Patent ID: 9719534
Date: 2017-08-01
CPC Classifications: B62D,F15B

Claim:
1. A modular pneumatic robotic actuator, comprising: a. a first elongated hollow structure and a second elongated hollow structure connected to each other at a joint, wherein the joint is a thinned strip of the same material used for the first and second hollow elements, wherein the thinned strips are glued to the end of the first and second hollow element where they are connected; b. an inflatable bladder comprised of an elastomeric material disposed at the joint and immobilized between the first and second hollow structures, wherein the inflatable bladder inflates preferentially away from the joint; and c. a restraining membrane comprised of an elastomeric material disposed over the bladder and connecting the first and second hollow structures, wherein the restraining membrane is in a relaxed position when the bladder is deflated and an extended position when the bladder is expanded.