Joint Assembly

Abstract

The present disclosure relates to a joint assembly configured to define a tubular body having a first end, a second end, and a passage therebetween. The tubular body is configured for articulation between a first state in which the first end and the second end are in a first orientation relative to each other and a second state in which the first end and the second end are in a second orientation relative to each other. The body includes a flexible bladder disposed between opposing supports, and the bladder and the supports are each ring-shaped so as to define an opening, with each opening forming part of the passage. The bladder defines a chamber that is partially filled with a fluid that moves within the chamber during articulation of the tubular body from the first state to the second state in order to maintain a constant internal volume of the joint assembly.

Description

Technical Field

[0001] The present disclosure relates to a joint assembly, and more specifically, but not exclusively, to a constant volume joint assembly of a type that may be suitable for use in a pressurized and / or vacuum environment.

Background Art

[0002] Extravehicular activity (EVA) suits provide a life support system that enables a human to stay in a low-pressure environment such as the vacuum of outer space. In particular, EVA suits provide a pressurized atmosphere to the user. On the other hand, the flexible joint portions of the EVA suit (e.g., finger, ankle, shoulder, wrist, knee portions, etc.) pose a challenge for EVA suit designers and their users. In conventional joint portions of EVA suits, the volume of the space within the joint changes as the joint is articulated. For example, by bending the joint, the material of the joint on the inner side of the bend is crushed or bent. The material on the outer side of the bend can be flattened. As a result, the volume inside the joint and the total volume within the EVA suit associated therewith decrease as the joint bends and can increase again when the joint is straight.

[0003] During use, the pressure difference between the inside and the outside of the EVA suit becomes extremely large. A very large pressure difference means that changing the volume inside the EVA suit mainly requires a great deal of labor and energy from the user. Thus, to move a joint, it is necessary to change the volume of the joint and the associated volume inside the EVA suit, so it can be extremely difficult and energy-consuming for the user of the EVA suit to move the joints of the EVA suit. This subjects the user to a great deal of stress and limits the time the user can wear the EVA suit. As a result, complex tasks (such as the construction of a space station) that require multiple deployments while wearing the EVA suit will take longer to complete. Since the time spent in the vacuum of space or other remote environments is limited by the materials (such as oxygen, food, water, etc.) transported to that environment, an increase in the time to complete complex tasks while wearing the EVA suit will lead to an increase in the number of round trips to the remote environment (for example, an increase in the number of rocket launches). This will correspondingly increase the use and emission of fossil fuels.

[0004] Attempts to avoid this problem involve pressurizing the internal volume of the EVA suit at the lowest possible pressure suitable for humans, for example, at about 3 - 4 PSI (absolute pressure). This is significantly lower than the 1 atmosphere (about 14.7 PSI) that humans are accustomed to on Earth. To ensure that the user can breathe at low pressure, a very high oxygen level is maintained within the pressurized internal volume of the EVA suit. However, such attempts lead to excessive use of oxygen resources. Since the oxygen resources in the vacuum of space or other remote environments are limited by the amount of materials (such as by rockets, etc.) transported to that environment, excessive use of oxygen resources can increase the number of necessary resupply round trips (for example, additional rocket launches). This will result in a corresponding increase in the use and emission of fossil fuels. Furthermore, since the EVA suit cannot be pressurized to 1 atmosphere, the length of time the user can wear the EVA suit is still limited. SUMMARY OF THE INVENTION

[0005] The present disclosure relates to a joint assembly. The joint assembly is preferably suitable for use in a pressurized system such as an EVA suit that is to be placed in a low-pressure or vacuum environment (e.g., a space environment outside the Earth's atmosphere). The joint assembly may enable an improvement in the user experience when wearing an EVA suit as compared to existing joint parts of the EVA suit. In particular, the joint assembly can reduce the effort required for a user to move digits or limbs within the EVA suit, thereby enabling the user to spend more time within the EVA suit.

[0006] In a first aspect of the present disclosure, a joint assembly, optionally a joint assembly for use in an extravehicular activity (EVA) suit (e.g., a joint assembly of an EVA suit for receiving a limb or digit), is provided. The joint assembly comprises or is configured to define a tubular body having a first end, a second end, and a passage therebetween. The passage may optionally be configured to receive the limb or digit.

[0007] The tubular body may optionally be configured for articulation between a first state in which the first end and the second end are in a first orientation relative to each other and a second state in which the first end and the second end are in a second orientation relative to each other (e.g., in response to movement of the limb or digit).

[0008] Advantageously, a joint assembly is provided that is articulable between a stationary state and a bent state.

[0009] Optionally, the passage may define a sleeve for receiving the limb or digit.

[0010] The body may optionally comprise a flexible bladder configuration.

[0011] The bladder configuration may optionally include a bladder that can define a chamber. The chamber may optionally be free of gas. The chamber may optionally be partially filled with a fluid (e.g., a non-gaseous fluid) that moves within the chamber during articulation of the tubular body from the first state to the second state (responsive to movement of the limb or digit).

[0012] The flexible bladder configuration may optionally be ring-shaped so as to define an opening, e.g., the opening forms part of a passageway through which the limb or digit can extend.

[0013] The flexible bladder configuration may optionally be positioned between opposing support portions. Optionally, the bladder configuration and the support portions are each ring-shaped so as to define an opening, and each opening forms part of a passageway through which the limb or digit can extend.

[0014] In an exemplary embodiment, the bladder includes a membrane that defines the chamber. The membrane may optionally be flexible and non-extensible. Advantageously, the bladder does not stretch or deform, e.g., when used in a pressurized and / or vacuum environment.

[0015] In an exemplary embodiment, the membrane includes a plurality of reinforcing fibers arranged so that the membrane does not stretch or extend. Advantageously, the bladder has improved tensile strength and is less likely to break or rupture, e.g., when used in a pressurized and / or vacuum environment.

[0016] In an exemplary embodiment, at least a portion of the reinforcing fibers extends in a toroidal direction and / or circumferentially around the bladder.

[0017] In an exemplary embodiment, at least a portion of the fibers extends along the outer periphery of the bladder.

[0018] In an exemplary embodiment, at least a portion of the fibers extends along the inner periphery of the bladder.

[0019] In an exemplary embodiment, at least a portion of the fibers extends along the side or periphery of the bladder between the inner and outer circumferences.

[0020] In an exemplary embodiment, at least one of the fibers is arranged (e.g., extending in a poloidal and toroidal manner) to define a coil or coiled configuration around the chamber.

[0021] Advantageously, the reinforcing fibers can be used to improve the tensile strength of the membrane and thus the bladder in different planes or directions.

[0022] In an exemplary embodiment, the fluid is a non-gaseous fluid. For example, the non-gaseous fluid can consist of a liquid, gel, paste, or cream. Optionally, there is no gas in the partially filled chamber. Advantageously, the bladder is less likely to expand or rupture in a low-pressure environment, such as a vacuum environment.

[0023] In an exemplary embodiment, the bladder configuration is configured to self-heal if the bladder tears.

[0024] In an exemplary embodiment, the fluid consists of a heat-insulating medium. Optionally, the heat-insulating medium consists of microballoons, optionally glass microballoons. Advantageously, the heat-insulating medium prevents heat conduction through the bladder configuration.

[0025] In an exemplary embodiment, the fluid consists of a self-healing fluid. For example, the fluid is a fluid configured to change from a fluid state to a non-fluid state when exposed to the environment outside the bladder configuration, or a fluid containing particles configured to block any openings formed within the bladder.

[0026] One example of a self-healing fluid is a silicone resin having an inhibitor that evaporates or sublimes when exposed to a vacuum. Another example of a self-healing fluid is a liquid containing microballoons filled with a curing agent (e.g., an amine-based curing agent). A further example of a self-healing fluid is a resin (e.g., a short-oil alkyd) having a suitable solvent that evaporates leaving a resin matrix that forms a sealing gel when exposed to a vacuum.

[0027] Preferred self-healing liquids can include an acrylic resin or a condensation polymer diluted with an acrylic monomer. Such self-healing liquids can initiate a mechanism for further polymerization of the film when the film is damaged.

[0028] In some embodiments, a catalyst, monomer, and crosslinking agent are encapsulated in either the fluid or the film, and upon exposure to a vacuum and subsequent rupture, molecules of any combination thereof can initiate further polymerization of the film, i.e., "self-healing" of the film. In some embodiments, damage to the film can initiate a "self-healing" process via radical polymerization or release of an encapsulated catalyst within the film itself.

[0029] In such embodiments, the polymer can be provided in the fluid or within the film such that the reagents are in a stable state and not active in the undamaged state of the film.

[0030] In other words, self-healing can be initiated by reagents trapped within the film, reagents encapsulated within the fluid, inert reagents within the fluid, and / or the film itself initiating polymerization (e.g., ionic or radical polymerization) from the damaged edges of the film.

[0031] Advantageously, self-healing enables any tears or cuts in the bladder to be automatically repaired, thereby increasing the reliability of the joint assembly. This is particularly beneficial when the joint assembly is located within an EVA suit. This is because any malfunction in the joint assembly can prematurely interrupt extravehicular activities.

[0032] In an exemplary embodiment, the fluid has a vapor pressure such that the fluid does not evaporate or expand when the joint assembly is placed in a vacuum. Advantageously, the fluid does not become a gas when the joint assembly is in a vacuum environment. Further, the bladder chamber does not expand, thereby maintaining proper operation of the joint assembly.

[0033] In an exemplary embodiment, the vapor pressure of the fluid is 10 -10 ~10 -7 torr at a temperature of 20°C.

[0034] In an exemplary embodiment, the chamber is partially filled with fluid such that the volume of the chamber is less than the maximum volume of the chamber. Thus, the fluid can be displaced around the chamber.

[0035] In an exemplary embodiment, the fluid is substantially non-expansive. Thus, when the joint assembly is in a low-pressure environment such as a vacuum, the fluid may not expand.

[0036] In an exemplary embodiment, the bladder configuration is sealingly coupled to the support portion. Advantageously, the internal volume of the joint assembly can be pressurized to, for example, 1 atmosphere or more.

[0037] In an exemplary embodiment, the tubular body has a longitudinal axis. During the articulation movement from the first state to the second state, the body can bend to define an inner curved portion and an outer curved portion. Each support portion can have a perimeter or periphery. A first portion of the perimeter or periphery is intended to be proximal to the inner curved portion, and a second portion of the perimeter or periphery opposite the first portion is intended to be proximal to the outer curved portion. Each support portion can have a non-uniform width in the longitudinal direction of the tubular body. The width of each support portion at the first portion is narrower than the width of each support portion at the second portion. Advantageously, the bending range of the joint assembly can be improved. The joint assembly may be deflected to bend in a predetermined direction.

[0038] In an exemplary embodiment, the width of each support portion is tapered from the first width of the first portion to the second width of the second portion.

[0039] In an exemplary embodiment, the joint assembly is configured such that when the first end is relatively moved with respect to the second end to bend the joint assembly, the body contracts inside the bend and expands outside the bend due to deformation of the bladder configuration.

[0040] In an exemplary embodiment, the joint assembly is configured to maintain the internal volume of the body between the first end and the second end at a substantially constant volume during the articulation of the tubular body from the first state to the second state due to deformation of the bladder configuration.

[0041] In an exemplary embodiment, the joint assembly is configured such that when the first end is relatively moved with respect to the second end to bend the joint assembly, the bladder configuration is compressed by the support portion on the inner side of the bend and decompressed on the outer side of the bend.

[0042] In an exemplary embodiment, the joint assembly is configured such that when the first end is relatively moved with respect to the second end to bend the joint assembly, the bladder configuration is compressed by the support portion on the outer side of the bend and decompressed on the inner side of the bend.

[0043] In an exemplary embodiment, the first support portion of the support portions includes a first interlocking region. The second support portion of the support portions may include a second interlocking region. The bladder configuration may be configured for cooperation with the first and second interlocking regions with respect to the position of the bladder configuration between the first and second support portions. Advantageously, the support elements can be better fixed to each other.

[0044] Such an interlocking configuration is particularly beneficial when the joint assembly is used in a pressurized EVA suit. In particular, the interlocking region provides a fail-safe configuration that prevents depressurization of the EVA suit. More specifically, when the joint assembly is used in a pressurized EVA suit, the first and second interlocking regions of each support portion are biased towards each other by the pressure inside the joint assembly. If the bladder configuration tears, it can no longer contain fluid inside. Therefore, the first and second interlocking regions of each support portion are biased towards each other, which prevents depressurization of the EVA suit. In such a situation, the torn bladder will act as a conformable seal between the first and second interlocking regions of each support portion, which further prevents depressurization of the EVA suit.

[0045] In an exemplary embodiment, the first interlocking region comprises a first lip that extends around the opening of the first support portion and extends across the outer surface of the first support portion. The second interlocking region comprises a second lip that extends around the opening of the second support portion and extends across the inner surface of the second support portion.

[0046] In an exemplary embodiment, the bladder configuration has a cross-section that defines first and second grooves or recesses. Advantageously, in use, the bladder is more effectively compressed to achieve a more efficient and / or greater fluid displacement within the bladder.

[0047] In an exemplary embodiment, in use, the first lip is positioned within the first groove or recess and / or the second lip is positioned within the second groove or recess.

[0048] In an exemplary embodiment, the bladder has an H-shaped cross-section in use. The H-shaped cross-section may optionally be defined by first and second grooves or recesses on opposite sides of the bladder configuration, each of the first and second grooves or recesses facing one of the opposing support portions.

[0049] In an exemplary embodiment, the flexible bladder configuration includes an annular partition disposed within the bladder to separate the interior of the bladder into first and second chambers. Each of the first and second chambers may be partially filled with a non-gaseous fluid that moves within the respective chamber during articulation of the tubular body from the first state to the second state, with no gas present.

[0050] In an exemplary embodiment, the flexible bladder configuration includes a first bladder defining a first chamber and a second bladder defining a second chamber, with an annular partition disposed between the first bladder and the second bladder. Each of the first and second chambers may be partially filled with a non-gaseous fluid that moves within the respective chamber during articulation of the tubular body from the first state to the second state, with no gas present. Optionally, the annular partition is a separate element (i.e., separable and not integrally coupled to the first and second bladders). Optionally, the annular partition includes separate first and second partition portions.

[0051] Advantageously, the annular partition serves to control deformation of the bladder configuration.

[0052] In an exemplary embodiment, the tubular body has a longitudinal axis. During articulation from the first state to the second state, the body bends to define an inner bend and an outer bend. The annular partition may have a perimeter or periphery. A first portion of the perimeter or periphery is intended to be proximal to the inner bend, and a second portion of the perimeter or periphery opposite the first portion is intended to be proximal to the outer bend. The annular partition may have a non-uniform width in the longitudinal direction such that the width of the first portion is narrower than the width of the second portion. In an exemplary embodiment, the width of the annular partition is tapered from the first portion to the second portion. Advantageously, the bending range of the joint assembly can be improved. The joint assembly may be biased to bend in a predetermined direction.

[0053] In an exemplary embodiment, the annular partition wall comprises a first partition wall portion and a second partition wall portion. The first and second partition wall portions can be separate elements spaced apart from each other. Advantageously, such a configuration facilitates changing their surrounding separation state between the first bladder and the second bladder (e.g., by changing the spacing between the first partition wall portion and the second partition wall portion), which can help deflect the associated joint assembly to bend in a predetermined direction.

[0054] In an exemplary embodiment, the tubular body has a longitudinal axis. During the articulation motion from the first state to the second state, the body bends to define an inner curved portion and an outer curved portion. The annular partition wall can have a perimeter or periphery. A first portion of the perimeter or periphery is intended to be proximal to the inner curved portion, and a second portion of the perimeter or periphery opposite the first portion is intended to be proximal to the outer curved portion. The spacing between the first partition wall portion and the second partition wall portion of the annular partition wall can be non-uniform in the longitudinal direction with the spacing of the first portion being narrower than the spacing of the second portion. In an exemplary embodiment, the spacing between the first partition wall portion and the second partition wall portion of the annular partition wall is tapered from the first portion to the second portion. In some embodiments, the first and second partition wall portions may converge into a single partition wall portion at the second portion (i.e., the spacing at the second portion may be zero). Advantageously, the bending range of the joint assembly can be improved. The joint assembly may be deflected to bend in a predetermined direction.

[0055] In an exemplary embodiment, the joint assembly further comprises an annular brace disposed radially inward of the flexible bladder configuration to limit the radially inward deformation of the flexible bladder configuration during the articulation motion of the tubular body from the first state to the second state. Advantageously, the annular brace helps control the deformation of the bladder configuration.

[0056] In an exemplary embodiment, the flexible bladder configuration comprises a first bladder defining a first chamber and a second bladder defining a second chamber, an annular partition being disposed between the first bladder and the second bladder, the annular partition and the annular brace being integrally joined (e.g., formed as a single piece or directly fixed and connected to each other).

[0057] In an exemplary embodiment, the joint assembly comprises one or more longitudinal stiffening elements connected to and extending at least partially across and / or through the bladder configuration and / or the support, and advantageously, the one or more longitudinal stiffening elements serve to stabilize the joint assembly.

[0058] In an exemplary embodiment, the one or more longitudinal stiffening elements are configured to prevent separation of the bladder configuration and the support and / or limit bending of the joint assembly in one or more directions.

[0059] In an exemplary embodiment, the above or each longitudinal stiffening element extends along substantially the entire length of the tubular body.

[0060] In an exemplary embodiment, the bladder comprises an internal membrane. Optionally, the internal membrane is annular and extends parallel to the inner and outer circumferences of the bladder to divide the chamber into a plurality of small chambers. Optionally, the internal membrane is sealed to two inner surfaces of the bladder. Optionally, the internal membrane is a small bladder sealed to two inner surfaces of the bladder to provide three separate small chambers within the bladder (i.e., a first small chamber provided between the outer circumference of the internal membrane and the outer circumference of the bladder, a second small chamber provided between the inner circumference of the internal membrane and the inner circumference of the bladder, and a third small chamber provided within the internal membrane). Optionally, each of the small chambers is free of gas and is partially filled with a non-gaseous fluid that moves within the respective small chamber during articulation of the tubular body from the first state to the second state.

[0061] Such a configuration provides a number of advantages. For example, the internal membrane provides a backup layer in case the bladder bursts or tears, which provides greater safety against a single point of failure. In other words, if the bladder configuration is used in a joint assembly for an EVA suit, a single point of failure that could be fatal in case the bladder tears cannot occur. In some embodiments, there are four layers of redundant membranes (i.e., the outer radial surface of the bladder, the outer radial surface of the internal membrane, the inner radial surface of the internal membrane, and the inner radial surface of the bladder). Further, the small chambers may contain different fluids that react to form a self-healing fluid when mixed together. Thus, if both the bladder and its internal membrane are torn, the tear will be "self-healed" by the reaction brought about by mixing the fluids in the respective small chambers, which reseals the bladder.

[0062] The internal membrane may be formed similarly to the bladder (e.g., the internal membrane may be similarly reinforced). In other words, the internal membrane may comprise a plurality of reinforcing fibers arranged so that the internal membrane does not stretch or expand. In an exemplary embodiment, at least a portion of the reinforcing fibers extends in a toroidal or circumferential direction around the internal membrane. In an exemplary embodiment, at least a portion of the fibers extends along the outer periphery of the internal membrane. In an exemplary embodiment, at least a portion of the fibers extends along the inner periphery of the internal membrane. In an exemplary embodiment, at least a portion of the fibers extends along the side or periphery of the internal membrane between the inner and outer peripheries. In an exemplary embodiment, at least one of the fibers is arranged to define a coil or coiled configuration around the internal membrane (e.g., extending in a poloidal and toroidal manner).

[0063] In some embodiments, a plurality of bladders and / or bladder configurations may be laminated radially (i.e., one inside the other radially) to provide a similar effect to having redundant layers and / or containing different types of fluids that react to "self-heal" the bladder in case it tears.

[0064] In an exemplary embodiment, the body includes a plurality of the flexible bladder configurations (e.g., arranged in series). The plurality of flexible bladder configurations may optionally be interspersed between a plurality of support portions. Advantageously, the joint assembly may have a variable length depending on the intended use.

[0065] In an exemplary embodiment, the passageway is configured to receive a portion of a human body, such as a limb or digit. Advantageously, the joint assembly can be used as a joint in, for example, an EVA suit. Optionally, the passageway defines a sleeve for receiving the portion of the human body.

[0066] In an exemplary embodiment, the joint assembly is configured for articulation between a first state and a second state in response to movement of the portion of the human body.

[0067] In an exemplary embodiment, the joint assembly is configured such that when the body articulates from the first state to the second state, the bladder moves or deforms from a first deformed state to a second deformed state.

[0068] In a second aspect of the present disclosure, a glove for an extravehicular activity (EVA) suit is provided, the glove comprising one or more joint assemblies of the first aspect.

[0069] In an exemplary embodiment, the passageway is configured to receive a finger or thumb, and the joint assembly is configured for articulation between a first state and a second state in response to movement of the finger or thumb. Advantageously, the user of the glove can bend the joint by moving the finger or thumb. Optionally, the passageway defines a sleeve for receiving the finger or thumb.

[0070] In a third aspect of the present disclosure, an arm portion for an extravehicular activity (EVA) suit is provided, the arm portion comprising one or more joint assemblies of the first aspect.

[0071] In an exemplary embodiment, the passageway is configured to receive an arm or an elbow, and the joint assembly is configured for articulation between a first state and a second state in response to movement of the arm or elbow. Advantageously, a user of the arm portion can flex the joint by moving their arm / elbow. Optionally, the passageway defines a sleeve for receiving the arm or elbow.

[0072] In a fourth aspect of the present disclosure, an extravehicular activity (EVA) suit is provided that includes one or more joint assemblies of the first aspect.

Brief Description of the Drawings

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Mode for Carrying Out the Invention

[0074] Embodiments of the present disclosure are described herein with reference to the accompanying drawings.

[0075] Figures 1A - 1D show a joint assembly 100 according to an embodiment of the present disclosure. Figure 1A shows a cross - sectional side view of the joint assembly 100 in a stationary state (e.g., not bent, extended, or straight), while Figure 1B shows a cross - sectional side view of the joint assembly 100 in a bent or deflected state. Figure 1C shows an end view of the joint assembly 100. Figure 1D shows a cross - sectional perspective view of the joint assembly 100 (a part of it) in a stationary state. The joint assembly 100 is configured for articulation at least between a stationary state and a bent state.

[0076] The joint assembly 100 has a body 101. The body 101 is substantially tubular so as to define a sleeve. The body 101 has a first end 103 and a second end 105. The body 101 has a passage 131 extending between the first end 103 and the second end 105. The passage 131 defines an internal volume 133 of the body 101. The internal volume 133 is between the first end 103 and the second end 105 of the body 101. In the stationary state shown in Figure 1A, the first end 103 and the second end 105 are in a first orientation relative to each other. In the first orientation, the first end 103 and the second end 105 are substantially coaxial. In the bent state shown in Figure 1B, the first end 103 and the second end 105 are in a second orientation relative to each other. In the second orientation, the first end 103 and the second end 105 are not coaxial with each other (i.e., the first end 103 and the second end 105 are deflected and / or their respective axes are deflected relative to each other). The joint assembly 100 is configured for articulation between a stationary state and a bent state.

[0077] The body 101 has a longitudinal axis in the direction of the passage 131. The body 101 also has a line or length 142 on the outer surface of the body 101. The line 142 extends across the surface between the first end 103 and the second end 105 of the body. The body also has a line or length 144 on the outer surface of the body 101. The line 144 extends across the surface between the first end 103 and the second end 105 of the body 101. The lines 142 and 144 are substantially parallel to the longitudinal axis. The line 142 is on the opposite side surface of the body 101 to the line 144. In the stationary state of FIG. 1A, the lines 142 and 144 have substantially the same length. As shown in FIG. 1B and further described below, when the joint assembly 100 is in a bent state, the body 101 bends to define an outer curved portion at the outer side 143 of the bend and an inner curved portion at the inner side 141 of the bend. In particular, the line 144 is at the outer side 143 of the bend, and the line 144 bends to define an outer curved portion. The line 142 is at the inner side 141 of the bend, and the line 142 bends to define an inner curved portion. When the joint assembly 100 is articulated to a bent state, the line 142 shortens and the line 144 lengthens.

[0078] The body 101 is composed of a series of support elements 110-1, 110-2, 110-3, 110-4, 110-5, 110-6, 110-7 and a series of ring or annular flexible bladders 120-1, 120-2, 120-3, 120-4, 120-5, 120-6. Each of the bladders 120-1 to 120-6 has a central opening. Since each of the support elements 110-1 to 110-7 is in an annular form, these also have a central opening. The bladders 120-1 to 120-6 and the support elements 110-1 to 110-7 are arranged in a series and alternating manner such that the support elements 101-2 to 101-6 act as spacers between adjacent bladders to constitute the body 101. In other words, each of the bladders 120-1 to 120-6 is arranged between cooperating pairs or opposing ones of the support elements 110-1 to 110-7.

[0079] The central openings of the support elements 110-1 to 110-7 and the central openings of the bladders 120-1 to 120-6 form or define a passage 131. The passage 131 extends through the central openings of the support elements 110-1 to 110-7 and the central openings of the bladders 120-1 to 120-6. In the stationary state as shown in FIG. 1A, the openings of the support elements 110-1 to 110-7 and the bladders 120-1 to 120-6 are substantially coaxial or aligned. As shown between FIGS. 1A and 1B, when the joint is articulated between the stationary state and the bent state, neither the support elements nor the bladders substantially protrude into the passage or obstruct the passage. Thus, the passage 131 is configured to receive a body part (e.g., the passage can be a sleeve for a body part). The body part can be a limb (e.g., an arm, a leg, a neck, etc.) or a digit (e.g., a finger, a thumb, a toe, etc.). The joint assembly 100 is configured for articulation, for example, between a stationary state and a bent state, in response to the movement of the body part.

[0080] The joint assembly is configured such that a seal is formed between the support elements adjacent to or facing the bladders 120-1 to 120-6. For example, the bladder is sealingly coupled to the opposing support using, for example, a suitable adhesive. Thus, the bladder can be regarded as a sealing ring.

[0081] Each bladder 120-1 to 120-6 defines respective chambers 126-1 to 126-6. Each chamber is partially filled with fluid such that the fluid moves or displaces within the chamber during the articulation of the joint assembly 100 between the stationary state and the flexed state. Each chamber has a maximum filling capacity. The maximum filling capacity corresponds to the maximum amount that can be filled into the chamber before the bladder ruptures or deforms otherwise. The maximum filling capacity may correspond to the maximum volume of the chamber. The chamber is only partially filled with fluid. In particular, the chamber holds a fluid amount below the maximum filling capacity. There is no other substance in the chamber. Thus, the volume of the chamber is less than the maximum volume of the chamber. The fluid is sealed within the chamber. Accordingly, the fluid can move or displace around the chamber when an external force or external pressure is applied to the bladder.

[0082] Accordingly, when the joint assembly 100 articulates from the stationary state to the flexed state, the first end 103 moves relative to the second end 105, for example, in the direction D. In particular, the first end 103 and the second end 105 move from an orientation where they are substantially coaxial to an orientation where they are not coaxial (i.e., their axes are inclined relative to each other). Each bladder is compressed by an adjacent support proximal to line 142 (i.e., at the inner side 141 of the bend). Each bladder is decompressed by the adjacent support, i.e., the pressure is relieved by the adjacent support proximal to line 144 (i.e., at the outer side 143 of the bend). Accordingly, the body 101 contracts at the inner side 141 of the bend, i.e., the length of line 142 decreases. The body 101 expands or elongates at the outer side 143 of the bend, i.e., the length of line 144 increases. Thus, the body 101 is made articulable between the stationary state and the flexed state. The internal volume 133 of the body 101 between the first end 103 and the second end 105 may also maintain a substantially constant volume as the joint assembly 100 is articulated.

[0083] As the joint assembly 100 moves from the stationary state to the bent state, each bladder can be considered to deform from a first deformed state to a second deformed state. The cross-section of the bladder changes or deforms between the first deformed state and the second deformed state. In particular, in the stationary state of the assembly 100 as shown in FIG. 1A, the bladder is in the first deformed state. In the first deformed state, each of the bladders has a substantially circular or elliptical cross-section. Since the bladder is not compressed in the first deformed state, the first deformed state of the bladder may correspond to the stationary, passive or natural state of the bladder. In the bent state of the assembly 100 as shown in FIG. 1B, the bladder deforms to the second deformed state. In the second deformed state, the cross-section of each bladder at the inner side 141 of the bend changes to a flatter, i.e., more flattened elliptical shape. This is because the bladder is compressed by the opposing support portions at the inner side 141 of the bend. Further, the cross-section of each bladder at the outer side 143 of the bend changes to a more rounded / larger circular or elliptical shape. This is because the pressure is reduced in the bladder at the outer side 143 of the bend. Accordingly, the main body 101 is enabled to perform articulation between the stationary state and the bent state.

[0084] Preferably, the chamber is filled up to about 50% of its maximum filling capacity (i.e., the volume of the chamber is about 50% of the maximum volume). The 50% filling amount enables the joint assembly 100 to achieve an optimal range of operation. However, the bladder 120-1 can be filled to any level from 10% to 90%.

[0085] The fluid is preferably a non-gaseous fluid. For example, the fluid can be a liquid, gel, paste or cream. Preferably, there is no presence of any other substance, such as a gas like air, in the chamber of each bladder. Optionally, the fluid has a low vapor pressure. Optionally, the fluid has a low vapor pressure such that the fluid does not expand or evaporate (e.g., change to a gas) when the bladder is placed in a vacuum. Optionally, in some embodiments, the fluid has a vapor pressure of about 10 -10 ~10 -7It has a vapor pressure of torr. The fluid is preferably incompressible and / or non-expandable. The fluid can be a non-Newtonian liquid. The fluid can be, for example, oil. The fluid can be any silicone-based oil. The fluid can be a vacuum oil such as Apiezon RTM oil.

[0086] In some embodiments, the fluid can include a heat insulating medium having, for example, micro balloons, such as micro balloons made of glass.

[0087] In some embodiments, the fluid can be a self-healing fluid. For example, the fluid is configured to change from a fluid state to a non-fluid state when exposed to an external environment outside the bladder configuration, or the fluid includes particles configured to block any openings formed within the bladder.

[0088] Reference is now made to FIGS. 2A - 2C, which show in more detail portion 191 of joint assembly 100. Portion 191 includes bladder 120-1 disposed between support portion 110-1 and support portion 110-2. FIG. 2A shows a perspective view of portion 191. FIG. 2B shows a cross-sectional perspective view of portion 191. FIG. 2C shows a cross-sectional perspective view of FIG. 2B without support portions 110-1 and 110-2.

[0089] Annular support portion 110-1 has rim 212-1 and central opening 214-1. Annular support portion 110-2 has rim 212-2 and central opening 214-2. Bladder 220-1 has central opening 224-1. As shown, bladder 120-1 is disposed between support portion 110-1 and support portion 110-2 such that passage 131 can extend through openings 214-2, 214-1, and 224-1. In particular, bladder 120-1 is positioned between rim 212-1 of support portion 110-1 and rim 212-2 of support portion 110-2. Bladder 120-1 is sealingly joined to rim 212-1 and rim 212-2 along the entire circumference of the rim. Bladder 120-1 is preferably adhered between rim 212-1 and rim 212-2 using, for example, a suitable adhesive. Annular support portions 110-1 and 110-2 are substantially rigid.

[0090] The support parts 110-1 / 110-2 may be made of a polymer or more specifically a reinforced polymer. Alternatively or additionally, the support parts may be made of metal. More specifically, the support parts may be made of a light metal such as a metal alloy, for example, titanium. Titanium can be particularly advantageous because it is lightweight and tough. Further, titanium has a relatively low thermal conductivity compared to other metals (for example, titanium is a good heat insulator compared to other metals). Therefore, when the joint assembly is used in an EVA suit, titanium can be particularly advantageous in shielding the user of the EVA suit from the harsh space environment. In some embodiments, the support parts 110-1 and 110-2 may be made of a plastic reinforced with carbon fiber. The support parts 110-1 and 110-2 of the present embodiment have a substantially uniform width in the longitudinal direction of the main body 101 (that is, the direction of the passage 131).

[0091] The bladder 120-1 has a main body formed of a film 222-1. The film 222-1 defines a chamber 126-1 of the bladder 120-1. The chamber 126-1 can be regarded as a flow path (for example, an endless flow path) of the bladder 120-1. The film 222-1 seals the chamber 126-1 of the bladder 120-1. As described above, the chamber 126-1 is partially filled with fluid.

[0092] The membrane 222-1 is flexible and substantially inextensible (e.g., non-stretchable). The membrane 222-1 may be substantially non-elastic. Due to the flexibility of the membrane 222-1, when pressure is applied to the bladder 120-1, the fluid within the bladder 120-1 can be displaced around the chamber 126-1. The fact that the membrane 222-1 is inextensible can ensure that the membrane 222-1 does not stretch or deform when the pressure outside the bladder 120-1 is less than the pressure inside the chamber 126-1, for example, when the bladder 120-1 is placed in a vacuum. The membrane 222-1 also has a sufficiently high tensile strength so that the bladder 120-1 does not rupture or otherwise deform when the pressure inside the chamber 126-1 is higher than the pressure outside the bladder 120-1. More specifically, the membrane 222-1 has a sufficiently high tensile strength so that the bladder 120-1 does not rupture or otherwise deform when the bladder 120-1 is placed in a vacuum. Preferably, the membrane 222-1 is made of a flexible polymer such as rubber. For example, the membrane 222-1 can be silicone rubber. In the present embodiment, as shown in FIGS. 2B to 2C, the bladder 120-1 may have a circular or elliptical cross-section. Preferably, the membrane 222-1 has a thickness of 0.2 mm or less, preferably about 0.05 mm. However, it should be understood that any thickness can be used.

[0093] The membrane 222-1 includes a set of reinforcing fibers 227-1, 228-1, and 229-1. The reinforcing fibers 227-1, 228-1, 229-1 are formed or disposed within the substrate of the membrane 222-1. The reinforcing fibers 227-1, 228-1, 229-1 are arranged to prevent the membrane from stretching or expanding. The reinforcing fibers 227-1, 228-1, 229-1 can further increase the tensile strength of the membrane 222-1 while maintaining its flexibility. The reinforcing fibers can be arranged to reinforce the membrane and / or improve its tensile strength in a specific plane or direction of the bladder. At least one of the reinforcing fibers extends around the bladder 120-1 in a poloidal and toroidal pattern, and a portion of the reinforcing fibers extends around the bladder 120-1 in a toroidal or circumferential direction. The set of fibers 227-1 extends around the bladder 120-1 in a poloidal and toroidal pattern. Thus, the set of fibers 227-1 is arranged to define the coil of the chamber 126-1 or to form a coiled configuration therearound. The fiber 228-1 extends along the outer circumference of the bladder 120-1, for example, in a toroidal direction. The outer circumference is the side surface of the bladder facing the outside of the joint assembly 100. The fiber 229-1 extends along the inner circumference of the bladder 120-1, for example, in a toroidal direction. The inner circumference is the side surface of the bladder facing the inside of the joint assembly 100. The fibers 227-1, 228-1, 229-1 preferably consist of synthetic fibers such as aramid fibers.

[0094] The cross-section of the chamber 126-1 preferably has a diameter of 2 to 10 mm. However, it should be understood that the chamber 126-1 can have any other outer diameter or dimension depending on the specific embodiment.

[0095] Although only the portion 191 of the joint assembly 100 is illustrated in FIGS. 2A - 2C, it should be understood that similar features apply to other portions of the joint assembly 100, such as the portions including the support portions 110 - 2 / 110 - 3 and the bladder 120 - 2, the portions including the support portions 110 - 3 / 110 - 4 and the bladder 120 - 3, the portions including the support portions 110 - 4 / 110 - 5 and the bladder 120 - 4, the portions including the support portions 110 - 5 / 110 - 6 and the bladder 120 - 6, and the portions including the support portions 110 - 6 / 110 - 7 and the bladder 120 - 6. However, the description of these portions will not be repeated for the sake of simplicity.

[0096] It should be understood that each of the bladders 120 - 2 to 120 - 6 of the joint assembly 100 may have substantially the same features and characteristics as the bladder 120 - 1. In some embodiments, the bladders 120 - 1 to 120 - 6 are identical. However, in other embodiments, the bladders 120 - 1 to 120 - 6 need not be identical, and one or more of size, dimensions, material, filling level, etc. may be different.

[0097] It should be understood that each of the support portions 110 - 3 to 110 - 7 may have substantially the same features and characteristics as the support portions 110 - 1 and 110 - 2. In some embodiments, the support portions 110 - 1 to 110 - 7 are identical. However, in other embodiments, the support portions 110 - 1 to 110 - 7 need not be identical, and one or more of size, dimensions, material, etc. may be different.

[0098] Referring to FIGS. 1A - 1B and in particular to portion 191 of the body 101, when the joint assembly 100 articulates from a stationary state to a bent state, the first end 103 moves relative to the second end 105. As a result, the support portion 110 - 1 moves relative to the support portion 110 - 2, for example, in the direction D. In particular, the support portions 110 - 1 and 110 - 2 move from an orientation in which they are substantially coaxial to an orientation in which they are not coaxial. As a result, the fluid within the bladder 120 - 1 is displaced within the chamber 126 - 1. In particular, as the joint assembly 100 is bent, the support portion 110 - 1 (more specifically, the rim 212 - 1) tends to move closer to the support portion 110 - 2 (more specifically, the rim 212 - 2) on the inner side 141 of the bend (i.e., proximal to the line 142). The support portion 110 - 1 also tends to move away from or move further away from the support portion 110 - 2 on the outer side 143 of the bend (i.e., proximal to the line 144). Thus, the support portions 110 - 1 and 110 - 2 apply pressure to the bladder 120 - 1 on the inner side 141 of the bend. The support portions 110 - 1 and 110 - 2 also relieve the pressure on the bladder 120 - 1 on the outer side 143 of the bend. The bladder 120 - 1 is compressed by the support portions 110 - 1 and 110 - 2 on the inner side 141 of the bend (i.e., proximal to the line 142). The bladder 120 - 1 is depressurized by the support portions 110 - 1 and 110 - 2, i.e., the pressure is relieved by the support portions on the outer side 143 of the bend (i.e., proximal to the line 144). Thus, the fluid will be displaced around the chamber 126 - 1 from the inner side of the bend to the outer side of the bend (i.e., from the line 142 towards the line 144). As a result, the portion 191 of the body 101 contracts on the inner side 141 of the bend, i.e., the distance between the support portion 110 - 1 and the support portion 110 - 2 at the line 142 decreases. The portion 191 of the body 101 expands or grows on the outer side 143 of the bend, i.e., the distance between the support portion 110 - 1 and the support portion 110 - 2 at the line 144 increases. Thus, the portion 191 of the body 101 is made articulable between a stationary state and a bent state. The internal volume of the portion 191 between the support portions 110 - 1 and 110 - 2 can also maintain a substantially constant volume even when the joint assembly 100 is articulated.

[0099] The other parts of the joint assembly 100 (i.e., the other bladders and their adjacent support elements) will behave in the same manner as the first part 191 as described above. Thus, the length of the body 101 will increase at the outer side 143 of the bend (i.e., the length of line 144 will increase). The length of the body 101 will decrease at the inner side 141 of the bend (i.e., the length of line 142 will decrease). Thus, in this way, the body 101 is enabled to articulate between the stationary state and the bent state. Further, the internal volume 133 of the joint assembly 100 can maintain a substantially constant volume when the joint assembly 100 is articulated.

[0100] Advantageously, the joint assembly 100 is usable in a pressurization system for use in a low-pressure environment such as a vacuum. For example, the joint assembly 100 can be part of an EVA (extravehicular activity) suit for use in a low-pressure or vacuum environment. As described above, the bladder can be sealed and / or adhered to an adjacent spacer, whereby the internal volume 133 of the joint assembly 100 can be pressurized. The internal volume 133 can be pressurized at a pressure higher than the pressure (e.g., vacuum) outside the EVA suit and the joint assembly 100. Thus, the internal volume 133 can have a positive pressure. Since the joint assembly 100 can maintain a substantially constant volume between the stationary position and the bent position, the user of the EVA suit does not need to use a great deal of energy to bend the joint assembly 100. Thus, the internal volume 133 can be pressurized to a pressure higher than 3 - 4 PSI, for example, up to 1 atmosphere. This also means that the EVA suit does not require an oxygen-rich atmosphere. In this way, by reducing the risk to the user's health and improving the user's comfort, the length of time that the user can wear the EVA suit can be increased. This can also result in the conservation of valuable oxygen resources. Further, the bladders 120-1 to 120-6 are suitable for use in a vacuum or low-pressure environment. The bladder is substantially non-extensible or non-stretchable with an appropriate tensile strength so as not to stretch or rupture in a vacuum. Since the bladders 120-1 to 120-6 define an inner surface and an outer surface, it should be understood that there can be no single critical failure point in the joint assembly 100. In other words, when the joint assembly 100 is used in an EVA suit, even if the outer surface of the bladders 120-1 to 120-6 is torn, the inner surface of the bladders 120-1 to 120-6 provides a redundant barrier to prevent depressurization of the EVA suit. Further, under normal operating conditions, the fluid in the bladder has a vapor pressure such that the fluid does not change state, e.g., to a gas, when used in a vacuum. Thus, the bladder is neither a "balloon" nor does it expand in a vacuum. Rather, the volume of the bladder chamber is maintained below the maximum internal volume or filling capacity of the chamber to ensure proper functioning of the joint assembly.

[0101] It should be understood that the joint assembly 100 is shown bent in one direction D for purposes of illustration only and that the joint assembly 100 can be deflected from a rest state in any direction.

[0102] Figures 3A - 3B show a joint assembly 300 according to another embodiment of the present disclosure. Figure 3A shows a cross-sectional side view of the joint assembly 300 in a rest state (e.g., not bent, extended, or straight). Figure 3B shows a cross-sectional side view of the joint assembly 300 in a bent or deflected state.

[0103] Joint assembly 300 substantially corresponds to joint assembly 100. For example, joint assembly 300 has a body 101. The body 101 is substantially tubular. The body has a first end 103 and a second end 105. The body 101 has a passage 131 extending between the first end 103 and the second end 105. The passage 131 defines the internal volume 133 of the body 101. The body 101 is configured for articulation between a first (e.g., stationary) state in which the first end 103 and the second end 105 are in a first orientation relative to each other and a second (e.g., bent) state in which the first end 103 and the second end 105 are in a second orientation relative to each other. The body 101 includes flexible bladders 120-1, 120-2, 120-3, 120-4, 120-5, 120-6, each disposed between opposing support elements 310-1, 310-2, 310-3, 310-4, 310-5, 310-6, 310-7. Each of the flexible bladders and support elements is ring-shaped so as to define a central opening, and each of the respective openings forms a portion of the passage 131. The passage is configured to receive a body part (e.g., the passage defines a sleeve for receiving the body part). The joint assembly 300 is configured for articulation between a first state and a second state in response to movement of a body part. Each of the bladders 120-1 to 120-6 has a chamber that is partially filled with a fluid that can move within the chamber during articulation of the body 101 between the first state and the second state. Each bladder includes a membrane that defines the chamber, and the membrane is flexible and substantially inextensible. The membrane includes a plurality of reinforcing fibers arranged such that the membrane does not stretch or expand. At least a portion of the reinforcing fibers extends in a toroidal or circumferential direction around the bladder. At least one of the fibers is arranged to define a coil or coiled configuration around the chamber (e.g., extending in a poloidal and toroidal manner). The fluid within the chamber is, in this embodiment, a liquid, gel, paste, or cream. There may be no gas in the partially filled chamber. The fluid may have a vapor pressure such that the fluid does not evaporate or expand when the joint assembly is placed in a vacuum. The vapor pressure of the fluid is, in some embodiments, 10 at a temperature of 20 °C -10~10 -7 It can be torr. Each bladder is sealingly coupled to opposing support portions. When the first end 103 is relatively moved with respect to the second end 105 so as to bend the joint assembly 300, each bladder is compressed by the opposing support portions on the inner side 141 of the bend, and the bladder is configured to be decompressed on the outer side 143 of the bend. The main body 101 contracts on the inner side 141 of the bend and expands on the outer side 143 of the bend due to the deformation of the bladder. The joint assembly 300 can maintain the internal volume of the main body 101 at a substantially constant volume between the first end and the second end due to the deformation of the bladder. Here, for the sake of simplicity, it should be understood that not all corresponding features between the joint assembly 100 and the joint assembly 300 are repeated.

[0104] The joint assembly 300 is different from the joint assembly 100 in that the support portions (support elements) 310-2 to 320-6 have non-uniform widths. Each support portion 310-2 to 310-6 has a perimeter or periphery. The first portion of the support portion is proximal to the line 142 (i.e., proximal to the inner side 141 of the bend or the inner curved portion of the main body 101 in the bent state). The second portion of the support portion is proximal to the line 144 (i.e., proximal to the outer side 143 of the bend or the outer curved portion of the main body 101 in the bent state). Each support portion 310-2 to 310-6 has a width in the longitudinal direction of the main body 101 (i.e., the direction of the passage 131). The width of each support portion is non-uniform. In particular, the second portion has a wider width than the width of the second portion. The width can be tapered from the width in the second portion of the support portion to the width in the first portion.

[0105] As shown in FIG. 3A, the portion 392 of the main body 101 includes the support portions 310-2 and 310-3 and the bladder 120-2. The support portions 310-1 and 310-2 have a width w 31 proximal to the line 144 and a width w 32 proximal to the line 142, and w 32 is w 31is less than. The width of the support portion may be tapered from line 144 to line 142. Thus, in the stationary state, the distance between the support portions 310-2 and 310-3 proximal to line 144 is less than the distance between the support portions 310-2 and 310-3 proximal to line 142. As a result, in the stationary state, the bladder 120-2 is relatively greatly compressed proximal to line 144, and the bladder 120-2 is not relatively greatly compressed or greatly inflated proximal to line 142. Thus, in the joint assembly 300, since the bladder 120-2 undergoes different levels of compression between line 142 and line 144, the bladder 120-2 is deflected in the stationary state. On the other hand, in the joint assembly 100, since the bladder undergoes the same level of compression between line 144 and line 142 in the stationary state, the bladder may be regarded as neutral in the stationary state.

[0106] With respect to portion 392, when joint assembly 300 articulates from a stationary state to a bent state, first end 103 moves relative to second end 105. As a result, support portion 310-2 moves relative to support portion 310-3, for example, in direction D. In particular, support portions 310-2 and 310-3 move from an orientation in which they are substantially coaxial to an orientation in which they are not coaxial. As a result, the fluid within bladder 120-2 is displaced within chamber 126-1. In particular, as joint assembly 300 is bent, support portion 310-2 attempts to move closer to support portion 310-3 at the inner side 141 of the bend (i.e., proximal to line 142). Support portion 310-2 also attempts to move away from or move further from support portion 310-3 at the outer side 143 of the bend (i.e., proximal to line 144). Thus, support portions 310-2 and 310-3 apply pressure to bladder 120-2 at the inner side 141 of the bend. Support portions 310-2 and 310-3 also relieve pressure on bladder 120-2 at the outer side 143 of the bend. Bladder 120-2 is compressed by support portions 310-2 and 310-3 at the inner side 141 of the bend (i.e., proximal to line 142). Bladder 120-2 is decompressed by support portions 310-2 and 310-3, i.e., the pressure is relieved by the support portions at the outer side 143 of the bend (i.e., proximal to line 144). Thus, the fluid will be displaced around chamber 126-1 from the inner side of the bend to the outer side of the bend (i.e., from line 142 towards line 144). As a result, portion 392 of body 101 contracts at the inner side 141 of the bend, i.e., the distance between support portion 310-2 and support portion 310-3 at line 142 decreases. Portion 392 of body 101 expands or grows at the outer side 143 of the bend, i.e., the distance between support portion 310-2 and support portion 310-3 at line 144 increases. Thus, portion 392 of body 101 is enabled to articulate between a stationary state and a bent state. The internal volume of portion 392 between support portions 310-2 and 310-3 may also maintain a substantially constant volume when joint assembly 300 is articulated.

[0107] Due to the tapered widths of spacers 310-2 and 310-3, in the stationary state of FIG. 3A, there is a greater amount of fluid in bladder 120-2 proximal to line 142. Further, support portions 310-2 and 310-3 start to move at a relatively large distance apart at line 142 and a relatively small distance apart at line 144 in the stationary state of FIG. 3A. This enables support portions 310-2 and 310-3 to be deflected to a greater extent relative to each other, thereby allowing for a greater degree of bending or deflection between support portion 310-2 and support portion 310-3.

[0108] Other portions of joint assembly 300 (i.e., other bladders and their adjacent support elements) may behave similarly to portion 392 described above. Thus, joint assembly 300 can achieve a greater degree of bending compared to joint assembly 100. Further, joint assembly 300 may be configured to bend only in the direction of the taper, e.g., in the "downward" direction D in FIGS. 3A and 3B, which may be useful depending on the application. For example, this can be useful for implementing joints in an EVA suit that are naturally configured to bend in only one direction, such as finger joints. Support portions 310-1 and 310-7 at ends 103 and 105 of body 101 correspond to support portions 110-1 and 110-7 of joint assembly 100 and may have a substantially uniform width. However, since one of the opposing support portions (i.e., 310-2 and 310-6 respectively) has a non-uniform width, bladders 120-1 and 120-6 can still contribute to the advantageous effects described above.

[0109] In some embodiments, support portions 310-2 to 310-6 have the same width w 31 and w 32 and thus have the same taper characteristics. However, it should be understood that spacers 320-2 to 320-6 can have different widths and different levels of taper. Thus, spacers 320-3 to 320-6 need not be identical.

[0110] Figures 4A - 4D show cross - sectional views of bladder 420 according to other embodiments of the present disclosure. Figure 4A shows a cross - sectional perspective view of bladder 420 in the uncompressed position. Figure 4B shows a cross - sectional perspective view of bladder 420 in the compressed position. Figures 4C and 4D show cross - sectional perspective views of the bladder in the compressed position.

[0111] Bladder 420 substantially corresponds to the bladder described above. In particular, bladder 420 is a flexible bladder. Bladder 420 is ring - shaped so as to define an opening 424. Bladder 420 defines a chamber 426. Chamber 426 is partially filled with a fluid that is movable within the chamber during use. Bladder 420 has a membrane 422 that defines chamber 426. Membrane 422 is flexible and substantially inextensible. Membrane 422 has a set of reinforcing fibers 427, 428, 429 arranged such that the membrane does not stretch or expand. At least a portion 428 / 429 of the fibers extends in a toroidal or circumferential direction around bladder 420. At least one of the fibers 427 is arranged to define a coil or coiled configuration around chamber 426. For example, fiber 427 can extend in a poloidal and toroidal manner. The fluid, in this embodiment, is a liquid, gel, paste, or cream. The partially filled chamber 426 may not have any gas. The fluid may have a vapor pressure such that the fluid does not evaporate or expand when the joint assembly is placed in a vacuum. The vapor pressure of the fluid, in some embodiments, can be 10 -10 ~10 -7 torr at a temperature of 20°C. It should be understood here that for the sake of simplicity, not all corresponding features are repeated.

[0112] Bladder 420 differs from the aforementioned bladder in that it has first and second grooves or recesses on opposite sides of bladder 420 during use. Further, bladder 420 realizes an H - shaped cross - section during use.

[0113] As shown in FIG. 4A, the bladder 420 may have a substantially square or rectangular cross-section. Preferably, the square or rectangle has a curved edge. The bladder of the present disclosure may alternatively have different cross-sectional shapes including square, rectangular, circular, oval or others. Still, a rectangular or square cross-section may be suitable for some applications as described below.

[0114] As shown in FIGS. 4A and 4B, the bladder 420 can be disposed between opposing support elements 410-1 and 410-2. In use, as shown in FIG. 4B, the bladder 420 assumes an "H" shaped cross-section when compressed by the support elements 410-1 and 410-2. The "H" shaped cross-section can help achieve greater fluid displacement and thus improved functionality when the bladder 420 is compressed during use. The "H" shape is defined by first and second grooves or recesses on opposite sides of the bladder 420.

[0115] When the bladder 420 is used, the adjacent support elements 410-1 and 410-2 preferably have a radial thickness t 42 of the following radial thickness t 41 The radial thickness refers to the radial direction of the tubular body of the joint assembly in which the bladder and the support elements are used. For example, each support element may have an edge extending around the opening of the support element. The bladder 420 can be disposed between the edges of the opposing support elements. Thereby, when the bladder 420 is compressed by the support elements, an "H" shaped cross-section can be better realized.

[0116] In some embodiments, the bladder 420 can assume an "H" shaped cross-section immediately after being partially filled with fluid. In other words, due to the partial filling characteristics of the bladder 420, the bladder 420 can assume an "H" shaped cross-section immediately in the stationary position.

[0117] Optionally, as shown in FIG. 4D, the membrane 422 may include an additional set of reinforcing fibers 471 and 472. The fibers 471 and 472 may be formed or disposed within the membrane 422. Each set of fibers 471, 472 extends or extends along a side surface that is either around the bladder or between the inner and outer circumferences of the bladder. In particular, the fiber 471 extends along the periphery of the bladder 420 adjacent to the support portion 410-1. The fiber 472 extends along the periphery of the bladder 420 adjacent to the support portion 410-2. Advantageously, the fibers 472 and 471 can help the joint assembly maintain its structural integrity when used in a low-pressure environment such as a vacuum.

[0118] In some embodiments, as shown in FIGS. 4C and 4D, the sets of fibers 428, 429, 471, 472 do not reach the corners of the bladder. Rather, the sets of fibers 428, 429, 471, 472 can be substantially at the center of each side surface of the bladder 420 along which they extend.

[0119] The cross-section of the chamber 426 has a width in the longitudinal direction of the body of the joint assembly (i.e., in the direction of the passage) and a thickness or height in the radial direction of the body when used in the joint assembly. Preferably, the width is about 5-20 mm (preferably 10 mm), and the thickness is about 1-10 mm (preferably 2 mm). However, it should be understood that the chamber 426 can have any other cross-sectional size depending on the specific embodiment.

[0120] In some embodiments, the bladder may have a non-uniform cross-section (e.g., in a stationary state). Refer to FIG. 15 showing a comparison between the bladder 420 and the bladder 1520 according to an embodiment of the present disclosure. The bladder 1520 substantially corresponds to the aforementioned bladder 420. As shown, the bladder 420 has a substantially uniform cross-section with respect to the periphery of the bladder 420. The bladder 1520 is different from the bladder 420 in that the bladder 1520 has a non-uniform cross-section. The width of the bladder 1520 is the width w at the first side surface 1543 of the bladder 1520 151 to the width w at the second side surface 1541 of the bladder 1520 152tapers to that point, such that w 152 is w 151 less than. The radial thickness of the bladder 1520 tapers from the thickness t 152 at the second side surface 1541 of the bladder 1520 to the thickness t 151 at the first side surface 1543 of the bladder 1520, such that t 152 is greater than t 151 . Thus, the "H" shaped cross-section goes from a relatively thin and tall state at the side surface 1543 to a relatively thick and low state at the side surface 1541. As a result, the virtual pivot point P 1520 of the bladder 1520 becomes relatively closer to the second side surface 1541 of the bladder 1520. By comparison, the virtual pivot point P 420 of the bladder 420 is at the center of the bladder 420. Advantageously, the non-uniform radial thickness and / or width of the bladder 1520 enables compensation for primary or secondary errors in the constant volume characteristics of the joint assembly, whereby the constant volume characteristics of the joint assembly can be further improved. In some embodiments, when used in the joint assembly of the present disclosure, the side surfaces 1543 and 1541 can be proximal to the lines 144 and 142 of the joint assembly, respectively. However, the side surfaces 1543 and 1541 can correspond to any opposing lines of the joint assembly body, depending on the type of compensation required.

[0121] Figures 5A - 5B show a joint assembly 500 according to another embodiment of the present disclosure. Figure 5A shows a cross-sectional side view of the joint assembly 500 in a bent or deflected state. Figure 5B shows an outer side view of the joint assembly 500 in a bent state.

[0122] The joint assembly 500 substantially corresponds to the joint assembly 300. For example, the joint assembly 500 has a body 101. The body 101 is substantially tubular. The body has a first end 103 and a second end 105. The body 101 has a passage 131 that extends between the first end 103 and the second end 105. The passage 131 defines the internal volume 133 of the body 101. The body 101 is configured for articulation between a first (e.g., stationary) state in which the first end 103 and the second end 105 are in a first orientation relative to each other and a second (e.g., bent) state in which the first end 103 and the second end 105 are in a second orientation relative to each other. The body 101 includes a flexible bladder, each of which is disposed between opposing support elements including support elements 510-1 and 510-2. Each of the flexible bladder and the support elements is ring-shaped so as to define a central opening, and each of the respective openings forms a portion of the passage 131. The passage 131 is configured to receive a body part (e.g., the passage 131 defines a sleeve for a body part). The joint assembly 500 is configured for articulation between a first state and a second state in response to movement of a body part. Each of the bladders has a chamber (e.g., chamber 526-1 of bladder 520-1) that is partially filled with a fluid that can move within the chamber during articulation of the body 101 between the first state and the second state. Each bladder includes a membrane that defines the chamber, and the membrane is flexible and substantially inextensible. The membrane includes a plurality of reinforcing fibers arranged such that the membrane does not stretch or expand. At least a portion of the reinforcing fibers extends in a toroidal or circumferential direction around the bladder. At least one of the fibers is arranged to define a coil or coiled configuration around the chamber (e.g., extending in a poloidal and toroidal manner). The fluid within the chamber is a liquid, gel, paste, or cream. There may be no gas in the partially filled chamber. The fluid may have a vapor pressure such that the fluid does not evaporate or expand when the joint assembly is placed in a vacuum. The vapor pressure of the fluid is, in some embodiments, 10 -10 ~10 -7It can be in torr. Each bladder is sealingly coupled to opposing support portions. When the first end 103 is relatively moved with respect to the second end 105 so as to bend the joint assembly 500, each bladder is compressed by the opposing support portions at the inner side 141 of the bend, and the bladder is configured to be decompressed at the outer side 143 of the bend. The body 101 contracts at the inner side 141 of the bend and expands at the outer side 143 of the bend due to the deformation of the bladder. The joint assembly 500 can maintain the internal volume of the body 101 at a substantially constant volume between the first end and the second end due to the deformation of the bladder. Each support element has a perimeter or periphery. The first portion of the perimeter or periphery is intended to be proximal to the inner curved portion (i.e., to line 142), and the second portion of the perimeter or periphery opposing the first portion is intended to be proximal to the outer curved portion (i.e., to line 144). Each support portion may have a non-uniform width in the longitudinal direction, and the width of the first portion is narrower than the width of the second portion. The width of the support portion may be tapered from the first portion to the second portion. Here, for simplicity, it should be understood that not all corresponding features between joint assembly 100 and joint assembly 500 are repeated.

[0123] The joint assembly 500 differs from the joint assembly 100 in that each bladder, including bladder 510-1, can have a cross-section that defines first and second grooves or recesses on both opposing sides during use. Thus, the bladder can have an H-shaped cross-section during use. The bladder corresponds operationally to the bladder 420 shown and described above in FIGS. 4A-4D, and for simplicity, those features are not repeated here.

[0124] Furthermore, the support portion of the joint assembly 500 is different from that of the joint assembly 300 in that the support portion of the joint assembly 500 includes an edge. The support portion has edges on each side of the support portion (i.e., each side of the rim of the support portion). Each edge extends around the opening of the respective support portion. The thickness of the edge in the radial direction of the main body 101 is less than the thickness of the chamber of the adjacent bladder in the radial direction of the main body 101. This enables the bladder to take an "H" cross-section when the bladder is compressed by the edges of the adjacent spacers.

[0125] As shown in FIGS. 5A-5B, the portion 591 of the main body 101 includes a bladder 520-1 disposed between a support portion 510-1 and a support portion 510-2. The support portion 510-1 includes an edge 511-1. The edge 511-1 extends around the periphery of the opening of the support portion 510-1. The edge 511-1 has a radial thickness less than the radial thickness of the bladder 520-1. The support portion 510-1 also includes other similar edges on the other side of the support portion 510-1 for interacting with other bladders. The support portion 510-2 includes an edge 511-2. The edge 511-2 extends around the periphery of the opening of the support portion 510-2. The edge 511-1 also has a radial thickness less than the radial thickness of the bladder 520-1. The support portion 510-2 also includes other similar edges on the other side of the support portion 510-2 for interacting with other bladders. The edge 511-1 is located within the first groove of the bladder 520-1, and the edge 511-2 is located within the second groove of the bladder 520-1.

[0126] When the joint assembly 500 undergoes articulation from a stationary state to a bent state, the first end 103 moves relative to the second end 105. As a result, the support portion 510-1 moves relative to the support portion 510-2, for example, in the direction D. In particular, the support portion 510-1 and the support portion 510-2 move from an orientation where they are substantially coaxial to an orientation where they are not coaxial. As a result, the fluid within the bladder 520-1 is displaced within the chamber 526-1. In particular, as the joint assembly 500 is bent, the edge 511-1 tends to move closer to the edge 511-2 at the inner side 141 of the bend (i.e., proximal to the line 142). The edge 511-1 also tends to move away from or separate from the edge 511-2 at the outer side 143 of the bend (i.e., proximal to the line 144). Thus, the edges 511-1 and 511-2 apply pressure to the bladder 520-1 at the inner side 141 of the bend. The edges 511-1 and 511-2 also relieve the pressure on the bladder 520-1 at the outer side 143 of the bend. The bladder 520-1 is compressed by the edges 511-1 and 511-2 at the inner side 141 of the bend (i.e., proximal to the line 142). The bladder 520-1 is decompressed by the edges 511-1 and 511-2, i.e., the pressure is relieved by the edges at the outer side 143 of the bend (i.e., proximal to the line 144). Thus, the fluid will be displaced around the chamber 526-1 from the inner side of the bend to the outer side of the bend (i.e., from the line 142 towards the line 144). As a result, the portion 591 of the body 101 contracts at the inner side 141 of the bend, i.e., the distance between the edge 511-1 and the edge 511-2 at the line 142 decreases. The portion 591 of the body 101 expands or grows at the outer side 143 of the bend, i.e., the distance between the edge 511-1 and the edge 511-2 at the line 144 increases. Thus, the portion 591 of the body 101 is enabled to articulate between a stationary state and a bent state. The internal volume of the portion 591 between the support portion 510-1 and the support portion 510-2 can also maintain a substantially constant volume when the joint assembly 500 is articulated.

[0127] The other bladders and adjacent spacers of the joint assembly 500 may behave in the same manner as the portion 591 described above. Therefore, in the main body 101, the length will increase at the outer side 143 of the bend and decrease at the inner side 141 of the bend. Thus, the joint assembly 500 is enabled to perform articulating motion between the stationary state and the bent state. Further, the total internal volume 133 of the joint assembly 500 may maintain a substantially constant volume when the joint assembly 500 is bent.

[0128] As the joint assembly 500 moves from the stationary state to the bent state, each bladder may be considered to deform from a first deformed state to a second deformed state. The cross-section of the bladder changes or deforms between the first deformed state and the second deformed state. In particular, in the stationary state of the assembly 500, the bladder is in the first deformed state. In the first deformed state, each bladder may have a substantially square or rectangular cross-section, for example, as shown in FIG. 4A. Since the bladder may not be compressed by the support element in the first deformed state, the first deformed state of the bladder may correspond to the stationary, passive or natural state of the bladder. In the bent state of the assembly 500, the bladder deforms to the second deformed state. In the second deformed state, the cross-section of each bladder at the inner side 141 of the bend changes to an H-shaped cross-section (i.e., a square or rectangular cross-section with grooves on both sides). This is because the bladder is compressed by the edges of the opposing support portions at the inner side 141 of the bend. Further, in the second deformed state, the cross-section of each bladder at the outer side 143 of the bend maintains a square or rectangular cross-section. This is because the pressure is relieved in the bladder at the outer side 143 of the bend. Thus, the main body 101 is enabled to perform articulating motion between the stationary state and the bent state.

[0129] Alternatively, each bladder may have an H-shaped cross-section (i.e., a square or rectangular / rectilinear cross-section with grooves on both sides) in the first deformed state, as described above and as shown in FIGS. 4B - 4D. In the second deformed state, the bladder may have a more strongly defined H-shaped cross-section (i.e., the grooves may be deeper) on the inner side 141 of the bend. Further, in the second deformed state, the bladder may have a more weakly defined H-shaped cross-section (i.e., the grooves may be shallower) on the outer side 143 of the bend. Thus, the body 101 is enabled to articulate between a stationary state and a bent state.

[0130] It should be understood that the joint assembly 500 may be implemented without having tapered support elements. For example, each annular spacer may have a substantially uniform width, and the joint assembly 500 may be bent in any direction from the stationary position.

[0131] The joint assembly 500 may optionally include a cap 580 at the second end 105 of the body 101, whereby the joint assembly 500 can be used as a joint for the limbs of an EVA suit, such as a finger.

[0132] FIGS. 6A - 6E show a joint assembly 600 according to another embodiment of the present disclosure. FIG. 6A shows an outer side view of the joint assembly 600 in a stationary state (e.g., not bent, extended, or straight). FIG. 6B shows a cross-sectional side view of the joint assembly 600 in a stationary state. FIG. 6C shows an external perspective view of the joint assembly 600 in a bent or deflected state. FIG. 6D shows a cross-sectional side view of the joint assembly 600 in a bent state. FIG. 6E shows a partial cross-sectional perspective view of the joint assembly 600 in a stationary state.

[0133] The joint assembly 600 substantially corresponds to the joint assembly 100. For example, the joint assembly 600 has a body 101. The body 101 is substantially tubular. The body has a first end 103 and a second end 105. The body 101 has a passage 131 extending between the first end 103 and the second end 105. The passage 131 defines the internal volume 133 of the body 101. The body 101 is configured for articulation between a first (e.g., stationary) state in which the first end 103 and the second end 105 are in a first orientation relative to each other and a second (e.g., bent) state in which the first end 103 and the second end 105 are in a second orientation relative to each other. The body 101 includes flexible bladders 620-1, 620-2, 620-3, 620-4, 620-5, 620-6, 620-7, 620-8, each disposed between opposing support elements 610-1, 610-2, 610-3, 610-4, 610-5, 610-6, 610-7, 610-8, 610-9. Each of the flexible bladders and support elements is ring-shaped so as to define a central opening, and each of the respective openings forms a portion of the passage 131. The passage 131 is configured to receive a body part (e.g., the passage 131 defines a sleeve for the body part). The joint assembly 600 is configured for articulation between a first state and a second state in response to movement of the body part. Each of the bladders 620-1 to 620-8 has a chamber that is partially filled with a fluid that can move within the chamber during articulation of the body 101 between the first state and the second state. Each bladder includes a membrane that defines the chamber, and the membrane is flexible and substantially inextensible. The membrane includes a plurality of reinforcing fibers arranged such that the membrane does not stretch or expand. At least a portion of the reinforcing fibers extends in a toroidal or circumferential direction around the bladder. At least one of the fibers is arranged to define a coil or coiled configuration around the chamber (e.g., extending in a poloidal and toroidal manner). The fluid in the chamber is a liquid, gel, paste, or cream. The partially filled chamber may be free of gas. The fluid may have a vapor pressure such that the fluid does not evaporate or expand when the joint assembly is placed in a vacuum.The vapor pressure of the fluid can be 10 in some embodiments at a temperature of 20 °C. -10 ~10 -7 torr. Each bladder is sealingly coupled to opposing support portions. The joint assembly 600 is configured such that, due to the deformation of the bladder, the body 101 contracts at the inner side 141 of the bend and expands at the outer side 143 of the bend. The joint assembly 600 can maintain the internal volume of the body 101 at a substantially constant volume between the first end and the second end due to the deformation of the bladder. Here, for the sake of simplicity, it should be understood that not all corresponding features between the joint assembly 100 and the joint assembly 600 are repeated.

[0134] The joint assembly 600 is different from the joint assembly 100 in that the first support portions of the support portions (support elements) 610-2, 610-4, 610-6, 610-8 have a first interlocking region. The second support portions of the support portions (support elements) 610-1, 610-3, 610-5, 610-7, 610-9 have a second interlocking region. Each bladder 620-1 to 620-8 is configured for cooperation with the first and second interlocking regions of the opposing support portions with respect to the position of the bladder between the opposing support portions. Each first interlocking region may include a first lip that extends around the opening of the support portion and extends across the outer surface of the support portion. Each second interlocking region may include a second lip that extends around the opening of the support portion and extends across the inner surface of the support portion.

[0135] The joint assembly 600 is further different in that each of the support elements 610-1 to 610-9 has a substantially tubular shape. The support elements 610-1 to 610-9 can be regarded as a tubular shell. Each of the support elements 610-1 to 610-9 has openings on both sides, which can be regarded as openings. Each support element 610-1 to 610-9 has an interlocking region that extends around each opening or opening. Each bladder 620-1 to 620-8 is disposed between the interlocking regions of the opposing support regions such that the openings form part of the passage 131.

[0136] The joint assembly 600 is further different from the joint assembly 100 in that, in use, each bladder has a cross-section that defines first and second grooves or recesses. Each first lip is located within the first groove or recess, and each second lip is located within the second groove or recess. Each bladder may have an H-shaped cross-section in use. Bladders 620-1 to 620-8 may substantially correspond to the bladders 420 illustrated and described above in FIGS. 4A-4D, and for the sake of simplicity, their features are not repeated here.

[0137] Refer to FIG. 6B in conjunction with FIG. 7A showing a perspective view of the support element 610-1 and FIG. 7B showing a front view of the support element 610-1. The support element 610-1 has a first side surface 710 and a second side surface 720. The support element 610-1 has a first opening 715 in the first side surface 710 and a second opening 725 in the second side surface 720. The support element 610-1 further has a lip 660-1A of the first side surface 710 extending along the periphery of the first opening 715. The lip 660-1A constitutes an interlocking region with the first side surface 710 / the first opening 715. The support element 610-1 further has a lip 660-1B of the second side surface 720 extending along the periphery of the second opening 725. The lip 660-1B constitutes another interlocking region with the second side surface 720 / the second opening 725. The lip 660-1A extends across the inner surface of the support element 610-1, for example, towards the central cross-sectional plane of the support element 610-1. Similarly, the lip 660-1B extends across the inner surface of the support element 610-1, for example, towards the central cross-sectional plane of the support element 610-1. Thus, the lips 660-1A and 660-1B extend towards each other through the interior of the support element 610-1. Preferably, the lips 660-1A and 660-1B have a radial thickness of the tubular support element 610-1 or the tubular body 101, which is less than the radial thickness of the adjacent bladder, so that the bladder can take an "H" shaped cross-section when compressed by the lips. The lips 660-1A and 660-1B can be regarded as the edges of the support 610-1.

[0138] Each of the support elements 610-3, 610-5, 610-7, 610-9 should be understood to substantially correspond to the above-described support element 610-1. The support elements 610-1, 610-3, 610-5, 610-7, 610-9 do not have to be identical and may differ in one or more of size, dimensions, material, etc. For example, as shown in FIGS. 6A and 6B, the support elements 610-1, 610-3, 610-5, 610-7, 610-9 may have diameters that decrease from left to right. Alternatively, each of the support elements 610-1, 610-3, 610-5, 610-7, 610-9 may be identical.

[0139] Refer to FIG. 6B in conjunction with FIG. 6E. The support element 610-2 has a first side surface 6010 and a second side surface 6020. The support element 610-2 has a first opening 6015 in the first side surface 6010 and a second opening 6025 in the second side surface 6020. The support element 610-2 further has a lip 660-2A of the first side surface 6010 extending along the periphery of the first opening 6015. The lip 660-2A constitutes an interlocking region for the first side surface 6010 / the first opening 6015. The support element 610-2 further has a lip 660-2B of the second side surface 6020 extending along the periphery of the second opening 6025. The lip 660-2B constitutes another interlocking region for the second side surface 6020 and the second opening 6025. The lip 660-2A extends across the inner surface of the support element 610-2, for example, towards the central cross-sectional plane of the support element 610-2. Similarly, the lip 660-2B extends across the inner surface of the support element 610-2, for example, towards the central cross-sectional plane of the support element 610-2. Thus, the lips 660-2A and 660-2B extend towards each other across the outside of the support element 610-2. Preferably, the lips 660-2A and 660-2B have a radial thickness with respect to the tubular support element 610-2 or the tubular body 101, which is less than the radial thickness of the adjacent bladder, so that the bladder can take an "H" shaped cross-section when compressed by the lips. The lips 660-2A and 660-2B can be regarded as edges.

[0140] It should be understood that each of the support elements 610-4, 610-6, and 610-8 can substantially correspond to the above-described support element 610-2. The support elements 610-2, 610-4, 610-6, and 610-8 do not have to be identical and may differ in one or more of size, dimensions, material, etc. For example, as shown in FIGS. 6A-6E, the support elements 610-2, 610-4, 610-6, and 610-8 can have diameters that decrease from left to right. Alternatively, each of the support elements 610-2, 610-4, 610-6, and 610-8 may be identical. Further, as shown in FIG. 6B, the diameters of the support elements 610-2, 610-4, 610-6, and 610-8 are generally less than the diameters of the support elements 610-1, 610-3, 610-5, 610-7, and 610-9. Thereby, as shown in FIG. 6B, the support elements 610-2, 610-4, 610-6, and 610-8 can be received in the openings of the support elements 610-1, 610-3, 610-5, 610-7, and 610-9.

[0141] Referring to FIG. 6B, each bladder 620-1 to 620-8 is disposed between the lips of adjacent support elements. As a result, the passage extends through the openings of each of the support elements 610-1 to 610-9 and the central openings of the bladders 620-1 to 620-8.

[0142] In particular, the first side surface of the support element 610-2 is received in the second opening of the support element 610-1 such that the lip 660-1B is adjacent to the lip 660-2A. The bladder 620-1 is disposed between the lip 660-1B and the lip 660-2A. The second side surface of the support element 610-2 is received in the first opening of the support element 610-3 such that the lip 660-2B is adjacent to the lip 660-3A. The bladder 620-2 is disposed between the lip 660-2B and the lip 660-3A. The first side surface of the support element 610-4 is received in the second opening of the support element 610-3 such that the lip 660-3B is adjacent to the lip 660-4A. The bladder 620-3 is disposed between the lip 660-3B and the lip 660-4A. The second side surface of the support element 610-4 is received in the first opening of the support element 610-5 such that the lip 660-4B is adjacent to the lip 660-5A. The bladder 620-4 is disposed between the lip 660-4B and the lip 660-5A. The first side surface of the support element 610-6 is received in the second opening of the support element 610-5 such that the lip 660-5B is adjacent to the lip 660-6A. The bladder 620-5 is disposed between the lip 660-5B and the lip 660-6A. The second side surface of the support element 610-6 is received in the first opening of the support element 610-7 such that the lip 660-6B is adjacent to the lip 660-7A. The bladder 620-6 is disposed between the lip 660-6B and the lip 660-7A. The first side surface of the support element 610-8 is received in the second opening of the support element 610-7 such that the lip 660-7B is adjacent to the lip 660-8A. The bladder 620-7 is disposed between the lip 660-7B and the lip 660-8A. The second side surface of the support element 610-8 is received in the first opening of the support element 610-9 such that the lip 660-8B is adjacent to the lip 660-9A. The bladder 620-8 is disposed between the lip 660-8B and the lip 660-9A. Each of the adjacent lips described above extends towards each other. Preferably, the bladder is sealingly coupled to each lip.

[0143] In the rest position of the joint assembly 600 shown in FIGS. 6A - 6B, the bladders 620 - 1 to 620 - 8 are shown as being under compression from the support elements 610 - 1 to 610 - 9, more specifically from their lips. This is because when the joint assembly 600 is used in a pressurization system (e.g., an EVA suit) in a low - pressure environment (e.g., in a vacuum), the pressure of the internal volume 133 of the assembly 600 can be higher than the external pressure, causing the support elements 610 - 1 to 610 - 9 to move further apart from each other.

[0144] Reference is now made to FIGS. 6C and 6D showing the joint assembly 600 in a flexed position. When the joint assembly 600 articulates from a stationary state to a flexed state, the first end 103 moves relative to the second end 105. Refer to portion 691 of the body 101 including the support portions 610-1, 610-2 and the bladder 620-1. As a result of the articulation, the support element 610-1 moves relative to the support element 610-2, for example, in the direction D. In particular, the support portion 610-1 and the support portion 610-2 move from an orientation in which they are substantially coaxial to an orientation in which they are not coaxial. As a result, the fluid within the bladder 620-1 is displaced within its chamber. In particular, as the joint assembly 600 is flexed, the support element 610-1 tends to move away from the support element 610-2 at the outer side 143 of the flexion (i.e., proximal to the line 144). Accordingly, the lip 660-1B tends to move closer to the lip 660-2A at the outer side 143 of the flexion. The support element 610-1 tends to move closer to the support portion 610-2 at the inner side 141 of the flexion (i.e., proximal to the line 142). Accordingly, the lip 660-1B tends to move away from the lip 660-2A at the inner side 141 of the flexion. The support elements 610-1 and 610-2, more specifically the lips 660-1B and 660-2A, apply pressure to the bladder 620-1 at the outer side 143 of the flexion. The support elements 610-1 and 610-2 also relieve the pressure on the bladder 620-1 at the inner side 141 of the flexion. The bladder 620-1 will be compressed by the lips 660-1B and 660-2A at the outer side 143 of the flexion. The bladder 620-1 will be decompressed by the lips 660-1B and 660-2A at the inner side 141 of the flexion, i.e., the pressure is relieved in the bladder by the lips. Accordingly, the fluid inside the bladder 620-1 will be displaced around the chamber of the bladder 620-1 from the outer side 143 of the flexion towards the inner side 141 of the flexion. Consequently, the distance between the lip 660-1B and the lip 660-2A decreases at the outer side 143 of the flexion. The distance between the lip 660-1B and the lip 660-2A increases at the inner side 141 of the flexion.As a result, the portion 691 of the main body 101 contracts on the inner side 141 of the bend and expands or grows on the outer side 143 of the bend. Thus, the portion 691 of the main body 101 can be operable to articulate between the stationary state and the bent state. The internal volume of the portion 691 between the support portion 610-1 and the support portion 610-2 can also maintain a substantially constant volume even when the joint assembly 600 is articulated.

[0145] The other bladders 620-2 to 620-8 and their adjacent support elements / lips can behave in the same manner as the bladder 620-1 and the support elements 610-1 / 610-2 or the lips 660-1B / 660-2A as described above. Thus, in the main body 101, the length increases on the outer side 143 of the bend and decreases on the inner side 141 of the bend. In this way, the joint assembly 600 is made operable to articulate between the stationary state and the bent state. The total internal volume 133 of the joint assembly 600 can maintain a substantially constant volume even when the joint assembly 600 is bent.

[0146] As the joint assembly 600 moves from the stationary state to the bent state, each bladder can be considered to be deformed from the first deformed state to the second deformed state. The cross-section of the bladder changes or deforms between the first deformed state and the second deformed state. In particular, in the stationary state of the assembly 600 shown in FIGS. 6A - 6B, the bladder is in the first deformed state. In the first deformed state, each bladder can have an H-shaped cross-section (i.e., a square or rectangular / rectangular cross-section with grooves on both sides), as also shown in FIGS. 4B - 4D for example. This can be because the opposing support portions (especially their lips) apply pressure to the bladder in the stationary state. For example, when the internal volume 133 is pressurized, the support portions move away from each other, and their lips will apply pressure to the bladder. In the bent state of the assembly 600 as shown in FIGS. 6C - 6D, the bladder deforms into the second deformed state. In the second deformed state, the bladder can have a more strongly defined H-shaped cross-section (i.e., the grooves can become deeper) on the outer side 143 of the bend. This is because the lips of the opposing support portions apply additional pressure to the bladder on the outer side 143 of the bend. Further, in the second deformed state, the bladder can have a more weakly defined H-shaped cross-section (i.e., the grooves can become shallower) on the inner side 141 of the bend. This is because the lips of the opposing support portions reduce the pressure on the bladder on the inner side 141 of the bend. Thus, the main body 101 is enabled to articulate between the stationary state and the bent state.

[0147] The joint assembly 600 shows a support element having an interlocking region in the form of a lip around the periphery of the opening. However, it should be understood that other forms of interlocking regions are possible.

[0148] It should be understood that the joint assembly 600 is shown as being deflected or bent in the direction D for illustrative purposes only, and that the joint assembly 600 can be deflected in any direction from the stationary position.

[0149] The joint assembly 600 may optionally include a cap 680 at the second end 105 of the body 101, whereby the joint assembly 600 can be used as a joint for the limbs of an EVA suit such as a finger.

[0150] When the joint assembly 600 of FIGS. 6A - 6E is used in a pressurized EVA suit, it should be understood that the first and second interlocking regions of each support portion 610-1 to 610-9 are biased towards each other by the pressure inside the joint assembly 600. This provides a fail-safe configuration in case one or more of the bladders 620-1 to 620-8 are torn. In particular, when one of the bladders 620-1 to 620-8 is torn, it can no longer contain fluid inside. Accordingly, the first and second interlocking regions of each support portion 610-1 to 610-9 are biased to approach each other, which prevents the depressurization of the EVA suit. In such a situation, the torn bladder 620-1 to 620-8 will act as a conformable seal between the first and second interlocking regions of each support portion 610-1 to 610-9, which further prevents the depressurization of the EVA suit.

[0151] FIGS. 8A - 8E show a joint assembly 800 according to another embodiment of the present disclosure. FIG. 8A shows an outer side view of the joint assembly 800 in a stationary state (e.g., not bent, extended, or straight). FIG. 8B shows a cross-sectional side view of the joint assembly 800 in a stationary state. FIG. 8C shows an outer side view of the joint assembly 800 in a bent or deflected state. FIG. 8D shows a cross-sectional side view of the joint assembly 800 in a bent state.

[0152] The joint assembly 800 substantially corresponds to the joint assembly 600. For example, the joint assembly 800 has a body 101. The body 101 is substantially tubular. The body has a first end 103 and a second end 105. The body 101 has a passage 131 that extends between the first end 103 and the second end 105. The passage 131 defines the internal volume 133 of the body 101. The body 101 is configured for articulation between a first (e.g., stationary) state in which the first end 103 and the second end 105 are in a first orientation relative to each other and a second (e.g., bent) state in which the first end 103 and the second end 105 are in a second orientation relative to each other. The body 101 includes flexible bladders 620-1, 620-2, 620-3, 620-4, 620-5, 620-6, 620-7, 620-8, each of which is disposed between opposing support elements 810-1, 810-2, 810-3, 810-4, 810-5, 810-6, 810-7, 810-8, 810-9. Each of the flexible bladders and support elements is ring-shaped so as to define a central opening, and each of the respective openings forms a portion of the passage 131. The passage 131 is configured to receive a body part (e.g., the passage 131 defines a sleeve for the body part). The joint assembly 800 is configured for articulation between a first state and a second state in response to movement of a body part. Each of the bladders 620-1 to 620-8 has a chamber that is partially filled with a fluid that can move within the chamber during articulation of the body 101 between the first state and the second state. Each bladder includes a membrane that defines the chamber, and the membrane is flexible and substantially inextensible. The membrane includes a plurality of reinforcing fibers arranged such that the membrane does not stretch or expand. At least a portion of the reinforcing fibers extends in a toroidal or circumferential direction around the bladder. At least one of the fibers is arranged to define a coil or coiled configuration around the chamber (e.g., extending in a poloidal and toroidal manner). The fluid in the chamber is a liquid, gel, paste, or cream. The partially filled chamber may not have gas present. The fluid may have a vapor pressure such that the fluid does not evaporate or expand when the joint assembly is placed in a vacuum.The vapor pressure of the fluid can be 10 in some embodiments at a temperature of 20 °C. -10 ~10 -7 torr. Each bladder is sealingly coupled to opposing support portions. For each bladder, a first of the opposing support portions has a first interlocking region and a second of the opposing support portions has a second interlocking region. The bladder can be configured for cooperation with the first and second interlocking regions with respect to the position of the bladder between the first and second support portions. The first interlocking region is a first lip that extends around an opening of the first support portion and extends across an outer surface of the first support portion. The second interlocking region is a second lip that extends around an opening of the second support portion and extends across an inner surface of the second support portion. Each bladder has a cross-section that defines first and second grooves or recesses. In use, the first lip is positioned within the first groove or recess and the second lip is positioned within the second groove or recess. Each bladder has an H-shaped cross-section in use. The joint assembly 800 is configured such that, upon deformation of the bladder, the body 101 contracts at the inner side 141 of the bend and expands at the outer side 143 of the bend. The joint assembly 800 can maintain a substantially constant volume of the internal volume of the body 101 between the first and second ends upon deformation of the bladder. It should be understood here for the sake of simplicity that not all corresponding features between joint assembly 600 and joint assembly 800 are repeated.

[0153] Support elements 810-1 to 810-9 substantially correspond to support elements 610-1 to 610-9. For example, support elements 810-1 to 810-9 have a generally tubular shape (e.g., a tubular shell). Each of support elements 810-1 to 810-9 has openings on both sides. Each support element 810-1 to 810-9 has an interlocking region located around the periphery of each opening in the form of a lip as described above. Each bladder 620-1 to 620-8 is disposed between the interlocking regions of adjacent support elements such that the passage 131 extends through the openings of the support elements and the central opening of the bladder. It should be understood here for the sake of simplicity that not all corresponding features are repeated.

[0154] The support elements 810-1 to 810-9 differ from the support elements 610-1 to 610-9 in that the support elements 810-1 to 810-9 have a non-uniform width. Similar to the support part of the assembly 300, each support part (support element) 810-1 to 810-9 has a perimeter or periphery. The first part of the support part is proximal to line 142 (i.e., inside the bend 141 or proximal to the inner curved part of the body 101 in the bent state). The second part of the support part is proximal to line 144 (i.e., outside the bend 143 or proximal to the outer curved part of the body 101 in the bent state). Each support element 810-1 to 810-9 has a width in the longitudinal direction of the body 101 (i.e., the direction of the passage 131). The width of each support part is non-uniform. In particular, the second part has a wider width than the width of the second part. The width can be tapered from the width in the second part of the support part to the width in the first part.

[0155] As shown in FIGS. 8A-8B, the portion 891 of the body 101 includes the support elements 810-6, 810-7 and the bladder 620-6. As shown, the support part 810-7 has a wide width w 81 proximal to line 144 and a relatively narrow width w 82 proximal to line 142. The width of the support part can be tapered from line 144 to line 142. The support part 810-6 can also have a width similar to that of the support part 810-7. As a result, the distance between the lips 660-7A and 660-6B proximal to line 144 is longer than the distance between the lips 660-7A and 660-6B proximal to line 142. In the stationary state, the bladder 620-6 expands relatively large proximal to line 144 and the bladder 620-6 is compressed relatively large proximal to line 142. Thus, in the joint assembly 800, since the bladder undergoes different levels of compression between line 144 and line 142, the bladder 620-6 is deflected in the stationary state. On the other hand, in the joint assembly 600, since the bladder undergoes a matching level of compression between line 144 and line 142 in the stationary state, the bladder can be considered neutral in the stationary state.

[0156] With respect to portion 891 of assembly 800, when joint assembly 800 is bent, bladder 620-6 will be compressed by lips 660-7A and 660-6B on the outer side 143 of the bend. Bladder 620-1 will be decompressed by lips 660-7A and 660-6B on the inner side 141 of the bend, i.e., the pressure is reduced in the bladder by the lips. Thus, the fluid inside bladder 620-6 will displace from the outer side 143 of the bend towards the inner side 141 of the bend around the chamber of bladder 620-6. As a result, the distance between lip 660-7A and lip 660-6B decreases on the outer side 143 of the bend. The distance between lip 660-7A and lip 660-6B increases on the inner side 141 of the bend. As a result, portion 891 of body 101 contracts on the inner side 141 of the bend and expands or grows on the outer side 143 of the bend. Thus, portion 891 of body 101 is capable of articulating between a stationary state and a bent state. The internal volume of portion 891 between support 810-6 and support 810-7 can also maintain a substantially constant volume even when joint assembly 800 is articulated.

[0157] Due to the tapered widths of support elements 810-6 and 810-7, in the stationary state, there is a greater amount of fluid in bladder 620-6 proximal to line 144. Further, lips 660-7A and 660-6B start to move at a relatively large distance apart at line 144 and a relatively small distance apart at line 142 in the stationary state. This enables support elements 810-6 and 810-7 to be deflected relative to each other to a greater extent, thereby enabling a greater degree of bending or deflection between support element 810-6 and support element 810-7.

[0158] The other bladders and adjacent support elements of the joint assembly 800 can behave in the same manner as the portion 891 described above. Thus, the joint assembly 800 can achieve a greater degree of flexion compared to the joint assembly 600. Further, the joint assembly 800 may be configured to flex only in the direction of the taper, e.g., the "downward" direction D in FIGS. 8C-8D, which can be useful depending on the application. For example, this can be useful for implementing joints of an EVA suit that flex in only one direction, such as a knuckle joint.

[0159] In some embodiments, the support elements 810-1 to 810-9 have the same width w 81 and w 82 and thus have the same level of taper. However, it should be understood that the support elements 810-1 to 810-9 can have different widths and different levels of taper. Thus, the support elements 810-1 to 810-9 need not be identical.

[0160] When the joint assembly 800 of FIGS. 8A-8D is used in a pressurized EVA suit, it should be understood that the first and second interlocking regions of each of the support portions 810-1 to 810-9 are biased towards each other by the pressure inside the joint assembly 800. This provides a fail-safe configuration in the event that one or more of the bladders 620-1 to 620-8 are torn. In particular, if one of the bladders 620-1 to 620-8 is torn, it can no longer contain fluid inside. Thus, the first and second interlocking regions of each of the support portions 810-1 to 810-9 are biased to move closer to each other, which prevents depressurization of the EVA suit. In such a situation, the torn bladder 620-1 to 620-8 will act as a conformable seal between the first and second interlocking regions of each of the support portions 810-1 to 810-9, which further prevents depressurization of the EVA suit.

[0161] The above fail-safe configuration is shown in detail in FIGS. 8E-8F. In particular, FIG. 8E shows first and second interlocking support portions 810-1 and 810-2 that engage the bladder 820. A tear 819 is shown in the bladder 820. When the bladder 820 tears, the support portions 810-1 to 810-2 are biased to move closer to each other by the internal pressure within the joint assembly 800. In other words, the first and second support portions 810-1 and 810-2 move towards each other in the direction of the arrow from the position shown in FIG. 8E to the position shown in FIG. 8F. As the first and second support portions 810-1, 810-2 move towards each other, the torn bladder 820 is clamped therebetween. In this way, the torn bladder 820 acts as a conformable seal, and the joint assembly 800 is not depressurized.

[0162] FIGS. 16A-16B show cross-sectional views of a bladder 1620 according to another embodiment of the present disclosure. The same reference numerals as those described above, with "16" prefixed, are given to the features.

[0163] The bladder 1620 differs from the aforementioned bladder in that an annular partition 1681 is disposed within the bladder 1620 to separate the interior of the bladder 1620 into first and second chambers 1626A, 1626B. Each of the first and second chambers 1626A and 1626B is free of gas and is partially filled with a non-gaseous fluid that moves within the respective chamber during the articulation of the tubular body from the first state to the second state.

[0164] The annular partition 1681 extends from opposite inner surfaces of the bladder 1620 around the bladder 1620 such that the first and second chambers 1626A, 1626B extend parallel to each other around the bladder 1620.

[0165] The annular partition 1681 helps to control the deformation of the bladder 1620.

[0166] FIGS. 17A-17B show cross-sectional and partial cross-sectional views of a flexible bladder configuration 1720 according to another embodiment of the present disclosure. The same reference numerals as those described above, with "17" prefixed, are given to the features.

[0167] The bladder configuration 1720 has a first bladder 1720A that defines a first chamber 1726A and a second bladder 1720B that defines a second chamber 1726B. Each of the first and second chambers 1726A and 1726B is free of gas and is partially filled with a non-gaseous fluid that moves within the respective chamber during the articulation of the tubular body from the first state to the second state.

[0168] In the embodiment of FIGS. 17A - 17B, the annular partition 1781 is disposed between the first bladder 1720A and the second bladder 1720B. In the illustrated embodiment, the annular partition 1781 is a separate element (e.g., separable and not integrally coupled to the first and second bladders 1720A, 1720B).

[0169] It should be understood that the bladder configuration 1720 of FIGS. 17A - 17B may be used in place of any of the bladders of the previous embodiments. For example, in the embodiments of FIGS. 5B - 8D, any one of the individual bladders may be replaced by the bladder configuration 1720 (i.e., by the first and second bladders 1720A, 1720B and the partition 1781). In other words, the bladder configuration 1720 is configured to be positioned between opposing support portions in a state where a first support portion engages the first bladder 1720A and a second opposing support portion engages the second bladder 1720B in order to constitute a joint assembly.

[0170] In the embodiments of FIGS. 17A - 17B, an annular brace 1782 is disposed radially interior of a flexible bladder configuration 1720 so as to limit inward radial deformation of the flexible bladder configuration 1720. In the illustrated embodiment, the annular septum 1781 and the annular brace 1782 are integrally coupled (e.g., formed as a single piece or directly fixed and connected to each other). Similar annular braces 1782 may be provided in other embodiments that do not have an annular septum or in embodiments having a single bladder between each pair of opposing supports instead of the bladder configuration 1720 having first and second bladders 1720A, 1720B. In other words, it should be understood that the annular brace 1782 is not inherently related to the annular septum 1781 and the double - bladder feature of FIGS. 17A - 17B.

[0171] In the embodiments of FIGS. 17A - 17B, each of the first and second bladders 1720A, 1720B has annular joint lines 1786A, 1786B. The annular joint lines 1786A, 1786B are formed during bladder manufacture. In particular, the bladders are first formed as an annularly curved sheet of material (e.g., by dipping a mandrel into a liquid solution and solidifying the liquid solution on the ends of the mandrel). Then, this curved sheet of material is "closed" by joining the edges of the sheet to each other, which constitutes the corresponding joint lines 1786A, 1786B.

[0172] In some embodiments where an annular septum (e.g., an "inner" annular septum 1681 as in FIGS. 16A - 16B or an "outer" annular septum 1781 as in FIGS. 17A - 17B) is provided, the annular septum may have a perimeter or periphery having a first portion intended to be proximal to the inner curvature of each joint assembly and a second portion opposite the first portion intended to be proximal to the outer curvature of each joint assembly. The annular septum may have a non - uniform width longitudinally such that the width of the first portion is less than the width of the second portion. For example, the width of the annular septum may be tapered from the first portion to the second portion.

[0173] FIG. 18 shows a cross-sectional view of a flexible bladder configuration 1820 according to another embodiment of the present disclosure. The same reference numerals with a leading "18" are assigned to the features described above.

[0174] The bladder configuration 1820 of FIG. 18 is similar to the bladder configuration 1720 of FIGS. 17A - 17B. In particular, the bladder configuration 1820 has a first and a second bladder 1820A, 1820B that respectively define first and second chambers 1826A, 1826B. Each of the first and second chambers 1826A and 1826B is partially filled with a non-gaseous fluid that moves within the respective chamber during the articulation of the tubular body from the first state to the second state, with no gas present.

[0175] In the embodiment of FIG. 18, an annular partition disposed between the first bladder 1820A and the second bladder 1820B is divided into a first partition portion 1881A and a second partition portion 1881B. The first and second partition portions 1881A, 1881B are separate and distinct elements. The first partition portion 1881A is disposed adjacent to the first bladder 1820A, and the second partition portion 1881B is disposed adjacent to the second bladder 1820B. Such a configuration facilitates changing their surrounding separation state between the first bladder 1820A and the second bladder 1820B (e.g., by changing the spacing between the first partition portion 1881A and the second partition portion 1881B), which can help deflect the associated joint assembly to bend in a predetermined direction.

[0176] In some embodiments, the first and second annular partition portions 1881A, 1881B are separated by a first amount at a first point on the perimeter of the bladder configuration 1820 and a second amount at a second point on the perimeter (as shown in FIG. 18). In some embodiments, the second amount at the second point on the perimeter (as shown in FIGS. 20A and 20C) is zero (i.e., no spacing).

[0177] It should be understood that the bladder configuration 1820 of FIG. 18 may be used in place of any of the bladders of the previous embodiments. For example, in the embodiments of FIGS. 5B - 8D, any of the individual bladders may be replaced by the bladder configuration 1820 (i.e., by the first and second bladders 1820A, 1820B and the partition portions 1881A, 1881B). In other words, the bladder configuration 1820 is configured to be positioned between opposing support portions with the first support portion engaged with the first bladder 1820A and the second opposing support portion engaged with the second bladder 1820B in order to form a joint assembly.

[0178] In the embodiment of FIG. 18, the annular brace disposed radially inside the flexible bladder configuration 1820 is also split into two. In particular, there is a first brace portion 1882A coupled (e.g., integrally coupled) to the first partition portion 1881A and a second brace portion 1882B coupled (e.g., integrally coupled) to the second partition portion 1881B. In such an embodiment, it should be understood that the spacing between the first brace portion 1882A and the second brace portion 1882B may correspond to the spacing between the first partition portion 1881A and the second partition portion 1881B. In other words, as the partition portions 1881A, 1881B approach each other (as shown in FIGS. 20A and 20C), the first and second brace portions 1882A, 1882B may also approach each other.

[0179] FIG. 19 shows a cross - sectional view of a flexible bladder configuration 1920 according to another embodiment of the present disclosure. The same reference numerals with a leading "19" are given to the features described above.

[0180] The bladder configuration 1920 of FIG. 19 is similar to the bladder configuration 1820 of FIG. 18. In particular, the bladder configuration 1920 has a first and a second bladder 1920A, 1920B separated by first and second partition portions 1981A, 1981B.

[0181] In the embodiment of FIG. 19, the first bladder 1920A includes a first inner membrane 1921A, and the second bladder 1920B includes a second inner membrane 1921B. The first and second inner membranes 1921A, 1921B are annular and extend parallel to the inner and outer circumferences of their respective bladders 1920A, 1920B. Thus, the inner membranes 1921A, 1921B divide the first and second chambers 1926A, 1926B into small chambers 1926A-1, 1926A-2, 1926A-3, 1926B-1, 1926B-2, 1926B-3.

[0182] In the illustrated embodiment, the inner membranes 1921A, 1921B are sealed to two inner surfaces of their respective bladders 1920A, 1920B to provide three separate small chambers within each bladder. In particular, the first small chambers 1926A-1, 1926B-1 are provided between the outer circumferences of their respective inner membranes 1921A, 1921B and the outer circumferences of their respective bladders 1920A, 1920B, the second small chambers 1926A-2, 1926B-2 are provided between the inner circumferences of their respective inner membranes 1921A, 1921B and the inner circumferences of their respective bladders 1920A, 1920B, and the third small chambers 1926A-3, 1926B-3 are provided inside their respective inner membranes 1921A, 1921B.

[0183] Each of the small chambers is free of gas and is partially filled with a non-gaseous fluid that moves within its respective small chamber during the articulation of the tubular body from the first state to the second state.

[0184] Such a configuration provides a number of advantages. For example, the inner membranes 1921A, 1921B provide a backup layer in the event that their respective bladders 1920A, 1920B are cut or torn, which provides greater safety against a single point of failure. In other words, if the bladder configuration 1920 is used in a joint assembly for an EVA suit, a single point of failure that could be fatal cannot occur if the bladders 1920A, 1920B are torn. In particular, there are four layers of redundant membranes (i.e., the radial outer surfaces of the bladders 1920A, 1920B, the radial outer surfaces of the inner membranes 1921A, 1921B, the radial inner surfaces of the inner membranes 1921A, 1921B, and the radial inner surfaces of the bladders 1920A, 1920B). Further, the small chambers (1926A-1, 1926A-2, 1926A-3, 1926B-1, 1926B-2, 1926B-3) may contain different fluids that react to form a self-healing fluid when mixed with each other. Thus, if both the bladder and its inner membrane are torn, the tear will be "self-healed" by the reaction brought about by mixing the fluids in their respective small chambers, which reseals the bladder.

[0185] The inner membranes 1921A, 1921B can be similarly formed on the bladders 1920A, 1920B as described above (e.g., the inner membranes 1921A, 1921B can be similarly reinforced).

[0186] In other embodiments (not shown), a plurality of bladders and / or bladder configurations may be radially laminated (i.e., one may be radially inside the other) to provide a similar effect to having redundant layers and / or containing different types of fluids that react to "self-heal" the bladder if it is torn.

[0187] Figures 20A - 20D show the joint assembly 2000 according to other embodiments of the present disclosure. In particular, FIGS. 20A - 20B show a cross-sectional side view and a side view of the joint assembly 2000 in a stationary state (e.g., not bent, extended, or straight), and FIGS. 20C - 20D show a cross-sectional side view and a side view of the joint assembly 2000 in a bent or deflected state. The same reference numerals with "20" at the beginning are assigned to the above-described features.

[0188] The joint assembly 2000 includes the first flexible bladder configuration 2020-1 of the type shown and described above with reference to FIG. 18. In this embodiment, the first and second partition portions 2081A, 2081B are spaced apart by a greater distance above the joint assembly 2000 than below the joint assembly 2000. In particular, the first and second partition portions 2081A, 2081B converge to a single partition portion 2081 below the joint assembly 2000. This helps to deflect the flexion of the joint in the direction shown in FIGS. 20C - 20D, which is the natural manner in which a human finger received within the joint assembly 2000 bends.

[0189] When the joint assembly 2000 is in the stationary state of FIG. 20A, the fluid located within the first and second bladders 2020A, 2020B is more distributed below the joint assembly 2000 than above the joint assembly 2000. When the joint assembly 2000 is moved to the bent or deflected state of FIG. 20C, the fluid moves within the first and second bladders 2020A, 2020B so as to be more distributed above the joint assembly 2000. In this way, a constant internal volume is maintained within the joint assembly 2000.

[0190] The first and second support portions 2010-1, 2080 are provided on opposite side surfaces of the first flexible bladder configuration 2020-1. In particular, the first support portion 2010-1 engages the first bladder 2020A, and the second support portion in the form of the cap 2080 engages the second bladder 2020B.

[0191] In the embodiments of FIGS. 20A to 20D, a second flexible bladder configuration 2020-2 is provided. The second flexible bladder configuration 2020-2 is similar to half of the bladder configuration of FIG. 18. In other words, the second flexible bladder configuration 2020-2 includes a single bladder 2020A, a single partition portion 2081A, and a single brace portion 2082A. The single partition portion 2081A and the single brace portion 2082A are connected to the first support portion 2010-1 at opposite ends of the first support portion 2010-1 with respect to the first bladder configuration 2020-2. A third support portion 2010-3 is provided on the opposite side surface of the second bladder configuration 2020-2 and engages the single bladder 2020A.

[0192] The fluid moves within the single bladder 2020A of the second bladder configuration 2020-2, similar to the fluid within the first and second bladders 2020A, 2020B of the first bladder configuration 2020-1 when the joint assembly 2000 moves as described above.

[0193] In the illustrated embodiments, the first, second, and third support portions 2010-1, 2010-2, 2080 have grooves at the ends that directly engage the bladders 2020A, 2020B. The grooves receive the joint lines of the bladders 2020A, 2020B formed during the manufacture of the bladders 2020A, 2020B (as described above).

[0194] In the embodiments of FIGS. 20A to 20D, one or more longitudinal reinforcement elements 2084 (shown schematically as dashed lines) are provided. The one or more longitudinal reinforcement elements 2084 are connected to and extend at least partially across and / or through each bladder and / or support portion. In particular, the one or more longitudinal reinforcement elements 2084 extend along substantially the entire length of each tubular body.

[0195] The longitudinal strengthening element(s) 2084 of 1 or more described above helps to stabilize the joint assembly 2000 (e.g., by preventing separation of respective bladders and support parts and / or restricting bending of the joint assembly in one or more directions). As shown in FIGS. 20A - 20C, the longitudinal strengthening element(s) 2084 defines a pseudo - revolution 2085 at the joint of the joint assembly 2000 (e.g., along the bladders 2020A, 2020B).

[0196] Similar longitudinal strengthening elements 184, 584, 1184 are provided in the embodiments of FIGS. 1A - 1D, 2A - 2C, 5C - 5D, and 11.

[0197] In an exemplary embodiment, a pair of longitudinal strengthening elements 184, 584, 1184, 2084 are provided on opposite sides of the respective joint assembly. The pair of longitudinal strengthening elements 184, 584, 1184 are positioned at the center of the joint assembly 2000 and parallel to the bending angle.

[0198] In an exemplary embodiment, each support part has through - holes 185, 285 (such as shown in FIGS. 1C - 2A) for receiving the longitudinal strengthening elements 184, 584, 1184, 2084. In the illustrated embodiments of FIGS. 1C - 2A, the through - holes 185, 285 are located in the part of the support part that overlaps the opening of the bladder so that the longitudinal strengthening elements 184, 584, 1184, 2084 extend through the opening of the bladder (i.e., through the passage of the joint assembly). Alternatively, the through - holes 185, 285 may be located in the part of the support part that projects radially outward beyond the bladder so that the longitudinal strengthening elements extend across the outer periphery of the joint assembly.

[0199] Advantageously, the joint assembly of the present disclosure can be used in the joints of an EVA suit. For example, FIG. 9 shows the use of the joint assembly 600 as a finger in the pressurized glove 900 of an EVA suit. FIG. 10 shows the use of the assembly 800 as a finger of an EVA suit and the use of the assembly 600 as a wrist joint in the pressurized glove 1000. FIG. 11 shows a cross-sectional view of the use of the assembly 100 at the finger joint of the glove of a pressurized EVA suit. FIG. 12 shows the use of the assembly 600 as the knee or elbow joint 12000 of a pressurized EVA suit. FIG. 13 shows the positions L1-L11 of the EVA suit 1300 where the joint assembly of the present disclosure including the shoulder joints L1-L2, elbow joints L3-L4, waist L5, hips L6-L7, knees L8-L9 and ankles L10-L11 can be used. FIG. 14 shows further positions M1-M12 of the glove where the joint assembly of the present disclosure can be used.

[0200] As such, it should be understood that the joint assembly of the present disclosure is configured for joint movement in response to the movement of a body part received by the joint assembly (e.g., a limb such as an arm or a leg, or a digit such as a finger or a thumb). When the joint assembly is used as a finger part of an EVA suit, the passage of the joint assembly will be configured to receive the finger (e.g., defining a sleeve for the finger), and the joint assembly will be configured for joint movement in response to the movement of the finger. When the joint assembly is used, for example, as an elbow joint in the arm part of an EVA suit, the passage of the joint assembly will be configured to receive the arm and / or the elbow (e.g., defining a sleeve for the arm and / or the elbow), and the joint assembly will be configured for joint movement in response to the movement of the arm and / or the elbow. When the joint assembly is used, for example, as a knee joint in the leg part of an EVA suit, the passage of the joint assembly will be configured to receive the leg and / or the knee (e.g., defining a sleeve for the leg and / or the knee), and the joint assembly will be configured for joint movement in response to the movement of the leg and / or the knee. It should be understood that any of the joint assemblies of the present disclosure can be used in the parts of the EVA suit shown in FIGS. 9-14.

[0201] It should also be understood that the dimensions of the joint assemblies described herein and the dimensions of their components (e.g., the support elements and the bladders) can vary depending on the intended use. For example, the internal volume and / or the passage can be of any suitable size and / or shape to accommodate any human joint of the EVA suit. The support elements and the bladders can be shaped and / or sized accordingly. For example, the central opening / aperture of the support element and the central opening of the bladder can be sized and / or shaped accordingly.

[0202] It has been described how the joint assembly of the present disclosure can be used in a low-pressure environment such as in a vacuum. In a low-pressure environment, the pressure inside the internal volume of the joint assembly can be higher than the ambient pressure outside the joint assembly. The pressure difference between the inside and outside of the joint assembly can exceed 14.7 PSI (1 atmosphere) in order to achieve 1 atmosphere inside an EVA suit. However, it should be understood that the joint assembly of the present disclosure may be used, for example, in a high-pressure environment where the ambient pressure is higher than the pressure inside the internal volume of the joint assembly. The joint assemblies 100, 300, 500 may be particularly suitable for use in a high-pressure environment.

[0203] It has been described above that the bladder and the support portion are ring-shaped. It should be understood that the ring shape can take a number of forms including, but not limited to, circular, oval, square, rectangular, triangular, pentagonal, hexagonal or any other arbitrary polygon.

[0204] As used herein, the term "bladder configuration" should be understood to refer to one or more bladders that can be located between opposing support portions. In other words, the phrase "bladder configuration" can include a single bladder (such as in the embodiments of FIGS. 1A-16B), or can include a plurality of bladders (such as in the embodiments of FIGS. 17A-20D).

Claims

1. A joint assembly for an extravehicular activity (EVA) suit for a limb or digit, the joint assembly comprising a tubular body having a first end, a second end, and a passage therebetween, the passage being configured to receive the limb or digit, the body comprising a flexible bladder configuration positioned between opposing support portions, the bladder configuration and the support portions each being ring-shaped so as to define an opening, each of the openings forming part of the passage for receiving the limb or digit, the tubular body being configured for articulation movement of the limb or digit between a first state in which the first end and the second end are in a first orientation relative to each other and a second state in which the first end and the second end are in a second orientation relative to each other, the bladder configuration comprising a bladder defining a chamber, the chamber being partially filled with a non-gaseous fluid that moves within the chamber during articulation movement of the tubular body from the first state to the second state in response to movement of the limb or digit, and no gas being present in the chamber, a joint assembly.

2. The non-gaseous fluid consists of a liquid, gel, paste or cream, the joint assembly according to claim 1.

3. The joint assembly is configured to maintain the internal volume of the body between the first end and the second end at a substantially constant volume during articulation movement of the tubular body from the first state to the second state by deformation of the bladder configuration, the joint assembly according to claim 1 or 2.

4. The bladder comprises a membrane defining the chamber, the membrane being flexible and non-extensible, the joint assembly according to any one of claims 1 to 3.

5. The membrane comprises a plurality of reinforcing fibers arranged such that the membrane does not stretch or expand, optionally, at least some of the reinforcing fibers extend in a toroidal direction and / or a circumferential direction around the bladder, and / or one or more of the following apply: at least some of the fibers extend along the outer circumference of the bladder, at least some of the fibers extend along the inner circumference of the bladder, and at least some of the fibers extend along the circumference between the side surface of the bladder or the inner and outer circumferences, and / or The joint assembly according to claim 4, wherein at least one of the fibers is arranged to define a coil or coiled configuration around the chamber (e.g., extending in a poloidal and toroidal manner).

6. The non-gaseous fluid has a vapor pressure such that the fluid does not evaporate or expand when the joint assembly is placed in a vacuum, and optionally the vapor pressure of the fluid is greater than 10 at a temperature of 20° C. －１０ ~10 －７ 6. The joint assembly of claim 1, wherein the joint pressure is 100 psi (100 psi) or less.

7. The joint assembly according to any one of claims 1 to 6, wherein the bladder configuration is sealingly coupled to the support portion.

8. The tubular body has a longitudinal axis, and during articulation from the first state to the second state, the body bends to define an inner bending portion and an outer bending portion. Each support portion has a perimeter or periphery, and a first portion of the perimeter or periphery is intended to be proximal to the inner bending portion, and a second portion of the perimeter or periphery opposite the first portion is intended to be proximal to the outer bending portion. Each support portion has a non-uniform width in the longitudinal direction of the tubular body, the width of each support portion at the first portion being narrower than the width of each support portion at the second portion, and optionally, the width of each support portion is tapered from a first width at the first portion to a second width at the second portion. The joint assembly according to any one of claims 1 to 7.

9. The joint assembly is configured such that when the first end is relatively moved with respect to the second end to bend the joint assembly, the body contracts on the inner side of the bend and expands on the outer side of the bend due to deformation of the bladder configuration. The joint assembly according to any one of claims 1 to 8.

10. The joint assembly is configured such that when the first end is relatively moved with respect to the second end to bend the joint assembly, the bladder configuration is compressed by the support portion on the inner side of the bend and decompressed on the outer side of the bend. Optionally, the bladder configuration has an H-shaped cross-section in use, and the H-shaped cross-section is defined by first and second grooves or recesses on opposite sides of the bladder configuration, and each of the first and second grooves or recesses faces one of the opposing support portions. The joint assembly according to any one of claims 1 to 9.

11. A first support portion of the support portions includes a first interlocking region. A second support portion of the support portions includes a second interlocking region. The bladder configuration is configured for cooperation with the first and second interlocking regions with respect to the position of the bladder configuration between the first support portion and the second support portion. Optionally, the bladder configuration has an H-shaped cross-section in use, which is defined by first and second grooves or recesses on opposite sides of the bladder configuration, and each of the first and second grooves or recesses faces one of the opposing support portions. The joint assembly according to any one of claims 1 to 9.

12. The first interlocking region includes a first lip that extends around the opening of the first support portion and extends across the outer surface of the first support portion. The second interlocking region includes a second lip that extends around the opening of the second support portion and extends across the inner surface of the second support portion. Optionally, the bladder configuration has a cross-section that defines first and second grooves or recesses. In use, the first lip is located within the first groove or recess, and the second lip is located within the second groove or recess. The joint assembly according to claim 11.

13. The flexible bladder configuration includes an annular partition disposed within the bladder so as to separate the interior of the bladder into first and second chambers. Each of the first and second chambers is free of gas and is partially filled with a non-gaseous fluid that moves within each chamber during the articulation of the tubular body from the first state to the second state, or The flexible bladder configuration includes a first bladder that defines a first chamber and a second bladder that defines a second chamber. An annular partition is disposed between the first bladder and the second bladder. Each of the first and second chambers is free of gas and is partially filled with a non-gaseous fluid that moves within each chamber during the articulation of the tubular body from the first state to the second state. Optionally, the annular partition is a separate element. Optionally, the annular partition includes separate first and second partition portions. The joint assembly according to any one of claims 1 to 12.

14. The tubular body has a longitudinal axis, and during the articulation from the first state to the second state, the body bends to define an inner curved portion and an outer curved portion. The annular partition wall has a periphery or a perimeter, and a first portion of the periphery or the perimeter is intended to be proximal to the inner curved portion, and a second portion of the periphery or the perimeter that faces the first portion of the periphery or the perimeter is intended to be proximal to the outer curved portion. The annular partition wall has a non-uniform width in the longitudinal direction with the width of the first portion being narrower than the width of the second portion, and optionally, the width of the annular partition wall is tapered from the first portion to the second portion, the joint assembly according to claim 13.

15. The joint assembly according to any one of claims 1 to 14, further comprising an annular brace disposed radially inward of the flexible bladder configuration so as to limit a radially inward deformation of the flexible bladder configuration during an articulation movement of the tubular body from the first state to the second state, and optionally, the flexible bladder configuration comprises a first bladder defining a first chamber and a second bladder defining a second chamber, an annular partition wall is disposed between the first bladder and the second bladder, and the annular partition wall and the annular brace are integrally joined.

16. One or more longitudinal strengthening elements connected to the bladder configuration and / or the support portion and extending at least partially across and / or through the bladder configuration and / or the support portion, optionally further comprising a pair of longitudinal strengthening elements, and optionally, the one or more longitudinal strengthening elements are configured to prevent separation of the bladder configuration and the support portion and / or limit flexion in one or more directions of the joint assembly, and / or optionally, the or each longitudinal strengthening element extends along substantially the entire length of the tubular body, the joint assembly according to any one of claims 1 to 15.

17. The joint assembly according to any one of claims 1 to 16, wherein the body comprises a plurality of the flexible bladder configurations arranged in series, and optionally, the plurality of flexible bladder configurations are interspersed between a plurality of support portions.

18. The joint assembly according to any one of claims 1 to 17, wherein the bladder comprises an internal membrane, the internal membrane is annular, and extends parallel to the inner and outer circumferences of the bladder to divide the chamber into a plurality of small chambers.

19. The bladder configuration is configured to self-repair in the event of a tear in the bladder, and optionally, the non-gaseous fluid consists of a self-healing fluid, the joint assembly according to any one of claims 1 to 18.

20. An extravehicular activity (EVA) suit comprising one or more joint assemblies according to any one of claims 1 to 19, and optionally, the EVA suit comprises gloves, the gloves comprising one or more joint assemblies according to any one of claims 1 to 19, the one or more joint assemblies of the gloves having passages configured to receive fingers or thumbs and being configured for articulation between the first state and the second state in response to movement of the fingers or thumbs, and / or optionally, the EVA suit comprises an arm portion comprising one or more joint assemblies according to any one of claims 1 to 19, the one or more joint assemblies of the arm portion having passages configured to receive the arm or elbow and being configured for articulation between the first state and the second state in response to movement of the arm or elbow, an EVA suit.

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