Contractile and extensile fluidic artificial muscle actuator

A fluidic artificial muscle actuator (10, 20, 40), comprising:

• at least one inflatable bladder defining a first inflatable segment (11, 511) and a second inflatable segment (12, 512);
• the first inflatable segment (11, 511) coupled to a first member (14, 24) and to a second member (134, 234, 434) arranged at opposite ends of the first inflatable segment, the first member and the second member defining a first longitudinal direction (101);
• the second inflatable segment (12, 512) coupled to a third member (135, 235, 435) and to a fourth member (15, 25) arranged at opposite ends of the second inflatable segment, the third member and the fourth member defining a second longitudinal direction (102);
• and
• an effector (13, 23, 43, 53) operably coupled to the first inflatable segment and to the second inflatable segment and configured to provide an actuator output;
• wherein the first inflatable segment (11, 511) is configured to contract in the first longitudinal direction in response to an increase in fluid pressure in the first inflatable segment;
• and
• wherein the second inflatable segment (12) is configured to extend in the second longitudinal direction in response to an increase in fluid pressure in the second inflatable segment;
• further comprising a fluid communication port (113, 122, 132), wherein the first inflatable segment (11) and the second inflatable segment (12) are in fluid communication through the fluid communication port.