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WO2010034964A1 - Muscles robotisés - Google Patents

Muscles robotisés Download PDF

Info

Publication number
WO2010034964A1
WO2010034964A1 PCT/GB2009/002062 GB2009002062W WO2010034964A1 WO 2010034964 A1 WO2010034964 A1 WO 2010034964A1 GB 2009002062 W GB2009002062 W GB 2009002062W WO 2010034964 A1 WO2010034964 A1 WO 2010034964A1
Authority
WO
WIPO (PCT)
Prior art keywords
fluid actuated
muscle
fluid
actuated muscle
robotic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/GB2009/002062
Other languages
English (en)
Inventor
Richard Martin Greenhill
Matthew Godden
Hugo Elias
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shadow Robot Co Ltd
Original Assignee
Shadow Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shadow Robot Co Ltd filed Critical Shadow Robot Co Ltd
Publication of WO2010034964A1 publication Critical patent/WO2010034964A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5066—Muscles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7625—Measuring means for measuring angular position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension

Definitions

  • a property of the material of the outer layer is that the outer sheath contracts in length, when expanded radially.
  • the outer sheath expand radially when the inner tube is expanded as a result of being filled with air, or some other suitable fluid.
  • the fluid actuated muscle consequently works like a muscle of a mammal expanding in one direction when contracting in a second direction.
  • the first member 410 may comprise more or less than two convex portions 412 and more or less than two concave portions 414.
  • the first section 410 may comprise one or three convex portions 412 and one or three concave portions 414.
  • the second member 420 may comprise more or less than two convex portions 412 and more or less than two concave portions 414.
  • the second section 420 may comprise one or three convex portions 412 and one or three concave portions 414.
  • any interconnection between the first and second members 410, 420, which prevents the fluid actuated muscle from slipping from the attachment device 400 can be used.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Vascular Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Transplantation (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Rheumatology (AREA)
  • Chemical & Material Sciences (AREA)
  • Manipulator (AREA)
  • Massaging Devices (AREA)
  • Actuator (AREA)

Abstract

L'invention porte sur un muscle (300) actionné par fluide pour un membre robotisé, ledit muscle actionné par fluide comprenant : un tube expansible; une couche tressée entourant le tube expansible; un dispositif d'entrée et de sortie de fluide situé à une première extrémité du tube expansible; et un dispositif d'attache (400) attaché à une seconde extrémité du tube expansible, à l'opposé de la première extrémité, le dispositif d'attache possédant une surface courbe et la seconde extrémité du tube expansible étant enroulée autour d'au moins une partie de la surface courbe.
PCT/GB2009/002062 2008-09-23 2009-08-21 Muscles robotisés Ceased WO2010034964A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0817417.9 2008-09-23
GBGB0817417.9A GB0817417D0 (en) 2008-09-23 2008-09-23 Robotic muscles

Publications (1)

Publication Number Publication Date
WO2010034964A1 true WO2010034964A1 (fr) 2010-04-01

Family

ID=39952068

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2009/002062 Ceased WO2010034964A1 (fr) 2008-09-23 2009-08-21 Muscles robotisés

Country Status (2)

Country Link
GB (1) GB0817417D0 (fr)
WO (1) WO2010034964A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2255961A (en) * 1991-03-13 1992-11-25 Richard Greenhill Mechanical actuator.
WO2003074238A1 (fr) * 2002-03-07 2003-09-12 The Shadow Robot Company Limited Systeme d'actionneur comprenant un muscle pneumatique artificiel
WO2003080297A1 (fr) * 2002-03-25 2003-10-02 The Shadow Robot Company Limited Main robotique humanoide actionnee par des muscles a air
US20070144299A1 (en) * 2004-09-01 2007-06-28 Yasunao Okazaki Joint driving device
US20070199399A1 (en) * 2004-11-22 2007-08-30 Yasunao Okazaki Joint structure and robot arm
WO2007103957A2 (fr) * 2006-03-07 2007-09-13 Randy Scott Simmons prothese de bras
WO2008046566A1 (fr) * 2006-10-13 2008-04-24 Robotics Technology Leaders Gmbh Mécanisme vermiculaire

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2255961A (en) * 1991-03-13 1992-11-25 Richard Greenhill Mechanical actuator.
WO2003074238A1 (fr) * 2002-03-07 2003-09-12 The Shadow Robot Company Limited Systeme d'actionneur comprenant un muscle pneumatique artificiel
WO2003080297A1 (fr) * 2002-03-25 2003-10-02 The Shadow Robot Company Limited Main robotique humanoide actionnee par des muscles a air
US20070144299A1 (en) * 2004-09-01 2007-06-28 Yasunao Okazaki Joint driving device
US20070199399A1 (en) * 2004-11-22 2007-08-30 Yasunao Okazaki Joint structure and robot arm
WO2007103957A2 (fr) * 2006-03-07 2007-09-13 Randy Scott Simmons prothese de bras
WO2008046566A1 (fr) * 2006-10-13 2008-04-24 Robotics Technology Leaders Gmbh Mécanisme vermiculaire

Also Published As

Publication number Publication date
GB0817417D0 (en) 2008-10-29

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