Abstract:
A method is disclosed wherein two sheets of a flexible, inelastic substance are sealed along a periphery thereof, creating an interior reservoir preferably containing two or more elongate chambers, organized normal to an axis of traction. The disclosed axis of traction is an axis along which the disclosed device reduces length as a compressed medium is introduced into the reservoir. Further disclosed is a method by which one or more bladders of flexible, inelastic substance are woven through two or more preferably parallel strips or strings. The bladders are adapted to receive a preferably gaseous or liquid compressed medium. As the compressed medium is moved into the bladders, the flexible strips or stings are deformed to cause the strips or strings to have a reduced length along the axis of traction.

Description:
[0001]    This Nonprovisional Patent Application is a Continuation-in-Part Application to U.S. Provisional Patent Application Ser. No. 62/158,581 as filed on May 8, 2015 by Inventor Alexander Sergeev and titled TENSILE ACTUATOR. 
     
    
     FIELD OF THE INVENTION 
       [0002]    The present invention relates to the field of mechanical actuators. More particularly, the present invention relates to actuators adapted for integration with control systems. 
       BACKGROUND OF THE INVENTION 
       [0003]    The subject matter discussed in the background section should not be assumed to be prior art merely as a result of its mention in the background section. Similarly, a problem mentioned in the background section or associated with the subject matter of the background section should not be assumed to have been previously recognized in the prior art. The subject matter in the background section merely represents different approaches, which in and of themselves may also be inventions. 
         [0004]    The many possible applications for an electromechanical actuator which responds to the commands of a processor are both economically and scientifically valuable in the fields of robotics, prosthetics, and devices having physical memory. However, previous efforts made to mimic mammalian muscle function have proved inefficient in both cost and ease of production, and these inefficiencies have impeded the availability of such electromechanical actuators. 
         [0005]    There is therefore a long-felt need to provide a method and system that provide increased efficiencies in the cost and availability of actuators which mimic muscle functions. 
       SUMMARY AND OBJECTS OF THE INVENTION 
       [0006]    Towards these objects and other objects that will be made obvious in light of the present disclosure, a system and method are provided that enable a tensile actuator, whereby a tensile force is created by means of a compressed medium being introduced into a reservoir having elongate chambers, the compressed medium preferably consisting of either a gas or a liquid. 
         [0007]    In a first preferred embodiment of the method of the present invention (hereinafter the “invented method”), two sheets of a flexible, inelastic substance are sealed together along the periphery thereof. An interior reservoir created by the sealing of the two flexible, inelastic sheets preferably contains two or more elongate chambers, within and between which the compressed medium may flow, organized normal to an axis of traction, whereby the axis of traction is the axis along which the invented device reduces length as the compressed medium is introduced into the reservoir. 
         [0008]    In an alternate embodiment of the invented method, one or more bladders of the flexible, inelastic material are woven through two or more strips or strings, also composed of the same or a similar flexible but inelastic material, wherein the bladders may optionally be substantively tubular in shape. The strips or strings preferably run in parallel to one another. The bladders are adapted to receive the preferably compressed gaseous or liquid medium. As the compressed medium is moved into the bladders, the flexible strips or stings are deformed to cause the strips or strings to have a reduced length along the axis of traction. 
         [0009]    In a yet further alternate embodiment of the invented method, a textile tissue is used in place of the above-mentioned strips. In this case, two pieces of textile are connected to each other by means of a plurality of stitches. In this embodiment, the bladders are standalone, in a similar way to that of the strips. The stitches are preferably positioned between the bladders along the length of the strips. This embodiment is intended mostly for heavy-weight loading, because the greater strength of the textile tissue enables operation with even very heavy loads. 
         [0010]    This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. 
     
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
         [0011]    These, and further features of the invention, may be better understood with reference to the accompanying specification and drawings depicting the preferred embodiment, in which: 
           [0012]      FIG. 1A  is an overhead view of the invented device when the invented device is in an extended position, having an empty reservoir portion; 
           [0013]      FIG. 1B  is an overhead view of the invented device when a compressed medium has been introduced into the reservoir, substantively filling the reservoir; 
           [0014]      FIG. 1C  is an overhead view of the invented device when the invented device is in an extended position, and wherein the invented device is composed of a textile material; 
           [0015]      FIG. 2A  is a side view of the invented device when the invented device is extended; 
           [0016]      FIG. 2B  is a side view of the invented device when a compressed medium has been introduced into the chamber, and the elongate chambers are shown to be distended; 
           [0017]      FIG. 2C  is a detailed side view of an exemplary first elongate chamber, shown in the extended position, and having a lateral length S; 
           [0018]      FIG. 2D  is a detailed side view of the exemplary first elongate chamber, shown in the filled position, and having a lateral length of 2/PI S, and a curved extension S;  FIG. 3A  is a side view of the die process of the invented device, wherein the top and bottom of the invented device are both imprinted with a designated pattern of chambers; 
           [0019]      FIG. 3B  is a further side view of the die process of the invented device, wherein only top of the invented device is imprinted with a designated pattern of chambers; 
           [0020]      FIG. 3C  is a top view of the die process of the invented device; 
           [0021]      FIG. 3D  is a bottom view of the die process of the invented device; 
           [0022]      FIG. 4  is a top view of the invented device, wherein the invented device contains multiple reservoir ports for the introduction and/or removal of a compressed medium; 
           [0023]      FIG. 5A  shows an alternate embodiment of the invented device, wherein a piston chamber is attached to the reservoir of the invented device of  FIG. 1A , allowing for highly regulated introduction and/or removal of the compressed medium; 
           [0024]      FIG. 5B  shows another alternate embodiment of the invented device of  FIG. 5A , wherein a membrane chamber is attached to the reservoir of the invented device of  FIG. 1A , wherein the membrane device enables highly regulated introduction and/or removal of the compressed medium; 
           [0025]      FIG. 5C  shows the alternate embodiment of the invented device of  FIG. 5B , wherein the compressed medium is shown flowing from within the membrane device in a different direction than as indicated in  FIG. 5B ; 
           [0026]      FIG. 6  is a block diagram of the internal control mechanism of the invented device; 
           [0027]      FIG. 7A  is side view of an alternate embodiment of the invented device shown in an extended position, whereby a plurality of bladders are interwoven with two or more flexible strands;, 
           [0028]      FIG. 7B  is a side view of the alternate embodiment of the invented device as shown in  FIG. 7A , wherein the plurality of bladders interwoven with two or more flexible strands are substantively filled with a compressed medium; 
           [0029]      FIG. 7C  is a top view of the alternate embodiment of the invented device of  FIG. 7A  in the same extended position of  FIG. 7A ; 
           [0030]      FIG. 7D  is a top view of the alternate embodiment of the invented device of  FIG. 7A  in the same state of bladders filled with a compressed medium of  FIG. 7B ; 
           [0031]      FIG. 7E  is a side view of an additional alternate embodiment of the invented device, wherein two sheets of textile material are stitched together to partially enclose the bladders of  FIG. 7A  and shown in the extended position of  FIG. 7A ; 
           [0032]      FIG. 7F  is a side view of the additional alternate embodiment of the invented device as shown in  FIG. 7E , wherein the plurality of bladders are substantively filled with a compressed medium; 
           [0033]      FIG. 7G  is a top view of the additional alternate embodiment of the invented device of  FIG. 7E  in the extended position of  FIG. 7A ; and 
           [0034]      FIG. 7H  is a top view of the additional alternate embodiment of the invented device of  FIG. 7E  in the same state of bladders filled with a compressed medium of  FIG. 7B . 
       
    
    
     DETAILED DESCRIPTION 
       [0035]    Referring now generally to the Figures and particularly to  FIG. 1A ,  FIG. 1A  is an overhead view of the invented device  100  when the invented device  100  is extended, i.e. when a reservoir  102  is not filled with a medium  104 , such as an uncompressed liquid, a compressed gas or a compressed liquid. In the extended position, the reservoir  102  portion of the invented device has a length LA. The length LA of the invented device  100  describes the length along a traction x axis  106  of the invented device  100  when the invented device  100  is in the extended position. The traction x axis  106  of the invented device  100  is the axis along which the invented device  100  contracts and expands when the medium  104  is introduced and removed therefrom, respectively. The invented devices  100  comprises a top sheets  100 A and a bottom sheet  100 B comprising a flexible but inelastic material, sealed together along a device peripheryl 00 C of the two sheets  100 A &amp;  100 B of material forming an internal reservoir  108  into which medium  104  may be introduced. The flexible but inelastic material of which each sheet  100 A &amp;  100 B may be or comprise polyvinyl chloride, urethane plastic, biaxially oriented polyester such as polyethylene terephthalate (“PET”), fiber reinforced polyurethane, fiber reinforced polyester, fiber reinforced nylon, KEVLAR (™) para-aramid synthetic fiber marketed by Dupont of Wilmington, Del., DYNEEMA (™) super-strong fiber made from Ultra-High Molecular Weight Polyethylene (UHMwPE) as marketed by DSM :Dyneerna LLC of Stanley, N.C., or other suitable inelastic and flexible material known in the art. The reinforcing fiber of the sheets  100 A &amp;  100 B may be or comprise highly oriented polymer fiber made of KEVLAR (™) para-aramid synthetic fiber marketed by Dupont of Wilmington, Del., DYNEEMA (™) super-strong fiber made from Ultra-High Molecular Weight Polyethylene (UHMwPE) as marketed by DSM Dyneema LLC of Stanley, N.C., or other suitable inelastic and flexible material known in the art. 
         [0036]    The flexible but inelastic material is further sealed by internal barriers  110  which may block air flow between distinct chambers  112  of the invented device  100 , which chambers  112  are elongate within the device  100 , and are substantively normal to the traction x axis  106 . Further within the reservoir  108  of the invented device  100  exist apertures  114  which allow limited flow of gas, e.g. air, between the elongate chambers  112 . Positioned along the periphery of the reservoir  108  are preferably one or more valves  116  through which the medium  104  may be controllably introduced and/or removed. 
         [0037]    The internal barriers  110  and the device periphery  100 C may be formed by, suitable methods known in the art that include aspects such as, but not limited to, (a.) application of pressure against the top sheet  100 A and/or the bottom sheet  100 B, (b.) a.) application of heat against the top sheet  100 A and/or and the bottom sheet  100 B, and/or (c.) application and inclusion of an adhesive (not shown). Alternatively or additionally, a portion or all of the reservoir  102 , the device periphery  100 C, sheets  100 A &amp;  10 B and/or internal barriers  110  may be formed by application of  3 d printing methods and systems. 
         [0038]    A first anchor feature  118  and a second anchor feature  120  are separately positioned distal along the traction x axis  106  of the invented device  100 . At least one of the anchor features  118 - 120  may preferably be moved under direction from a force along the traction x axis  106  of the invented device  100 , or optionally both the first anchor feature  118  and the second anchor feature  120  may be moved under direction from a force along the traction x axis  106  of the invented device  100 . The first anchor feature  118  preferably comprises one or more loops  122  made of a durable, inflexible material, the loops of the first anchor feature  118  detachably coupling to a first anchor  118  attachment assembly  124 . The first anchor attachment assembly  118  preferably comprises one or more hooks  126  composed of a durable, inflexible material, which one or more hooks  126  may be detachably coupled with the loops  122  of the first anchor feature  118 . The one or more hooks  126  of the first anchor  118  attachment assembly  124  are attached to a first mechanism which may exert a force on the distal ends of the invented device  100 . The second anchor feature  120  preferably also comprises one or more loops  128  made of a durable, inflexible material, the loops  128  of the second anchor feature  120  detachably coupling to a second anchor  120  attachment assembly  130 . The second anchor  120  attachment assembly  130  preferably comprises one or more hooks  132  composed of a durable, inflexible material, which one or more hooks  132  may be detachably coupled with the loops  128  of the second anchor feature  120 . The one or more hooks  132  of the second anchor  120  attachment assembly  130  are attached to a second mechanism which may exert a force on the distal ends of the invented device  100 . 
         [0039]    Referring now generally to the Figures and particularly to  FIG. 1B ,  FIG. 1B  is an overhead view of the invented device  100  when the medium  104  has been introduced into the reservoir  108 , and the reservoir  108  is substantively filled. In the filled position, the reservoir  108  portion of the invented device has a length 2/PI LA.  FIG. 1B  shows the reservoir  108 , elongate chambers  112 , traction x axis  106 , one or more valves  116 , and first and second anchor feature attachment assemblies  124  and  130  of  FIG. 1A , wherein the medium  104  has been introduced into the reservoir  108 , substantively filling the reservoir  108 . When the medium  104  is introduced into the reservoir  108 , the length LA of the reservoir  108  has been reduced, without substantively reducing the surface area of the reservoir  108 . The elongate chambers  112  of the invented device  100  require substantively less medium  104  for filling the reservoir  108  than the reservoir  108  would necessitate should the reservoir  108  simply be sealed along the edges thereof, creating an uninterrupted chamber into which the medium  104  may be introduced. The reduced amount of medium  104  allows for shorter response times for contracting and releasing tension along the length LA of the reservoir  108 . The allowance of the elongate chambers  112  for more significant contraction of the reservoir  108 , without reduction of the surface area of the reservoir  108 , exerts a strong tensile force on the first and second anchor attachment assemblies  124  and  130 . The reservoir  108  may contract to 2/PI LA (as shown in the Figure), some fraction having a value greater than 2/PI LA, but a lesser value than LA, or some fraction having a value less than 2/PI LA. 
         [0040]    Referring now generally to the Figures and particularly to  FIG. 1C ,  FIG. 1C  is a top view of an alternate invented textile device  145 , wherein a textile embodiment of the invented device  145  is in an extended position, and wherein a pair of textile sheets  142 - 144  are composed of a textile material. The two textile sheets  142  and  144  form the reservoir  108  of the invented textile device  145  and are preferably sealed together by means of stitching  131 . The elongate chambers  112  of the invented textile device  145  are also preferably sealed in place by means of the stitching  131 . 
         [0041]    Referring now generally to the Figures and particularly to  FIG. 2A ,  FIG. 2A  is a side view of the invented device  100  when the invented device  100  is extended. It is shown that the elongate chambers  112  appear substantively evenly spaced apart within the reservoir  108 , and substantively normal to the traction x axis  106  of the invented device  100 . The elongate chambers  112  of the reservoir  108  are further shown as they would appear when not filled with the medium  104 , allowing the two sheets  100 A &amp;  100 B of flexible, inelastic material to rest substantively parallel to one another, and not exerting a tensile force on the first and/or second anchor attachment assemblies  124  and  130 . In this Figure, the reservoir  108  has a length LA. 
         [0042]    Referring now generally to the Figures and particularly to  FIG. 2B ,  FIG. 2B  is a side view of the invented device  100  when a medium  104  has been introduced into the reservoir  108 , and the reservoir  108  is substantively filled. The medium  104  is shown to have been introduced into the elongate chambers  112  of the reservoir  108 , the medium  104  having been introduced through one or more of the valves  116  along the periphery of the reservoir  108 , and having been allowed to flow through the reservoir  108 , in the apertures  114  between the elongate chambers  112 . The length of the reservoir  108  is shown to have been reduced to approximately 2/PI LA, without substantively reducing surface area of the reservoir  108 , creating a tensile force on the first and/or second anchor attachment assemblies  124  and  130 . 
         [0043]    Referring now generally to the Figures and particularly to  FIG. 2C ,  FIG. 2C  is a detailed side view of an exemplary first elongate chamber  112 , shown in the extended position, and having a chamber length LA along a traction x axis  106 . Each of the elongate chambers  112  preferably displays a substantively equal chamber length LA. 
         [0044]    Referring now generally to the Figures and particularly to  FIG. 2D ,  FIG. 2D  is a detailed side view of the exemplary first elongate chamber  112 , shown in the filled position, and having a chamber length 2/PI LA along the traction x axis  106 , and a curved extension LA. The elongate chamber  112  is shown being substantively full of the medium  104 . The chamber length of the elongate chamber  112  is shown to be approximately 2/PI LA, as compared to the chamber length LA of the unfilled elongate chamber  112  of  FIG. 2C , and a curved extension of approximately LA on the distended portion of the elongate chamber  112 .  FIG. 2D  demonstrates the contraction of the length of the reservoir  108 , without loss of surface area, allowing for a tensile force to be exerted on the first and/or second anchor attachment features  124  and  130  along the traction x axis  106  of the invented device  100 . 
         [0045]    It is understood that according to the method of the present invention, the formation and application of two or of a plurality of elongate chambers  112  enables the invented device  100 , versus the application of a single elongate chamber  112 , to contract and expand along the traction x axis as the medium  104  is respectively inserted into and withdrawn from the elongate chambers  112 , while reducing the amount of expansion required of the invented device  100  along the two geometric Y &amp; Z axes that are orthogonal to the traction axes. In addition, it is understood that given a constant surface area of both the top sheet  100 A and the bottom sheet  100 B, less medium  104  is required to generate the same degree of contraction of the invented device  100  along the traction x axis as the number of elongate chambers  112  is increased as less expansion of the invented device  100  along the Y axis is required. 
         [0046]    Referring now generally to the Figures and particularly to  FIG. 3A ,  FIG. 3A  is a side view of the die process of the invented device  100 , wherein the top  134  and bottom  136  of the reservoir  108  of the invented device  100  are both imprinted with a designated pattern of chambers  138  and  140 , creating the elongate chambers  112  within the reservoir  108 . In the first preferred die process for the invented device  100 , the top die  138  and the bottom die  140  preferably bear a designated pattern of chambers  141 , whereby the pattern of chambers may be imprinted into the top sheet  100 A and the bottom sheet  144  of the flexible but inelastic material, such that the chambers  112  are formed and sealed substantively between the top sheet  100 A and the bottom sheet  144 . This allows for a strong seal between the two sheets  100 A and  144 , and for the distention of both the top  134  and bottom  136  portions of each elongate chamber  112 , rather than limiting the distention to one or the other. The edges of the top sheet  100 A and the bottom sheet  144  may also be sealed together in this process. 
         [0047]    Referring now generally to the Figures and particularly to  FIG. 3B ,  FIG. 3B  is a further side view of an alternate die process of the invented device  100 , wherein only top of the reservoir  108  of invented device  100  is imprinted with a designated pattern of chambers  141 , creating the elongate chambers  112  within the reservoir  108 . In this second preferred die process for the invented device  100 , only the top die  138  bears a designated pattern of chambers, whereby the pattern of chambers  141  may be imprinted into the top sheet  100 A, and such that the chambers  112  are formed by sealing between the top sheet  100 A to the bottom sheet  144 . This allows for a simpler die process. The edges of the top sheet  100 A and the bottom sheet  144  may also be sealed together in this process. 
         [0048]    Referring now generally to the Figures and particularly to  FIG. 3C ,  FIG. 3C  is a view of the top die  138  for the creation of the invented device  100 , showing a preferred pattern of elongate chambers  141  to be stamped into the reservoir  108  of the invented device  100 . 
         [0049]    Referring now generally to the Figures and particularly to  FIG. 3D ,  FIG. 3D  is view of bottom die  140  for the creation of the invented device  100 , showing a preferred pattern of elongate chambers  141  to be stamped into the reservoir  108  of the invented device  100 . 
         [0050]    Referring now generally to the Figures and particularly to  FIG. 4 ,  FIG. 4  is a top view of the invented device  100 , wherein the invented device  100  contains multiple reservoir ports  116  for expedited and/or more controlled introduction and/or removal of the medium  104 . The greater number of ports  116  allows a user more refined control over the introduction and/or removal of the medium  104 , because the chambers  112  within the invented device  100  restrict the flow of the medium  104 ; thus, more ports  116  along a the periphery of the reservoir  108  allow a user to bypass the need to wait for the amount of the medium  104  within the reservoir  108  to equalize throughout the reservoir  108  before determining the pressure level. By using ports  116  along the whole distance of the reservoir  108 , the user may introduce a substantively equal amount of the medium  104  into the reservoir  108  more quickly than the user would be able to do accomplish with only one or two valve ports  116 . 
         [0051]    Referring now generally to the Figures and particularly to  FIG. 5A ,  FIG. 5A  shows an alternate embodiment of the invented device  100 , wherein a pump  146  is attached to the reservoir  108  of the invented device  100 , allowing for highly regulated introduction and removal of the medium  104 . The pump  146  may contain a designated amount of the medium  104 , which may be introduced and/or removed from the reservoir  108  with enhanced precision by a user via one or more ports  116  equipped with two way valve  148  along the periphery of the reservoir  108 . 
         [0052]    It is understood that the pump  146  may be or comprise a AAA SERIES MICRO DIAPHRAGM AIR PUMP (235-1410 CC/MIN) (™) air pump as marketed by Sensidyne, LP of St. Petersburg, Fla., or other suitable air or liquid pump known in the art. 
         [0053]    Referring now generally to the Figures and particularly to  FIG. 5B ,  FIG. 5B  shows an alternate embodiment of the invented device  100 , wherein a membrane chamber  150  is attached to the reservoir  108  of the invented device  100 , allowing for highly regulated introduction and removal of the medium  104 . The membrane chamber  150  may contain a designated amount of the medium  104 , which may be introduced and/or removed from the reservoir  108  with enhanced precision by a user via two or more ports  116  equipped with two way valves  148  along the periphery of the reservoir  108 . 
         [0054]    Referring now generally to the Figures and particularly to  FIG. 5C ,  FIG. 5C  shows an alternate embodiment of the invented device  100 , wherein the membrane chamber  150  is attached to the reservoir  108  of the invented device  100 , allowing for highly regulated introduction and removal of the medium  104 . The membrane chamber  150  may contain a designated amount of the medium  104 , which may be introduced and/or removed from the reservoir  108  with enhanced precision by a user via two or more ports  116  equipped with two way valves  148  along the periphery of the reservoir  108 .  FIG. 5C  shows the compressed medium flowing in the opposite direction within the membrane chamber to that of  FIG. 5B . 
         [0055]    Referring now generally to the Figures and particularly to  FIG. 6 ,  FIG. 6  is a block diagram of the internal control mechanism  600  of the invented device  100 . The internal control mechanism  600  of the invented device  100  contains a signal and power bus  602  that is bi-directionally communicatively coupled with: a central processing unit (“CPU”)  604 ; a memory  606 ; a pump system  608 ; a logic  610 ; a power source  612 ; a plurality of valves  614 ; and a sensor  116 . 
         [0056]    Referring now generally to the Figures and particularly to  FIGS. 7A through 7D ,  FIG. 7A  is a side view of an alternate embodiment of the invented device  700 , whereby a plurality of bladders  702  having a bladder elongate central axis  703  (hereinafter “bladder axis  703 ”), are interwoven with two or more flexible strands  704 , made of a flexible but inelastic material, shown in an extended position. It is understood that the bladder elongate central axis  703  is normal to the traction axis  710 . 
         [0057]    One or more of the bladders  702  may be substantively tubular in shape and/or comprise polyvinyl chloride, urethane plastic, biaxially oriented polyester such as PET, fiber reinforced polyurethane, fiber reinforced polyester, fiber reinforced nylon, KEVLAR (™) para-aramid synthetic fiber marketed by Dupont of Wilmington, Del., DYNEEMA (™) super-strong fiber made from Ultra-High Molecular Weight Polyethylene (UHMIwPE) as marketed by DSM Dyneema LLC of Stanley, N.C., mor other suitable inelastic and flexible material known in the art. The reinforcing fiber of one or more bladders  702  may be or comprise glass fibers, and/or highly oriented polymer fiber and/or other suitable flexible and inelastic fiber known in the art. In addition, one or more bladders may be or comprise a flexible and elastic material, such as latex, silicone or other suitable flexible and elastic material known in the art. The flexible but inelastic material of which the strands  704  are composed may be or comprise polyvinyl chloride, urethane plastic, biaxially oriented polyester such as polyethylene terephthalate (“PET”), fiber reinforced polyurethane, fiber reinforced polyester, fiber reinforced nylon, or other suitable inelastic and flexible material known in the art. The reinforcing fiber of the strands  704  may be or comprise KEVLAR (™) para-aramid synthetic fiber marketed by Dupont of Wilmington, Del., DYNEEMA (™) super-strong fiber made from Ultra-High Molecular Weight Polyethylene (UHMwPE) as marketed by DSM Dyneetna LLC of Stanley, N.C., or other suitable flexible and inelastic fiber known in the art. 
         [0058]    The bladders  702  each preferably contain or be coupled with one or more valves  148 , through which the medium  104  may be introduced or removed. 
         [0059]    The termini of the two or more flexible but inelastic strands  704  are coupled with a first strand anchor hook  706  and/or a strand second anchor hook  708 , which are separately positioned distal on the flexible strands  704 . The first strand anchor hooks  706  are coupled at a first object  712  at a first anchor feature  714  and the second strand anchor hooks  708  are coupled to a second object  716  at a second anchor feature  718 . 
         [0060]    Referring now generally to the Figures and particularly to  FIG. 7B ,  FIG. 7B  is a side view of the alternate embodiment of the invented device as shown in  FIG. 7A , whereby the plurality of bladders  702  interwoven with two or more flexible strands  704  are substantively filled with the medium  104 . It is understood that the medium  104  may have been pumped under pressure into the bladders  104  by the pump  146  or membrane chamber  150  or other suitable means known in the art to deliver compressed gas or liquid into the bladders  104 . 
         [0061]    When the medium  104  has been introduced into the flexible but inelastic bladders  702 , the bladders exert a force on the flexible strands  704 , forcing the strands  704  to become curved thus reducing effective length along the traction x axis  710 , but not expanding the surface area of the flexible strands  704 , thus exerting a tensile force on the first and/or the second strand anchor attachment assembly  714  and/or  720  normal to the bladder axis  703 . As the bladders  702  become more substantively filled, the bladders exert greater force on the strands  704 , forcing the strands  704  to decrease in relative length, thus exerting a greater force on the first and/or second strand anchor attachment assembly  714  and/or  720 . 
         [0062]    Referring now generally to the Figures and particularly to  FIGS. 7A through 7D ,  FIG. 7C  is a top view of the alternate embodiment of the invented device of  FIG. 7A  in the same extended position of  FIG. 7A , wherein the bladders  702 , each having the bladder axis  703  normal to the traction x axis  710 , and each bladder  702  having a two-way valve  148  through which a medium  104  may be introduced and/or removed from the bladders  702 . Woven between the bladders  702  are two flexible strands  704 , the flexible strands  704  being coupled to the first strand anchor attachment assembly  714  and the second strand anchor attachment assembly  720  by means of the first strand anchor loop  706  and the second strand anchor loop  708 , respectively. 
         [0063]    Referring now generally to the Figures, and particularly to  FIG. 7D ,  FIG. 7D  is a top view of the device  700  of  FIG. 7A , showing the bladders  702 , each having the bladder axis  703  normal to the traction x axis  710 , and each bladder  702  having a two-way valve  148  through which a medium  104  may be introduced and/or removed from the bladders  702 . Woven between the bladders  702  are two flexible strands  704 , the flexible strands  704  being coupled to the first strand anchor attachment assembly  714  and the second strand anchor attachment assembly  720  by means of the first strand anchor loop  706  and the second strand anchor loop  708 , respectively, and the loops  712  and  718  connecting to the two or more hooks  716  and  722 , respectively.  FIG. 7D  shows the bladders  702  substantively filled with medium  104 , whereby the bladders exert force on the strands  704 , forcing the strands  704  to decrease in relative length, thus exerting a greater tensile force on the first object  712  and the second object  716 . 
         [0064]    Referring now generally to the Figures and particularly to  FIGS. 7E through 7H ,  FIG. 7E  is a side view of an additional alternate embodiment of the invented device  724  (hereinafter, “sheet device”  724 ), wherein two sheets of textile material  726  are stitched together by stitching  728  to partially enclose the bladders  702  of  FIG. 7A  and shown in the extended position of  FIG. 7A . The sheets of textile material  726  preferably inelastic along the traction axis  710  and may be or comprise inelastic KEVLAR (™) para-aramid synthetic fiber marketed by Dupont of Wilmington, Del., DYNEEMA (™) super-strong fiber made from Ultra-High Molecular Weight Polyethylene (UHMwPE) as marketed by DSM Dyneema LLC of Stanley, N.C., or other suitable flexible and inelastic fiber known in the art, wherein the inelastic fibers extend in their elongate length dimension substantively in parallel to the traction axis  710 . The stitching  728  preferably comprises an inelastic fiber, such as KEVLAR (™) para-aramid synthetic fiber marketed by Dupont of Wilmington, Del., DYNEEMA (™) super-strong fiber made from Ultra-High Molecular Weight Polyethylene (UHMwPE) as marketed by DSM Dyneema LLC of Stanley, N.C., or other suitable flexible and inelastic fiber known in the art. It is noted the relatively empty bladders  702  are shown in  FIG. 7E  to be flattened by the weight of the sheets  726 . 
         [0065]    Referring now generally to the Figures and particularly to  FIGS. 7E through 7H   FIG. 7F  is a side view of the sheet device  724  as shown in  FIG. 7E , wherein the plurality of bladders  702  are substantively filled with the medium  104  and the sheets  726  receive a force from the bladders  104  to shorten the length of the linear extension of the sheets  726  along the traction axis  710 . 
         [0066]    Referring now generally to the Figures and particularly to  FIGS. 7E through 7H   FIG. 7G  is a top view of the sheet device  724  in the extended position of  FIG. 7E , wherein the bladders  702  are shown to be flattened by the weight of the sheets  726 . 
         [0067]    Referring now generally to the Figures and particularly to  FIGS. 7E through 7H   FIG. 7H  is a top view of the sheet device  724  in the same state of bladders  702  filled with the medium  104 . 
         [0068]    Additional optional preferred embodiments of the present invention may include one or more of the following elements. The anchor features  118  and  120  and/or strand anchor features  706  and  708  may be or comprise metal holding rods, wherein the metal holding rods preferably have a plastic coating in order to prevent damage to the two or more flexible strands  704 . The bladders  702  may optionally be presented in array of  128  bladders, and may optionally be comprised of plastic tubes, and each bladder  702  may preferably be closed on one side thereof and connected to a flexible manifold on the other side; flexibility of the manifold is significant because a “muscle” is contracting, which substantively changes the geometry of the manifold. The manifold additionally preferably contains at least two valves  116 ,  148 , or  614 , wherein at least one of the valves  116 ,  148 , or  614  is an inlet and at least one of the valves  116 ,  148 , or  614  is an outlet. The inlet preferably connects to a pump system  608 , which additionally preferably attaches to a battery, and the outlet preferably disposes of air or other compressed medium into the atmosphere when a “muscle” (i.e. the device  100 ,  700 , or  724 ) needs to be released. 
         [0069]    The strands  704  may optionally or additionally be formed by one or more threads, wherein the threads preferably overlap every bladder. The threads extend from the plastic-coated metal holding rod, and extend between riddle rods and between riddle strips. The riddle is necessary to maintain a preferred shape for a bladder  702  array. During an assembly process each strand  704  is preferably put into place after finishing in order to form an appropriate layer by passing thread over each of the bladders  702 . 
         [0070]    In a further optional preferred embodiment of the present invention, the “muscle” may optionally have a single woven layer, wherein the single woven layer of muscle preferably comprises the following elements. Two metal holding rods, preferably having plastic coating to prevent damage to the strands  704 , having an array of preferably ten bladders  702  extending therebetween. Each bladder  704  preferably connects to a flexible manifold on one end of the bladder  704 , and is preferably substantively sealed on the other end; the manifold is preferably flexible such that the geometry of the manifold may be adjusted upon contraction of the muscle without damage to the manifold or to the muscle. The manifold preferably additionally contains at least two valves  116 ,  148 , or  614 , wherein at least one of the valves is an inlet, which is preferably connected to a pump system  608  for inserting air into the bladders  704  of the device/muscle  700 , and at least one of the valves  116 ,  148 , or  614  is an outlet, for removing air from the bladders  704  when the muscle/device  700  needs to be released. The pump system  608  preferably additionally connects to a battery. In the instant preferred embodiment of the present invention, a plurality of strings are formed by one or more threads. This thread preferably overlaps every bladder  704  of the array of bladders  704 . The thread begins at one of the plastic-coated metal holding rod, then overlaps a riddle rod between two washers, wherein the washers maintain a desired shape for the bladder array. The thread additionally preferably overlaps alternative bladders, and extends again to another riddle rod between washers and reaches another holding rod. 
         [0071]    In a yet further optional preferred embodiment of the present invention, a printed muscle/device  700  is presented. The printed muscle/device first preferably includes two metal holding rods, which are imprinted between two plastic sheets, wherein an array of preferably between ten and twelve bladders  704  are formed within the two plastic sheets by means of stitches placed in the plastic sheets at designated spatial intervals preferably by a sewing machine. The bladders  704  placed most proximate to each of the metal holding rods each preferably contain a single valve  116 ,  148 , or  614 , wherein at least one of the valves is an inlet, which is preferably connected to a pump system  608 , and at least one of the valves  116 ,  148 , or  614  is an outlet, for removing air from the bladders  704  when the muscle/device  700  needs to be released. Each of the bladders  704  not most proximate to one of the metal holding rods is sealed on either distal end, and is connected within the plastic sheets to the bladders  704  by means of breaks the stitching pattern, such that the compressed medium introduced via the inlet may be distributed evenly between the bladders  704  within the plastic sheets. The bladders  704  within the plastic sheeting are sufficient for a weak muscle, but when significant forces are necessary, strings may be added by means of vertical holes within the stitches. 
         [0072]    The foregoing disclosures and statements are illustrative only of the Present Invention, and are not intended to limit or define the scope of the Present Invention. The above description is intended to be illustrative, and not restrictive. Although the examples given include many specificities, they are intended as illustrative of only certain possible configurations or aspects of the Present Invention. The examples given should only be interpreted as illustrations of some of the preferred configurations or aspects of the Present Invention, and the full scope of the Present Invention should be determined by the appended claims and their legal equivalents. Those skilled in the art will appreciate that various adaptations and modifications of the just-described preferred embodiments can be configured without departing from the scope and spirit of the Present Invention. Therefore, it is to be understood that the Present Invention may be practiced other than as specifically described herein. The scope of the present invention as disclosed and claimed should, therefore, be determined with reference to the knowledge of one skilled in the art and in light of the disclosures presented above.