Patent ID: 6532400
Filing Date: 2003-03-11
Classification: B25J,F15B,G06N

Abstract:
A robot comprising:a first anatomical segment; a second anatomical segment; a joint attached to said first anatomical segment, wherein said first anatomical segment moves relative to said second anatomical segment as a function of an amount of rotation associated with said joint; and a muscle-like actuator having a first end fixed to a position along said first anatomical segment and a second end fixed to a position along said second anatomical segment, and said muscle-like actuator having a predefined control operating range, such that when said muscle-like actuator is activated it undergoes a predefined change in length, and said joint rotates by a corresponding, predefined amount that is a function of the predefined change in length and the positions along said first and second anatomical segments to which the first and second ends of said muscle-like actuator are fixed; wherein said muscle-like actuator comprises a contractile portion adapted to be activated by inflating the contractible portion with pressurized air, by exposing the contractile portion to electric current or by applying a chemical reactant to the contractile portion.