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US 12,146,511 B2Granted
Controlling multiple eversion-based actuators
AssigneeElectronics for Imaging, Inc.
InventorEduardo Bueno Espinal
Life of this patent
Estimating the term…
Abstract
Disclosed here is a system and method to control multiple eversion-based actuators using a single motor, or no motor, thereby reducing the size and cost of the multiple eversion-based actuators. An activation mechanism can include a motor rotating in an expansion direction, rotating shaft, clutch, brake, pressure source under high pressure, and/or valve. The activation mechanism can cause the actuators including a wound reel of material to unwind and lengthen. A retraction mechanism can include a motor rotating in a contraction direction opposite the expansion direction, rotating shaft, clutch, pressure source having low pressure, valve associated with the pressure source, and/or the passive retraction system. The retraction mechanism can cause the actuators to rewind and shorten.
Claims20
An apparatus to control a plurality of eversion-based actuators comprising:
- a pressurized chamber including an aperture to intake a fluid;
- an eversion-based actuator in the plurality of eversion-based actuators including a reel of material expandable upon intaking the fluid;
- a shaft bidirectionally rotatable around an axis;
- a clutch selectively coupling the reel of material to the shaft,
- the clutch to allow free rotation of the shaft relative to the reel of material when the rotation of the reel of material is blocked,
- the clutch to allow rotational coupling of the reel of material and the shaft when the shaft is rotated in a first direction and the reel of material is free to rotate, thereby expanding the reel of material when the shaft rotates in the first direction and the clutch rotationally couples the reel of material to the shaft, and
- the clutch to allow rotational coupling of the reel of material and the shaft when the shaft is rotated in a second direction and the reel of material is free to rotate, thereby contracting the reel of material when the shaft rotates in the second direction;
- a brake coupled to the reel of material, the brake to prevent unwinding of the reel of material when engaged,
- operation of the brake to include a first mode and a second mode,
- the first mode to disengage the brake from the reel of material, allowing the reel of material to rotate, and
- the second mode to engage the brake with the reel of material, preventing the reel of material from rotating;
- and
- a motor connected to the shaft, the motor to bidirectionally rotate the shaft around the axis,
- operation of the motor rotating the shaft in the first direction to simultaneously expand a first multiplicity of eversion-based actuators in the plurality of eversion-based actuators,
- the clutch and the operation of the brake to determine whether the eversion-based actuator expands with rotating the shaft in the first direction, and
- the operation of the motor rotating the shaft in the second direction opposite the first direction to simultaneously contract a second multiplicity of eversion-based actuators in the plurality of eversion-based actuators.
13 more elements
An apparatus comprising:
- a pressurized chamber including an aperture to intake a fluid;
- an eversion-based actuator in a plurality of eversion-based actuators including a reel of material expandable upon intaking the fluid;
- a shaft bidirectionally rotatable around an axis;
- a clutch selectively coupling the reel of material to the shaft;
- a brake coupled to the reel of material, the brake to prevent unwinding of the reel of material when engaged;
- and
- a motor connected to the shaft, the motor to bidirectionally rotate the shaft around the axis,
- operation of the motor rotating the shaft in a first direction to simultaneously expand a first multiplicity of eversion-based actuators in the plurality of eversion-based actuators,
- the clutch and operation of the brake to determine whether the eversion-based actuator expands with rotating the shaft in the first direction, and
- the operation of the motor rotating the shaft in a second direction opposite the first direction to simultaneously contract a second multiplicity of eversion-based actuators in the plurality of eversion-based actuators.
7 more elements
A method comprising:
- providing a pressurized chamber including an aperture to intake a fluid;
- providing an eversion-based actuator in a plurality of eversion-based actuators including a reel of material expandable upon intaking the fluid;
- providing a shaft bidirectionally rotatable around an axis;
- providing a clutch selectively coupling the reel of material to the shaft;
- providing a brake coupled to the reel of material, the brake to prevent unwinding of the reel of material when engaged;
- and
- providing a motor connected to the shaft,
- the motor to bidirectionally rotate the shaft around the axis,
- operation of the motor rotating the shaft in a first direction to simultaneously expand a first multiplicity of eversion-based actuators in the plurality of eversion-based actuators,
- the clutch and operation of the brake to determine whether the eversion-based actuator expands with rotating the shaft in the first direction, and
- the operation of the motor rotating the shaft in a second direction opposite the first direction to simultaneously contract a second multiplicity of eversion-based actuators in the plurality of eversion-based actuators.
8 more elements
Dependencies are inferred from the claim text.