Patent ID: 7617762

Claim:
An elongated flexible muscle having an extended and retracted length, comprising: a) a longitudinal biasing means defined on said elongated flexible muscle for providing a contracting force along the direction of elongation of said elongated flexible muscle at both said extended and retracted length and being longitudinally extendible and retractable with said elongated flexible muscle; b) a fluid containment means defined on said elongated flexible muscle for containing a working fluid under pressure, and being longitudinally extendible and retractable with said elongated flexible muscle; c) a radial support means defined on said elongated flexible muscle for resisting radial expansion of said fluid containment means when fluid pressure is applied, and being longitudinally extendible and retractable with said elongated flexible muscle; d) at least one fluid port for introducing and removing said working fluid under pressure from said fluid containment means; e) an attachment means defined on said elongated flexible muscle for connecting the muscle to at least two external components, wherein useful work is done as said two external components are pulled together by said elongated flexible muscle when said working fluid is allowed to escape under pressure from said fluid containment means; and f) wherein said longitudinal biasing means, and said fluid containment means is provided by the same structure.