EP0677662A1 - Muscle-like actuating device - Google Patents

Muscle-like actuating device Download PDF

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Publication number
EP0677662A1
EP0677662A1 EP95105461A EP95105461A EP0677662A1 EP 0677662 A1 EP0677662 A1 EP 0677662A1 EP 95105461 A EP95105461 A EP 95105461A EP 95105461 A EP95105461 A EP 95105461A EP 0677662 A1 EP0677662 A1 EP 0677662A1
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Prior art keywords
force element
force
element according
muscle
load
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EP95105461A
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German (de)
French (fr)
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Werner Homann
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
    • B66F3/25—Constructional features
    • B66F3/35—Inflatable flexible elements, e.g. bellows

Definitions

  • Muscle-like power elements are components that are based on the mode of action of natural muscles.
  • a natural muscle is stimulated to "contract” by resonance, in which the living being couples itself arbitrarily (in contrast to “consciously") with an external source of excitation.
  • the longitudinal muscle fibers which are fixed in their length, start to oscillate (wavy line), which shortens the muscle under transverse thickening.
  • the invention makes it possible to produce force elements which are simple in construction, inexpensive to produce, lightweight, insensitive to misalignments, are environmentally friendly in operation and, in comparison with known force elements, offer a higher tapped force with comparable characteristic values.
  • Such a force element can be divided into several communicating chambers by means of intermediate bundles, the common inner shell of which enables pressure equalization.
  • the advantages resulting from this are manifold:
  • the amount of operating equipment is smaller because of the smaller volume of the inner shell, and thus the space requirement transversely to the longitudinal axis of the force element.
  • the wave-like outer line Because of the wave-like outer line, several such force elements can be combined side by side in a light and space-saving manner, which additionally increases the force that can be tapped linearly.
  • this multi-chamber force element can be used excellently for the production of tubular muscle-like force elements.
  • Another decisive advantage is that the inner shell is stretched considerably less, which leads to an increase in tool life.
  • the load locations are the areas on the longitudinal axis of the force element that delimit the same and to which, with the shortest construction, a load is just attached
  • the load locations could) separate from each other as soon as the internal pressure of the force element is increased, ie that its length, measured in the longitudinal axis, increases.
  • a force element according to the invention consists of two individual parts, namely an inner shell and an outer shell, the outer shell being connected at two opposite ends to a fixed point and to the load.
  • the inner envelope is elastically extensible on all sides, expediently a balloon envelope made of an elastomer, rubber or the like.
  • the equipment be it a gas or a liquid, is introduced into it with pressure. It is sealed to the outside of the equipment and expands more and more as the internal pressure increases.
  • the length of the force element is shortened with increasing internal pressure of the inner cover. A shortening also results when using a mesh-like fabric.
  • the bundling of the shell components at the load locations of the force element is absolutely necessary for the force element to be effective; see picture I.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Prostheses (AREA)

Abstract

A force generating element which operates in a similar way to the muscular tissue of the body is made up from a fluidtight inner envelope of elastic material surrounded by an outer sheath which is inelastic in the direction in which it is required to work against a load. By injecting a fluid under pressure eg water or air into the inner envelope the resulting change of shape causes a contraction (delta L) along a central axis which includes the point of application (alpha) of the load. <IMAGE>

Description

Muskelartige Kraftelemente sind Bauteile, die sich an die Wirkungsweise natürlicher Muskeln anlehnen.Muscle-like power elements are components that are based on the mode of action of natural muscles.

Die Anregung eines natürlichen Muskels zur "Zusammenziehung" erfolgt durch Resonanz, indem sich das Lebewesen willkürlich (im Unterschied zu "bewußt") mit einer außerhalb liegenden Erregerquelle koppelt. Die in ihrer Länge festgelegten längsgehenden Muskelfasern geraten also in Schwingung (Wellenlinie), wodurch der Muskel unter Querverdickung sich verkürzt.A natural muscle is stimulated to "contract" by resonance, in which the living being couples itself arbitrarily (in contrast to "consciously") with an external source of excitation. The longitudinal muscle fibers, which are fixed in their length, start to oscillate (wavy line), which shortens the muscle under transverse thickening.

Die Erfindung ermöglicht es, Kraftelemente herzustellen, die von einfacher Bauart, preisgünstig herzustellen, leichtgewichtig, unempfindlich gegen Fluchtfehler, umweltfreundlich im Betrieb sind und im Vergleich mit bekannten Kraftelementen bei vergleichbaren Kennwerten eine höhere abgreifbare Kraft anbieten.The invention makes it possible to produce force elements which are simple in construction, inexpensive to produce, lightweight, insensitive to misalignments, are environmentally friendly in operation and, in comparison with known force elements, offer a higher tapped force with comparable characteristic values.

Quergestreifte willkürliche Muskeln ermöglichen eine kraftvolle Bewegung der Körperteile und dadurch die körperliche Arbeit. Mit dieser Kraftentfaltung sind sehr kurze Wege verbunden, weswegen sich ein dieser Muskelart nachempfundenes Kraftelement für große Übersetzungen mit hohen Reaktionsgeschwindigkeiten eignet und dort eingesetzt werden kann, wo eine kurze und extrem leichte Bauweise vorteilhaft ist. Ebenso besteht der große Vorteil, durch die diesen Kraftelement anhaftende günstige innere Übersetzung mit geringem Druck des Betriebsmittels, etwa Luft oder Wasser, und geringen Mengen davon arbeiten zu können. Daraus ergibt sich das günstige Gewichtsverhältnis von Kraftelement zu Last, wobei ein Verhältnis von kleiner als 1‰ durchaus erreichbar ist, und beste Umweltverträglichkeit bei Verwendung von Luft oder Wasser als treibenden Stoff.Cross-streaked arbitrary muscles allow a powerful movement of the body parts and thereby the physical work. This development of force is associated with very short distances, which is why a force element modeled on this type of muscle is suitable for large translations with high reaction speeds and can be used where a short and extremely light construction is advantageous. There is also the great advantage of being able to work with low pressure of the operating medium, for example air or water, and small amounts of it due to the favorable internal transmission ratio adhering to this force element. This results in the favorable weight ratio of the force element to the load, with a Ratio of less than 1 ‰ is quite attainable, and best environmental compatibility when using air or water as a driving substance.

Ein solches Kraftelement kann mittels Zwischenbündelungen in mehrere kommunizierende Kammern unterteilt sein, deren gemeinsame innere Hülle einen Druckausgleich ermöglicht.Such a force element can be divided into several communicating chambers by means of intermediate bundles, the common inner shell of which enables pressure equalization.

Die daraus sich ergebenden Vorteile sind vielfältig: Die Betriebsmittelmenge ist geringer wegen des geringeren Volumens der Innenhülle, und damit auch der Platzbedarf quer zur Längsachse des Kraftelementes. Mehrerer solcher Kraftelemente lassen sich wegen der wellenartigen Außenlinie leicht und platzsparend nebeneinanderliegend zusammenfassen, was die abgreifbare Kraft zusätzlich linear vergrößert. Außerdem läßt sich dieses mehrkammrige Kraftelement ausgezeichnet zur Anfertigung schlauchmuskelartiger Kraftelemente verwenden. Ein entscheidender Vorteil ist auch, daß die innere Hülle erheblich weniger gedehnt wird, was zu einer Erhöhung der Standzeit führt.The advantages resulting from this are manifold: The amount of operating equipment is smaller because of the smaller volume of the inner shell, and thus the space requirement transversely to the longitudinal axis of the force element. Because of the wave-like outer line, several such force elements can be combined side by side in a light and space-saving manner, which additionally increases the force that can be tapped linearly. In addition, this multi-chamber force element can be used excellently for the production of tubular muscle-like force elements. Another decisive advantage is that the inner shell is stretched considerably less, which leads to an increase in tool life.

Bei herkömmlichen hydraulischen oder pneumatischen Kraftelementen, z.B. bei Faltenbälgen, Pneumatik- oder Hydraulikzylindern, aufblasbaren Hebezeugen usw., ist es kennzeichnend, daß sich die Lastorte (als Lastorte werden hier die Bereiche auf der Längsachse des Kraftelementes bezeichnet, welche selbes begrenzen und an welchen bei kürzester Bauweise eine Last eben noch angebracht werden könnte) voneinander entfernen, sobald der Innendruck des Kraftelementes erhöht wird, d.h. daß sich dessen Länge, gemessen in der Längsachse, vergrößert.In conventional hydraulic or pneumatic force elements, e.g. in bellows, pneumatic or hydraulic cylinders, inflatable hoists, etc., it is characteristic that the load locations (the load locations here are the areas on the longitudinal axis of the force element that delimit the same and to which, with the shortest construction, a load is just attached) could) separate from each other as soon as the internal pressure of the force element is increased, ie that its length, measured in the longitudinal axis, increases.

Bei muskelartigen Kraftelementen gemäß der Erfindung ist dies, wie auch beim natürlichen Muskel, gerade umgekehrt. Bei Kraftelementen gemäß der Erfindung nähern sich die Lastorte bei Erhöhung des Innendruckes unter Verkürzung des Kraftelementes einander an. Kennzeichnend für diese Art Kraftelemente ist auch, daß die Kennlinie Kraft/Weg deutlich nichtlinear ist und im Endpunkt (im Ideal bei Kugelform des muskelartigen Kraftelementes) Selbsthemmung eintritt.With muscle-like force elements according to the invention, just like with natural muscle, this is exactly the other way round. In the case of force elements according to the invention, the load locations approach one another when the internal pressure increases while the force element is shortened. It is also characteristic of this type of force element that the force / travel characteristic is clearly non-linear and self-locking occurs at the end point (ideally with a spherical shape of the muscle-like force element).

Ein Kraftelement gemäß der Erfindung besteht aus zwei Einzelteilen, nämlich einer inneren Hülle und einer äußeren Hülle, wobei die äußere Hülle an zwei gegenüberliegenden Enden mit einem Fixpunkt und mit der Last verbunden ist.A force element according to the invention consists of two individual parts, namely an inner shell and an outer shell, the outer shell being connected at two opposite ends to a fixed point and to the load.

Die innere Hülle ist allseitig elastisch stark dehnbar, zweckmäßigerweise eine Ballonhülle aus einem Elastomer, Kautschuk oder Ähnlichem. In sie wird das Betriebsmittel, sei es ein Gas oder eine Flüssigkeit, mit Druck eingeleitet. Sie ist nach außen hin für das Betriebsmittel dicht und dehnt sich bei Erhöhung des Innendruckes immer stärker aus.The inner envelope is elastically extensible on all sides, expediently a balloon envelope made of an elastomer, rubber or the like. The equipment, be it a gas or a liquid, is introduced into it with pressure. It is sealed to the outside of the equipment and expands more and more as the internal pressure increases.

Die äußere Hülle besteht aus einem unelastischen Stoff oder Gewebe mit einer Struktur dergestalt, daß eine Dehnung in Richtung der Längsachse des muskelartigen Kraftelementes wirksam unterbunden wird. Gleichzeitig läßt die äußere Hülle jedoch eine Ausdehnung des Umfanges der inneren Hülle quer zur Längsachse zu. Um diese beiden Eigenschaften zu vereinen, gibt es mehrere Möglichkeiten, insbesondere:

  • Man nimmt nur längsgehende Fäden, welche in Fadenrichtung im wesentlichen nicht dehnbar sind und nebeneinander und übereinander liegen können;
  • man nimmt ein netzartiges Gewebe, wobei darauf zu achten ist, das Netz im lastfreien Zustand derartig vorzuspannen, daß die Netzknoten in Richtung Längsachse des Kraftelementes möglichst weit voneinander entfernt sind und quer dazu möglichst eng beieinanderliegen;
  • man nimmt einen in Richtung Längsachse des Kraftelementes stark bevorzugten Kreuzschlag von Fädern, die wiederum in Fadenrichtung unelastisch sind;
  • man nimmt einen Stoff, welcher sich in Längsrichtung unelastisch verhält und in Querrichtung elastisch. Ist er dazu noch gasdicht, erfüllt er die Aufgaben der inneren Hülle mit. Erfüllt er noch dazu die Forderungen nach Festigkeit, Dichtheit und Beständigkeit, ist er ideal.
The outer shell consists of an inelastic fabric with a structure such that an expansion in the direction of the longitudinal axis of the muscle-like force element is effectively prevented. At the same time, however, the outer shell allows the circumference of the inner shell to extend transversely to the longitudinal axis. There are several ways to combine these two properties, in particular:
  • One only takes longitudinal threads, which are essentially not stretchable in the thread direction and can lie side by side and one above the other;
  • one takes a net-like tissue, whereby care must be taken to pretension the net in the load-free state in such a way that the net nodes are as far apart as possible in the direction of the longitudinal axis of the force element and are as closely as possible transverse to one another;
  • one takes a cross stitch of threads which is strongly preferred in the direction of the longitudinal axis of the force element and which in turn is inelastic in the thread direction;
  • one takes a fabric that is inelastic in the longitudinal direction and elastic in the transverse direction. If it is also gas-tight, it also fulfills the functions of the inner shell. If it also meets the requirements for strength, tightness and durability, it is ideal.

Die äußere Hülle erfüllt folgende Aufgaben:

  • Sie nimmt die Last in Längsrichtung auf,
  • bewirkt eine steuerbare Aufdehnung des Kraftelementumfangs,
  • ermöglicht eine gezielte Verformung der inneren Hülle und stützt sie,
  • ermöglicht die entsprechende Steuerung des Innendruckes,
  • bewirkt im Verein mit der inneren Hülle die Längsachsenverkürzung des Kraftelementes, da bei Erhöhung des Innendruckes in der Innenhülle sich diese nicht in Längsrichtung ausdehnen kann, wohl aber radial und im Umfang.
The outer shell does the following:
  • It takes the load in the longitudinal direction,
  • causes a controllable expansion of the circumference of the force element,
  • enables targeted deformation of the inner shell and supports it,
  • enables the appropriate control of the internal pressure,
  • causes in conjunction with the inner shell, the longitudinal axis shortening of the force element, since when the internal pressure in the inner shell increases, it cannot expand in the longitudinal direction, but it can do so radially and in circumference.

Da die Bogenlänge der Fäden zwischen den Lastorten sich nicht ändern kann (deswegen die Forderung nach unelastischem Stoff), wird die Länge des Kraftelementes bei steigendem Innendruck der Innenhülle verkürzt. Eine Verkürzung ergibt sich auch bei Verwendung eines netzartigen Gewebes. Unbedingt erforderlich für eine gute Wirksamkeit des Kraftelementes ist die Bündelung der Hüllenbestandteile an den Lastorten des Kraftelementes; siehe hierzu Bild I.Since the arc length of the threads cannot change between the load locations (hence the requirement for inelastic material), the length of the force element is shortened with increasing internal pressure of the inner cover. A shortening also results when using a mesh-like fabric. The bundling of the shell components at the load locations of the force element is absolutely necessary for the force element to be effective; see picture I.

Durch das innere Übersetzungsverhältnis eines muskelartigen Kraftelementes (im Mittel überschlagsweise über 1:7), ist ersichtlich, daß bei gleicher Lastaufnahme und vergleichbaren Kenngrößen (etwa Querschnitt zu Kolbendurchmesser) der Betriebsdruck gegenüber Kraftelementen bekannter Bauart lediglich ein Siebentel betragen muß, oder eben bei gleichem Druck die siebenfache Last aufgenommen werden kann. Je nach Betriebspunkt auf der Kraft/Weg-Kennlinie ist auch eine 20-fache Kraft bei entsprechend kürzerem Weg ohne weiteres möglich.Due to the internal transmission ratio of a muscle-like force element (on average over 1: 7), it can be seen that with the same load bearing capacity and comparable parameters (e.g. cross-section to piston diameter), the operating pressure compared to force elements of a known type only has to be one-seventh, or even at the same pressure seven times the load can be absorbed. Depending on The operating point on the force / displacement characteristic is also easily 20 times the force with a correspondingly shorter path.

Zur Nachbildung sogenannter längsgestreifter, unwillkürlicher Muskeln werden mehrere der beschriebenen Kraftelemente kreis- oder bogenförmig angeordnet und an ihren Lastorten miteinander verbunden (siehe Bild II), und die so gebildeten Kraftelemente in axialer Anordnung entweder fest miteinander verbunden oder lose aneinander gelegt, wobei man immer das nächste mehrkammrige Kraftelement so um die Kraftelementlängsachse verdreht, daß immer ein Ort stärkster Verdickung einer Kammer in die Senke eines Lastortes des danebenliegenden Muskelringes eintaucht und in Summe die gewünschte Schlauchform erreicht wird.To simulate so-called longitudinally streaked, involuntary muscles, several of the force elements described are arranged in a circle or arc and connected to one another at their load locations (see Figure II), and the force elements formed in this way are either permanently connected to one another or loosely placed against one another, always doing this The next multi-chamber force element is rotated about the longitudinal axis of the force element in such a way that a location with the greatest thickening of a chamber always plunges into the depression of a load location of the adjacent muscle ring and the desired tube shape is achieved in total.

Durch eine spiralige Anordnung eines sehr langen, auch mehrkammrigen Kraftelementes läßt sich das ebenfalls erreichen, wobei zu beachten ist, daß das Kraftelement dann die Längsachse des Stützelementes radial verdreht.This can also be achieved by a spiral arrangement of a very long, also multi-chambered force element, whereby it should be noted that the force element then rotates the longitudinal axis of the support element radially.

Claims (7)

Muskelartiges Kraftelement zum Bewegen von Lasten, dadurch gekennzeichnet, daß es aus zwei Hüllen besteht, nämlich einer inneren und einer äußeren Hülle, wobei die innere Hülle aus einem dehnbaren Material besteht und nach Art eines Ballons mit einem Fluid, z.B. einem Gas oder einer Flüssigkeit, aufblasbar ist, und die äußere Hülle aus einem in Längsrichtung des Kraftelements nicht elastischen Stoff besteht, jedoch eine Ausdehnung der inneren Hülle in radialer und Umfangsrichtung zuläßt.Muscle-like force element for moving loads, characterized in that it consists of two shells, namely an inner and an outer shell, the inner shell being made of a stretchable material and in the manner of a balloon with a fluid, e.g. a gas or a liquid, is inflatable, and the outer shell consists of a non-elastic material in the longitudinal direction of the force element, but allows the inner shell to expand in the radial and circumferential directions. Kraftelement nach Anspruch 1, dadurch gekennzeichnet, daß die äußere Hülle aus einer Vielzahl von längsgehenden, unelastischen Fäden besteht, die neben- und übereinander liegen und an gegenüberliegenden Seiten des Kraftelementes zusammengefaßt sind.Force element according to claim 1, characterized in that the outer casing consists of a plurality of longitudinal, inelastic threads which lie side by side and one above the other and are combined on opposite sides of the force element. Kraftelement nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß äußere und innere Hülle zu einer gemeinsamen Hülle zusammengefaßt sind.Power element according to claim 1 or 2, characterized in that the outer and inner casing are combined to form a common casing. Kraftelement nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß das Kraftelement mittels Zwischenbündelungen in mehrere kommunizierende Kammern unterteilt ist, deren gemeinsame innere Hülse einen Druckausgleich zwischen den Kammern ermöglicht.Force element according to one of the preceding claims, characterized in that the force element is divided into several communicating chambers by means of intermediate bundles, the common inner sleeve of which enables pressure equalization between the chambers. Kraftelement nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß mehrere derartiger Kraftelemente hintereinander geschaltet und spiralig, ring- oder bogenförmig angeordnet sind.Force element according to one of the preceding claims, characterized in that a plurality of such force elements are connected in series and arranged in a spiral, ring or arc shape. Kraftelement nach Anspruch 4, dadurch gekennzeichnet, daß die Innenhüllen zumindest einiger aufeinanderfolgender Kraftelemente miteinander kommunizieren.Force element according to claim 4, characterized in that the inner shells communicate with at least some successive force elements. Kraftelement nach Anspruch 4 oder 5, dadurch gekennzeichnet, daß bei einer spiraligen, ring- oder bogenförmigen Anordnung von Kraftelementen mehrere von ihnen miteinander seitlich verbunden sind.Force element according to claim 4 or 5, characterized in that in the case of a spiral, ring or arc-shaped arrangement of force elements, several of them are laterally connected to one another.
EP95105461A 1994-04-11 1995-04-11 Muscle-like actuating device Withdrawn EP0677662A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19944412422 DE4412422A1 (en) 1994-04-11 1994-04-11 Muscular force element
DE4412422 1994-04-11

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002023050A1 (en) * 2000-09-14 2002-03-21 Alexandr Nikolaevich Marti Mechanical muscle

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103802126A (en) * 2014-03-07 2014-05-21 上海当世流体动力控制设备有限公司 Hydraulic bionic muscle

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Publication number Priority date Publication date Assignee Title
FR951941A (en) * 1947-08-08 1949-11-07 Soc Fr Regulateurs Arca Improvements to tubular diaphragm servo motors in series
US2844126A (en) * 1955-01-20 1958-07-22 Clevite Corp Fluid actuated motor system and stroking device
CH462374A (en) * 1966-04-08 1968-09-15 Politechnika Warszawska Artificial pneumatic muscle
US3481254A (en) * 1967-08-14 1969-12-02 United Aircraft Corp Composite structure
DE2904779A1 (en) * 1979-02-06 1980-09-04 Wolfgang Karl Renzland Contracting cell for lifting or haulage - is formed by belt of cells joined together in row
JPS5881205A (en) * 1981-11-09 1983-05-16 Shunji Hirabayashi Hydraulic actuator
EP0261721A2 (en) * 1986-09-22 1988-03-30 Théophile Beullens Hydraulic or pneumatic drive device
WO1992007789A1 (en) * 1990-11-05 1992-05-14 Michelsens Chr Inst Arrangement of stretching means
WO1992015790A1 (en) * 1991-03-06 1992-09-17 Ralph Wenzel Device for producing a tensile force by means of a pressurized medium

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Publication number Priority date Publication date Assignee Title
USRE24272E (en) * 1952-01-07 1957-02-12 Land vehicle or load-moving device comprising
JPS579698A (en) * 1980-05-19 1982-01-19 Goodyear Aerospace Corp Air pressure working lift-pad

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR951941A (en) * 1947-08-08 1949-11-07 Soc Fr Regulateurs Arca Improvements to tubular diaphragm servo motors in series
US2844126A (en) * 1955-01-20 1958-07-22 Clevite Corp Fluid actuated motor system and stroking device
CH462374A (en) * 1966-04-08 1968-09-15 Politechnika Warszawska Artificial pneumatic muscle
US3481254A (en) * 1967-08-14 1969-12-02 United Aircraft Corp Composite structure
DE2904779A1 (en) * 1979-02-06 1980-09-04 Wolfgang Karl Renzland Contracting cell for lifting or haulage - is formed by belt of cells joined together in row
JPS5881205A (en) * 1981-11-09 1983-05-16 Shunji Hirabayashi Hydraulic actuator
EP0261721A2 (en) * 1986-09-22 1988-03-30 Théophile Beullens Hydraulic or pneumatic drive device
WO1992007789A1 (en) * 1990-11-05 1992-05-14 Michelsens Chr Inst Arrangement of stretching means
WO1992015790A1 (en) * 1991-03-06 1992-09-17 Ralph Wenzel Device for producing a tensile force by means of a pressurized medium

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 7, no. 177 (M - 233)<1322> 5 August 1983 (1983-08-05) *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002023050A1 (en) * 2000-09-14 2002-03-21 Alexandr Nikolaevich Marti Mechanical muscle

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