Multi-Segment Reinforced Actuators and Applications

A device configured to be worn by a human including a sensor-actuated soft actuator, the device comprising:

• at least one soft actuator body defining a chamber, wherein the soft actuator body is incorporated into the garment;
• a fluid connector positioned and configured to provide a path for fluid flow into and out of the chamber;
• a control system connected with the soft actuator body, wherein the control system comprises a pneumatic or hydraulic pump, valves, and a microprocessor and is configured to control fluid flow through the fluid connector into and out of the chamber to produce at least one actuation motion selected from bending, extending, stiffening, expansion, contraction, twisting, and combinations thereof in the soft actuator body;
• and
• at least one sensor incorporated into the device and in communication with the microprocessor, wherein the microprocessor is configured to control the fluid flow based on communications from the sensor and to thereby control actuation of the soft actuator body.

A method for sensor-driven actuation of a soft actuator in a device, the method comprising:

• donning the device on a human, the device including at least one soft actuator body that defines a chamber;
• sensing an action of the human or contact with an object using the sensor;
• pumping fluid into or out of the chamber in response to the sensed action or contact to produce an actuation motion in the soft actuator body selected from at least one of the following types:
• bending, extending, stiffening, expansion, contraction, twisting and combinations thereof;
• and
• using the actuation motion to cause or mechanically assist displacement of a body part of the human.