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1. WO2014113781 - PNEUMATIC SENSING ACTUATOR

Publication Number WO/2014/113781
Publication Date 24.07.2014
International Application No. PCT/US2014/012299
International Filing Date 21.01.2014
IPC
F15B 15/00 2006.1
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
15Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
F15B 5/00 2006.1
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
5Transducers converting variations of physical quantities, e.g. expressed by variations in positions of members, into fluid-pressure variations or vice versa; Varying fluid pressure as a function of variations of a plurality of fluid pressures or variations of other quantities
G01L 9/02 2006.1
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
9Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means
02by making use of variations in ohmic resistance, e.g. of potentiometers
CPC
B29C 39/123
BPERFORMING OPERATIONS; TRANSPORTING
29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
39Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
02for making articles of definite length, i.e. discrete articles
12Making multilayered or multicoloured articles
123Making multilayered articles
B29D 23/001
BPERFORMING OPERATIONS; TRANSPORTING
29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
DPRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
23Producing tubular articles
001Pipes; Pipe joints
B29K 2101/00
BPERFORMING OPERATIONS; TRANSPORTING
29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
KINDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR ; MOULDS, ; REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
2101Use of unspecified macromolecular compounds as moulding material
B29K 2105/14
BPERFORMING OPERATIONS; TRANSPORTING
29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
KINDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR ; MOULDS, ; REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
2105Condition, form or state of moulded material ; or of the material to be shaped
06containing reinforcements, fillers or inserts
12of short lengths, e.g. chopped filaments, staple fibres or bristles
14oriented
B29K 2105/24
BPERFORMING OPERATIONS; TRANSPORTING
29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
KINDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR ; MOULDS, ; REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
2105Condition, form or state of moulded material ; or of the material to be shaped
24crosslinked or vulcanised
B29K 2995/0005
BPERFORMING OPERATIONS; TRANSPORTING
29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
KINDEXING SCHEME ASSOCIATED WITH SUBCLASSES B29B, B29C OR B29D, RELATING TO MOULDING MATERIALS OR TO MATERIALS FOR ; MOULDS, ; REINFORCEMENTS, FILLERS OR PREFORMED PARTS, e.g. INSERTS
2995Properties of moulding materials, reinforcements, fillers, preformed parts or moulds
0003having particular electrical or magnetic properties, e.g. piezoelectric
0005Conductive
Applicants
  • PRESIDENT AND FELLOWS OF HARVARD COLLEGE [US]/[US]
Inventors
  • PARK, Yong-Lae
  • WOOD, Robert J.
  • SANTOS, Jobim
  • GOLDFIELD, Eugene C.
Agents
  • RESNICK, David, S.
Priority Data
61/754,68121.01.2013US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) PNEUMATIC SENSING ACTUATOR
(FR) ACTIONNEUR À DÉTECTION PNEUMATIQUE
Abstract
(EN) A pneumatic artificial muscle (PAM) actuator body can be formed from an elastic material that includes an inflatable chamber and a restraining component, such as flexible, but inextensible fibers, that causes the actuator to contract when the chamber is inflated with fluid (e.g., air or water). The actuator body can be cylindrical or flat. The actuator body can include a sensor layer formed of an elastic material including a microchannel filled with a conductive fluid to sense the expansion of the actuator body. The sensor layer can be configured to expand when the actuator body is inflated causing the electrical resistance of the conductive fluid to change. A sensor layer between the actuator body and restraining component can be used to measure changes in the contraction force of the actuator and a sensor layer outside of the restraining component can be used to measure changes in the length of the actuator.
(FR) L'invention concerne un corps d'actionneur de muscle artificiel pneumatique (PAM), lequel corps peut être constitué en un matériau élastique qui comprend une chambre gonflable et un composant de retenue, tel que des fibres souples mais non extensibles, qui provoque la contraction de l'actionneur lorsque la chambre est gonflée avec un fluide (par exemple, de l'air ou de l'eau). Le corps d'actionneur peut être cylindrique ou plat. Le corps d'actionneur peut comprendre une couche de capteur constituée par un matériau élastique comprenant un micro-canal rempli par un fluide conducteur pour détecter la dilatation du corps d'actionneur. La couche de capteur peut être configurée de façon à se dilater lorsque le corps d'actionneur est gonflé, provoquant le changement de la résistance électrique du fluide conducteur. Une couche de capteur entre le corps d'actionneur et le composant de retenue peut être utilisée pour mesurer des changements de la force de contraction de l'actionneur, et une couche de capteur à l'extérieur du composant de retenue peut être utilisée pour mesurer des changements de la longueur de l'actionneur.
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