Module forming a mechanical actuator of the muscle or fluidic bladder type, corresponding system and method of use

A system comprising:

• at least a first module and a second modules, wherein each of the first and second modules forms a mechanical actuator, a muscle or fluidic bladder type, capable of being implemented on a robot, and comprises:
• first and second sealed end couplings provided with at least one fluid supply element,
• a flexible shell arranged between said first and second end couplings, said flexible shell being capable of deforming between an inflated state, when an inflation fluid is introduced into said shell and a deflated state, when said inflation fluid is discharged from said shell, a switch from one state to another of said shell transmitting a force and/or a translational movement of the first end coupling relative to the second end coupling;
• at least one flexible sheath in the form of a tube, arranged inside said shell and opening at the end connectors, forming at least one through-passage extending longitudinally through said module,
• said at least one flexible sheath being fluid-tight and forming, with said shell and said end connectors, an inflation chamber into which said inflation fluid is introduced,
• said at least one flexible sheath being in the form of a corrugated hose to allow said module, in the deflated state of the flexible shell, to bend to allow passage of pipe elbows;
• and
• at least one auxiliary sleeve arranged between said first and second end couplings and extending into said shell;
• and
• means for assembling the first module with the second module, said first and second modules being arranged in series.

A method comprising:

• using a system comprising at least a first module and a second modules, wherein each of the first and second modules forms a mechanical actuator, a muscle or fluidic bladder type, capable of being implemented on a robot, and comprises:
• first and second sealed end couplings provided with at least one fluid supply element,
• a flexible shell arranged between said first and second end couplings, said flexible shell being capable of deforming between an inflated state, when an inflation fluid is introduced into said shell and a deflated state, when said inflation fluid is discharged from said shell, a switch from one state to another of said shell transmitting a force and/or a translational movement of the first end coupling relative to the second end coupling;
• at least one flexible sheath in the form of a tube, arranged inside said shell and opening at the end connectors, forming at least one through-passage extending longitudinally through said module,
• said at least one flexible sheath being fluid-tight and forming, with said shell and said end connectors, an inflation chamber into which said inflation fluid is introduced,
• said at least one flexible sheath being in the form of a corrugated hose to allow said module, in the deflated state of the flexible shell, to bend to allow passage of pipe elbows;
• and
• at least one auxiliary sleeve arranged between said first and second end couplings and extending into said shell;
• and
• means for assembling the first module with the second module, said first and second modules being arranged in series,
• wherein the using comprises a pushing cycle comprising:
• locking a position of the system with respect to an element external to the first and second modules during inflation of the first module;
• and
• displacing the push element relative to an element external to the first and second modules by inflation of the second module.