EP1519055A3 - Fluid actuator - Google Patents

Fluid actuator Download PDF

Info

Publication number
EP1519055A3
EP1519055A3 EP04021291A EP04021291A EP1519055A3 EP 1519055 A3 EP1519055 A3 EP 1519055A3 EP 04021291 A EP04021291 A EP 04021291A EP 04021291 A EP04021291 A EP 04021291A EP 1519055 A3 EP1519055 A3 EP 1519055A3
Authority
EP
European Patent Office
Prior art keywords
hollow component
drive
resistant ring
fluid actuator
drive element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP04021291A
Other languages
German (de)
French (fr)
Other versions
EP1519055A2 (en
EP1519055B1 (en
Inventor
Stefan Schulz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Karlsruher Institut fuer Technologie KIT
Original Assignee
Forschungszentrum Karlsruhe GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Forschungszentrum Karlsruhe GmbH filed Critical Forschungszentrum Karlsruhe GmbH
Publication of EP1519055A2 publication Critical patent/EP1519055A2/en
Publication of EP1519055A3 publication Critical patent/EP1519055A3/en
Application granted granted Critical
Publication of EP1519055B1 publication Critical patent/EP1519055B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Actuator (AREA)
  • Transition And Organic Metals Composition Catalysts For Addition Polymerization (AREA)
  • Valve Device For Special Equipments (AREA)
  • Joints Allowing Movement (AREA)
  • Manipulator (AREA)
  • Diaphragms And Bellows (AREA)

Abstract

The fluid drive between two relatively movable components has at least one hydraulic or pneumatic drive element consisting of a hollow component (1) which is formed at least partially like a bellows. Stretch resistant ring elements (4) encompass the hollow component in each individual fold, and the stretch resistant ring on at least one side of the hollow component is connected via an extension resistant connection to at least one of the two force action sections (3) of the drive element. An independent claim is included for an articulated drive incorporating the proposed fluid drive for two components interconnected by a joint.
EP04021291A 2003-09-29 2004-09-08 Fluid actuator Not-in-force EP1519055B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10345587 2003-09-29
DE10345587A DE10345587A1 (en) 2003-09-29 2003-09-29 Fluidic drive

Publications (3)

Publication Number Publication Date
EP1519055A2 EP1519055A2 (en) 2005-03-30
EP1519055A3 true EP1519055A3 (en) 2005-10-26
EP1519055B1 EP1519055B1 (en) 2009-01-14

Family

ID=34178025

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04021291A Not-in-force EP1519055B1 (en) 2003-09-29 2004-09-08 Fluid actuator

Country Status (4)

Country Link
US (1) US7086322B2 (en)
EP (1) EP1519055B1 (en)
AT (1) ATE421044T1 (en)
DE (2) DE10345587A1 (en)

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US8956421B2 (en) 2007-02-06 2015-02-17 Deka Products Limited Partnership Dynamic support apparatus and system
US8074559B2 (en) * 2007-02-06 2011-12-13 Deka Products Limited Partnership Dynamic support apparatus and system
CA2477797C (en) * 2004-09-01 2006-05-23 Edouard P. Kassianoff Tensioned inflatable cover module
DE102005008017A1 (en) * 2005-02-22 2006-08-31 Bayerische Motoren Werke Ag Actuator operated by fluid forces, as a fluid muscle, has a reinforced hose held at spaced head pieces by crimp rings to give a corrugated distortion through radial forces
DE102005056846B4 (en) * 2005-11-28 2007-10-18 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Linear drive with an actuator that can be filled with a medium
WO2007134461A1 (en) * 2006-05-24 2007-11-29 Titan Medical Inc. Snaking robotic arm with movable shapers
DE102007050013A1 (en) 2006-10-18 2008-08-21 Glinberg, Valeriy, Dipl.-Ing. Long-stroke fluid-operated cylinder, comprises bellows construction with coil spring body and internal frustrated-conical bushes having inclined bases between end covers
US20120247093A1 (en) * 2007-01-10 2012-10-04 Bartels Mikrotechnik Gmbh Displacement element
US8453340B2 (en) 2007-02-06 2013-06-04 Deka Products Limited Partnership System, method and apparatus for orientation control
US11779476B2 (en) 2007-02-06 2023-10-10 Deka Products Limited Partnership Arm prosthetic device
US8979943B2 (en) 2007-02-06 2015-03-17 Deka Products Limited Partnership Arm prosthetic device
US9114030B2 (en) 2007-02-06 2015-08-25 Deka Products Limited Partnership System for control of a prosthetic device
US8864845B2 (en) 2007-02-06 2014-10-21 DEKA Limited Partnership System for control of a prosthetic device
CA2679616C (en) 2007-02-06 2015-10-06 David E. Altobelli Dynamic support apparatus
WO2008098059A2 (en) 2007-02-06 2008-08-14 Deka Integrated Solutions Corp. Method and apparatus for control of a prosthetic
EP2114315B1 (en) 2007-02-06 2016-05-18 DEKA Products Limited Partnership Arm prosthetic device
US8449624B2 (en) * 2007-02-06 2013-05-28 Deka Products Limited Partnership Arm prosthetic device
US10426638B2 (en) 2007-02-06 2019-10-01 Deka Products Limited Partnership Arm prosthetic device
US9381099B2 (en) 2007-02-06 2016-07-05 Deka Products Limited Partnership Arm prosthetic device
GB2463052A (en) * 2008-09-01 2010-03-03 Ralph-Peter Steven Bailey High pressure expanding hydraulic cylinder without sliding seals
US9844447B2 (en) 2010-04-09 2017-12-19 Deka Products Limited Partnership System and apparatus for robotic device and methods of using thereof
FR2960468B1 (en) * 2010-05-31 2013-03-29 Commissariat Energie Atomique ARTICULATED INFLATABLE STRUCTURE AND ROBOTIC ARM COMPRISING SUCH A STRUCTURE
WO2013103412A2 (en) 2011-10-07 2013-07-11 President And Fellows Of Harvard College Systems and methods for actuating soft robotic actuators
WO2012148472A2 (en) 2010-11-19 2012-11-01 President And Fellows Of Harvard College Soft robotic actuators
DE102011081727B4 (en) * 2011-08-29 2015-03-19 FWBI Friedrich-Wilhelm-Bessel-Institut Forschungsgesellschaft mit beschränkter Haftung Fluidic soft drive elements and method for their production
KR102084280B1 (en) 2012-03-26 2020-03-03 프레지던트 앤드 펠로우즈 오브 하바드 칼리지 Systems and methods for providing flexible robotic actuators
US9060907B2 (en) 2012-04-12 2015-06-23 Nichols Therapy Systems, Llc Support surface system for securing objects
JP5987224B2 (en) * 2012-07-18 2016-09-07 学校法人立命館 Fluid pressure actuator
KR102052236B1 (en) 2013-03-04 2019-12-04 프레지던트 앤드 펠로우즈 오브 하바드 칼리지 Magnetic assembly of soft robots with hard components
DE102013006166A1 (en) 2013-04-03 2014-10-09 Tembra Gmbh & Co. Kg Shape variable, fluidically actuated trailing edge on rotor blades
DE102014208375A1 (en) * 2014-05-05 2015-11-05 Wobben Properties Gmbh Hydraulic flat cylinder, Hydraulikhubkissen, use of such and method for aligning a generator
WO2015200844A2 (en) 2014-06-26 2015-12-30 President And Fellows Of Harvard College Pneumatic insect robots
WO2016160624A1 (en) 2015-03-27 2016-10-06 Other Lab Llc Lower-leg exoskeleton system and method
CA2981894C (en) * 2015-04-23 2023-04-18 Soft Robotics, Inc. Enhancement of soft robotic grippers through integration of stiff structures
CN108290298A (en) * 2015-06-26 2018-07-17 软机器人公司 Food processing grasping device
JP2017145879A (en) * 2016-02-17 2017-08-24 裕一 中里 Actuator and rehabilitation equipment
JP2020506030A (en) 2017-02-03 2020-02-27 ローム ロボティクス インコーポレイテッド System and method for user intention recognition
US11628560B2 (en) * 2017-03-22 2023-04-18 President And Fellows Of Harvard College Programmable multi-scale fluidic artificial muscles and pistons
CN110545777B (en) * 2017-04-13 2023-09-01 漫游机械人技术公司 Leg exoskeleton system and method
JP7225215B2 (en) 2017-08-29 2023-02-20 ローム ロボティクス インコーポレイテッド Semi-supervised intent recognition system and method
JP7066830B2 (en) 2017-08-29 2022-05-13 ローム ロボティクス インコーポレイテッド Exoskeleton conformity assessment system and method
US10850391B2 (en) * 2017-12-04 2020-12-01 Soft Robotics, Inc. Pressurizing housing for a soft robotic actuator
WO2020056254A1 (en) * 2018-09-14 2020-03-19 The Regents Of The University Of California Four-dimensional-printed pneumatically actuated flexible robotic joints
CA3161113A1 (en) 2019-12-13 2021-06-17 Kyle Allen LAMSON Powered device to benefit a wearer during skiing
JP2023517845A (en) 2020-02-25 2023-04-27 ローム ロボティクス インコーポレイテッド FLUID ACTUATOR SYSTEM AND METHOD FOR MOBILE ROBOT
RU2736902C1 (en) * 2020-05-07 2020-11-23 Федеральное государственное бюджетное образовательное учреждение высшего образования "Владимирский Государственный Университет имени Александра Григорьевича и Николая Григорьевича Столетовых" (ВлГУ) Curvilinear movement drive
US11732735B2 (en) * 2021-09-20 2023-08-22 Toyota Motor Engineering & Manufacturing North America, Inc. Soft actuator with variable-stiffness hinge
US11993498B2 (en) * 2021-10-28 2024-05-28 Toyota Research Institute, Inc. Structures and sensor assemblies having engagement structures for securing a compliant substrate assembly
DE102022102027A1 (en) 2022-01-28 2023-08-03 Gustav Magenwirth Gmbh & Co. Kg HYDRAULIC SYSTEM WITH ACTUATOR
WO2024118898A1 (en) * 2022-11-30 2024-06-06 Soft Robotics, Inc. Modular fingertips for soft robotic actuators

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3645173A (en) * 1969-10-20 1972-02-29 Trish Energetics Inc Fluid actuator
US3981528A (en) * 1974-05-30 1976-09-21 Firma Carl Freudenberg Robot finger
FR2519955A2 (en) * 1979-11-09 1983-07-22 Diceep Pressure operated tool support - has inflatable bellows with one end fixed and other carrying tool
JPS63225707A (en) * 1987-03-13 1988-09-20 Fuji Seiki Kk Pneumatic actuator
DE10149395A1 (en) * 2001-09-27 2003-04-24 Festo Ag & Co Turning and/or pivot drive for e.g. door drive, ventilator flap, ball valve, etc. has expansion bellows with guide elements between drive parts, to cause bellows to expand along curved track

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* Cited by examiner, † Cited by third party
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US2324173A (en) * 1941-12-03 1943-07-13 Gilbert E Porter Bellows
US4784042A (en) * 1986-02-12 1988-11-15 Nathaniel A. Hardin Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements
US4852675A (en) * 1988-12-08 1989-08-01 Wang Hsug Fang Apparatus for intermediate transmission of sensed oil pressure in a scale
JPH03113104A (en) * 1989-09-25 1991-05-14 Bridgestone Corp Bendable actuator
US5251538A (en) * 1991-08-21 1993-10-12 Battelle Memorial Institute Prehensile apparatus
US5317952A (en) * 1991-11-22 1994-06-07 Kinetic Sciences Inc. Tentacle-like manipulators with adjustable tension lines
DE19725591A1 (en) * 1996-10-22 1998-12-24 Homann Werner Dipl Ing Fh Actuator for converting the energy of a fluid into a mechanical force
US6772673B2 (en) * 2001-12-13 2004-08-10 Seiko Epson Corporation Flexible actuator

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3645173A (en) * 1969-10-20 1972-02-29 Trish Energetics Inc Fluid actuator
US3981528A (en) * 1974-05-30 1976-09-21 Firma Carl Freudenberg Robot finger
FR2519955A2 (en) * 1979-11-09 1983-07-22 Diceep Pressure operated tool support - has inflatable bellows with one end fixed and other carrying tool
JPS63225707A (en) * 1987-03-13 1988-09-20 Fuji Seiki Kk Pneumatic actuator
DE10149395A1 (en) * 2001-09-27 2003-04-24 Festo Ag & Co Turning and/or pivot drive for e.g. door drive, ventilator flap, ball valve, etc. has expansion bellows with guide elements between drive parts, to cause bellows to expand along curved track

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 013, no. 014 (M - 784) 13 January 1989 (1989-01-13) *

Also Published As

Publication number Publication date
EP1519055A2 (en) 2005-03-30
DE10345587A1 (en) 2005-05-12
DE502004008856D1 (en) 2009-03-05
EP1519055B1 (en) 2009-01-14
ATE421044T1 (en) 2009-01-15
US7086322B2 (en) 2006-08-08
US20050066810A1 (en) 2005-03-31

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