member having a first end attached to said first hinge member at an anchor location spaced from said hinge axis, and expandable pillow apparatus associated with said force transfer member and operative to expand when exposed to a fluidic pressure thereby to apply a force along said force transfer member to said first hinge member so as to cause rotation of said first hinge member relative to said second hinge member in at least a first direction, and also including valve apparatus for selectably coupling said expandable pillow apparatus to a fluidic pressure source, and wherein said pillow apparatus has a flexible, expandable contact surface and said force transfer member has a second end attached to said second o hinge member such that said force transfer member is positioned against said contact 20 surface, and wherein pressurisation of said pillow apparatus causes a lateral displacement of said force transfer member by said contact surface, thereby to cause a force to be applied along said force transfer member to said first hinge member.

Apparatus according to claim 14, and wherein said force transfer member is a first force transfer member and said hinge apparatus also includes a second 25 force transfer member which has a first end attached to said first hinge member at an go .•anchor location spaced from said hinge axis, and wherein said pillow apparatus has an *9• additional flexible, expandable contact surface and said second force transfer member has a second end attached to said second hinge member such that said second force transfer member is positioned against said additional contact surface, and wherein pressurisation 30 of said pillow apparatus causes a lateral displacement of said second force transfer member by said additional contact surface, thereby to cause a force to be applied along said force transfer member to said first hinge member.

16. Apparatus according to claim 15, and wherein said fluidic actuator apparatus is operable in a first mode to cause rotation of said first hinge member relative to said second hinge member in a first direction, and is further operable, in a second mode, to cause rotation of said first hinge member relative to said second hinge member in a second direction.

17. Apparatus according to claim 16, and wherein said valve apparatus is operative to permit expansion of a single predetermined one of said contact surfaces in ie "l accordance with a selected operational mode of said actuator apparatus. [N:\LIBLL]O1509:KEH ~eb I I 34

18. Apparatus according to claim 17, and wherein said pillow apparatus comprises a pair of fluid filled pillow members each having one of said contact surfaces.

19. Apparatus according to either of claims 17 or 18, and wherein said valve apparatus is also operative to permit de-pressurisation of one of said pillow members thereby to permit contraction of said contact surface thereof when the other of said pillow members is pressurized.

Apparatus according to any of claims 14-19, and also comprising bumper apparatus mounted in association with said pillow apparatus for absorbing an impact force applied thereto.

21. Apparatus according to any of claims 14-20, and wherein said hinge axis is a first hinge axis, and said resilient pivot member is a first resilient pivot member, and said hinge apparatus also comprises: at least a third hinge member associated with a predetermined one of said first and second hinge members and arranged for rotation relative thereto about a second hinge axis; a second resilient pivot member arranged along said second hinge axis and between said third hinge member and said predetermined one of said first and second hinge members, said second resilient pivot member being adapted to elastically deform in response to application to said pivot member of a rotational force via said first hinge 20 member, thereby to permit relative rotation of said third hinge member about said second hinge axis.

22. A hinge apparatus, substantially as hereinbefore described vith reference to S: the accompanying drawings. Dated 6 April, 1998 25 Dalia Lapidot Patent Attorneys for the Applicant/Nominated Person SPRUSON FERGUSON *o **R k [N:\LIBLL]1509:KEH -p I