Patent ID: 11953061
Assignee: THE JOHNS HOPKINS UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC F  B | IPC B  F

Claim 0:
1. An actuator comprising:
a plurality of the clutch systems that are linked together using joints;
wherein each of the plurality of clutch systems includes:

an outer unit having a surface defining an aperture in the outer unit;
an inner unit disposed in the aperture and concentric with the outer unit, wherein a shape of the inner unit matches a shape of the aperture;
a low melting point material disposed in the aperture between the inner unit and the surface of the outer unit;
a heating element;
a temperature sensor; and
a processor in electronic communication with the heating element and the temperature sensor, wherein the processor is configured to control the heating element thereby changing the low melting point material between a soft state and a rigid state; and

wherein the actuator further includes:
a first cable connected to each of the plurality of the clutch systems;
a first cable mechanism configured to apply tension to the first cable;
a second cable connected to each of the plurality of the clutch systems; and
a second cable mechanism configured to apply tension to the second cable.