Rotary actuator utilizing pneumatically actuated elastomeric structures

A method of using a rotary actuator comprising:

• providing a rotary actuator including a rotor having a body and defining a plurality of contact surfaces and a stator having a body and defining a plurality of inflatable bladders circumferentially spaced about the stator body, the stator positioned relative to the rotor such that upon sequential inflation of the plurality of inflatable bladders, the rotor is caused to rotate, wherein the plurality of inflatable bladders are actuated in sets to sequentially rotate the rotor, the plurality of inflatable bladders in each set is equal to the plurality of contact surfaces on the rotor such that each contact surface is contacted by a respective inflatable bladder of the set during a specific actuation, and wherein the rotor is configured to rotate 360°, wherein the rotor is positioned internally of the stator, and wherein the body of the internally positioned rotor includes a plurality of ribs that define the plurality of contact surfaces on each side of the ribs such that the internally positioned rotor can be rotated in either direction;
• and
• actuating the plurality of inflatable bladders such that they first contact a respective contact surface and expand into a well that is disposed therebetween the contact surface and the body of the rotor and the subsequent inflatable bladder set begins inflation as the previous inflatable bladder set finishes deflation.

A rotary actuator comprising:

• a rotor having a body and defining a plurality of contact surfaces;
• and
• a stator having a body and defining a plurality of inflatable bladders circumferentially spaced about the stator body, the stator positioned relative to the rotor such that upon sequential inflation of the plurality of inflatable bladders, the rotor is caused to rotate,
• wherein the rotor is configured to rotate 360°,
• wherein the rotor is positioned externally of the stator, and
• wherein the body of the externally positioned rotor is disposed between a pair of opposed plates and defines a central opening having a configuration that defines a plurality of wells disposed therebetween the plurality of contact surfaces.

A method of using a rotary actuator comprising:

• providing a rotary actuator including a rotor having a body and defining a plurality of contact surfaces and a stator having a body and defining a plurality of inflatable bladders circumferentially spaced about the stator body, the stator positioned relative to the rotor such that upon sequential inflation of the plurality of inflatable bladders, the rotor is caused to rotate, wherein the plurality of inflatable bladders are actuated in sets to sequentially rotate the rotor, the plurality of inflatable bladders in each set is equal to the plurality of contact surfaces on the rotor such that each contact surface is contacted by a respective inflatable bladder of the set during a specific actuation, wherein the rotor is configured to rotate 360°, wherein the rotor is positioned externally of the stator, and wherein the body of the externally positioned rotor is disposed between a pair of opposed plates and defines a central opening having a configuration that defines a plurality of wells disposed therebetween the plurality of contact surfaces;
• and
• actuating the plurality of inflatable bladders such that they first contact a respective contact surface and expand into a well that is disposed therebetween the contact surface and the body of the rotor and the subsequent inflatable bladder set begins inflation as the previous inflatable bladder set finishes deflation.