# US 11,441,582 B2 · Tensile actuator > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,441,582 B2 - Document ID: US11441582B2 - Status: Granted - Kind: B2 - Application number: 17/175,642 - Filed: 2021-02-13 - Published: 2021-07-15 - Granted: 2022-09-13 - Earliest claimed: 2016-05-08 - Applicants: Alexander Sergeev - Inventors: Alexander Sergeev - Web page: https://patentgrep.com/patent/US11441582B2 ## CPC - F15B 15/103: {using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators} - F15B 2215/30: Constructional details thereof - F15B: SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR ## 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 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 medium. As the 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. ## Claims ### Claim 1 An apparatus comprising: a tensile element, the tensile element substantively inelastic along a traction axis, the tensile element comprising at least two substantively inelastic elongate strands (“strands”) and each strand having a first end and a second end, at least one strand of the at least two strands comprising a first strand end and a second strand end, wherein the first strand end is coupled to a first object and the second strand end is coupled to a second object; the first object coupled with the tensile element first end; the second object coupled with the tensile element second end; and an expandable means coupled with the tensile element, the expandable means adapted to expand and thereby deliver a force to the tensile element, the force initially being normal to the traction axis, whereby the force is transferred from the expandable means to the tensile element and causes the tensile element to pull the first object and the second object together along the traction axis. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the tensile element comprises a plurality of substantively inelastic elongate strands (“strands”). ### Claim 3 (depends on 2) The apparatus of claim 2, wherein each strand of the plurality of strands each comprise a first strand end and a second strand end, and wherein each first strand end is coupled to the first object and each second strand end is coupled to the second object. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the expandable means includes at least one bladder, a medium, and means to alternately force the medium into and out from the at least one bladder. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the tensile element comprises at least two substantively inelastic elongate strands (“strands”) and the at least two strands in combination substantively encompass the at least one bladder within a plane that includes the traction axis. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the at least two strands are interweaved around the at least one bladder. ### Claim 7 (depends on 5) The apparatus of claim 5, wherein the at least two strands are coupled together at two locations along the traction axis, whereby the at least two strands are maintained in position around the at least one bladder. ### Claim 8 (depends on 7) The apparatus of claim 7, wherein the at least one bladder maintains a tubular shape along an elongate axis normal to the traction axis. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the expandable means includes a plurality of bladders, a medium, and means to alternately force the medium into and out from each bladder of the plurality of bladders. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein the tensile element comprises at least two substantively inelastic elongate strands (“strands”) and the at least two strands in combination substantively encompass a selection of bladders of the plurality of bladders within a plane that includes the traction axis. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the at least two strands are interweaved around at least one bladder of the plurality of bladders. ### Claim 12 (depends on 10) The apparatus of claim 10, wherein the at least two strands are interweaved around the selection of bladders of the plurality of bladders. ### Claim 13 (depends on 10) The apparatus of claim 10, wherein the at least two strands are coupled together at two locations along the traction axis, whereby the at least two strands are maintained in position around at least one bladder of the plurality of bladders. ### Claim 14 (depends on 9) The apparatus of claim 9, wherein the at least one bladder of the plurality of bladders maintains a tubular shape along an elongate axis normal to the traction axis. ### Claim 15 (depends on 9) The apparatus of claim 9, wherein the medium is in a gaseous state. ### Claim 16 (depends on 9) The apparatus of claim 9, wherein the medium is in a liquid state. ### Claim 17 (depends on 9) The apparatus of claim 9, wherein the expandable means further comprises a reservoir and a two way valve, wherein the reservoir is adapted to partially contain the medium and the two way valve is disposed between the reservoir and the plurality of bladders, whereby the two way valve alternately inhibits the medium from transferring to and from the reservoir and the plurality of bladders. ### Claim 18 A method comprising: a. Coupling a tensile element, the tensile element substantively inelastic along a traction axis, the tensile element comprising at least two elongate substantively inelastic strands (“strands”) and having a first end and a second end, at least one strand of the at least two strands comprising a first strand end and a second strand end, and the first strand end is coupled to a first object and the second strand end is coupled to a second object to a first object and a second object along a traction axis; and b. Forcing a medium into an expandable bladder, the bladder adapted and positioned to deliver a pressing force toward the strand as the medium is forced into the bladder, wherein the pressing force is normal to the traction axis, whereby the pressing force when applied to the strand causes the strand to deliver a tensile force to both the first object and the second object along the traction axis.