US 9,664,210 B2Granted

Methods and apparatus for layer jamming

AssigneeMassachusetts Institute of Technology

InventorsJifei Ou, Lining Yao, Daniel Tauber, Hiroshi Ishii

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Abstract

In some implementations, bending or other shape changes of a device are actuated by inflating or deflating a bladder in the device. Then, once the desired new shape is achieved by this actuation, another bladder in the device is layer-jammed, to make the device rigid in the new shape. In some cases, sheets in the layer-jamming bladder are coated with abrasive particles. In some cases, layer jamming bladders are interwoven to form a woven device. The rigidity of the woven device can be anisotropically controlled. Layer jamming some, but not all, of the bladders in the woven device causes the woven device to have a rigidity that varies by direction. In some cases, a layer-jamming bladder includes a solid layer with a crease in it. As a result, the bladder can easily bend at the crease.

Claims20

Dependent claims

Apparatus comprising a first set of bladders and a second set of bladders, wherein:

(a) at least one cavity exists within each respective bladder in the first and second sets of bladders, within which cavity are located
(i) fluid, which fluid has a pressure, and
(ii) two or more sheets, which sheets have a rigidity that is adjustable by adjustment of the pressure of the fluid;
and
(b) the first and second sets of bladders are interwoven with each other, such that:
(i) each respective bladder in the first set of bladders (A) goes over at least two bladders in the second set of bladders and under at least one bladder in the second set of bladders, or (B) goes under at least two bladders in the second set of bladders and over at least one bladder in the second set of bladders, and
(ii) each respective bladder in the second set of bladders (A) goes over at least two bladders in the first set of bladders and under at least one bladder in the first set of bladders, or (B) goes under at least two bladders in the first set of bladders and over at least one bladder in the first set of bladders.

4 more elements

A method that comprises using a pump system:

(a) to change a first fluid pressure of a fluid in a first bladder, and thereby to adjust stiffness of sheets that are in the first bladder by layer jamming;
and
(b) to change a second fluid pressure of a fluid in a second bladder, and thereby to cause the second bladder to undergo inflation or deflation, which inflation or deflation changes the shape of the first and second bladders;
wherein
(i) the first bladder is connected to the second bladder, such that inflation or deflation of the second bladder causes mechanical forces to be transmitted to the first bladder;
and
(ii) the pump system comprises one or more pumps connected by tubing to the first and second set of bladders.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/516,039Filed 16 Oct 2014 · us provisional application
Priority: 19 Oct 2013
Published: US 2015/0107233 A123 Apr 2015
Granted: 30 May 2017
Term ends: Not estimatedThe source records don’t support an estimate.

Classification8 codes

F15B 15/10
Characterised by the construction of the motor unit: the motor being of diaphragm type
F16J 3/02
Diaphragms; Bellows; Bellows pistons: diaphragms
F15B 2211/705
Output members, e.g. hydraulic motors or cylinders or control therefor: characterised by the type of output members or actuators
F15B 2211/7107
Multiple output members, e.g. multiple hydraulic motors or cylinders: the output members being mechanically linked