Patent ID: 9457466
Filing Date: 2016-10-04
CPC Classification: B25J

Claim Text:
1. A robotic joint assembly, comprising: a first skeletal link with a body extending from a first end to a second end; a joint, mounted to the second end of the first skeletal link, comprising a joint housing with sidewalls defining an interior space and further comprising a pivotal mounting element supported in the joint housing; a second skeletal link with a body extending from a first end to a second end, wherein the first end of the body is pivotally coupled to the pivotal mounting element of the joint housing; and a pneumatic joint actuator comprising first and second gas bladders positioned within the interior space of the joint housing, wherein the second skeletal link is pivoted with inflation of at least one of the first and second gas bladders, wherein the first skeletal link comprises a first flow conduit extending through the body of the first skeletal link that is coupled at one end to an inlet to the first gas bladder and wherein the first skeletal link further comprises a second flow conduit extending through the body of the first skeletal link that is coupled at one end to an inlet to the second gas bladder.