A actuator for moving and securing an object in a specific orientation

Abstract

An actuator (100) for moving and securing an object in a specific orientation extends essentially along a longitudinal axis thereof and comprises a flexible structure having at least one inflatable chamber (10a, 10b, 10c) and a hinge mechanism (2) mechanically connected to the flexible structure at at least two first positions located at an offset along the longitudinal axis of the actuator (100). The flexible structure and the hinge mechanism (2) are mutually attached in such a way that inflating and / or deflating the inflatable chamber (10a, 10b, 10c) causes a bending movement of the flexible structure at least about one axis extending perpendicular to the longitudinal axis of the actuator (100). At least one restraining element (200a, 200b) is mechanically connected to the flexible structure at at least two second positions located at an offset along the longitudinal axis of the actuator (100) in such a way that the bending movement of the flexible structure due to inflation and / or deflation of the inflatable chamber (10a, 10b, 10c) is restrained in an end region of the bending movement, against a force caused by inflating the inflatable chamber (10a, 10b, 10c).

Description

[0001] A actuator for moving and securing an object in a specific orientation

[0002] Technical Field

[0003] The invention relates to an actuator for moving and securing an object in a specific orientation.

[0004] Background Art

[0005] Use of actuators / actuating mechanisms in robotics and mechatronics is quite predominant. By definition, actuators are mechanisms used for activating motion of devices or objects in a desired orientation, through the use of pneumatics, hydraulic or electric signals.

[0006] One category of actuators, based on their constituting material, includes soft-actuators, which are generally composed of a soft, deformable material, such as an elastomer. Soft- actuators work on the principle of the expansion or compression of their structure, owed to the flexible material they are formed of. Different types of rubber available today are used as elastomers for manufacturing soft-actuators. Further, different forms of motion along multiple degrees of freedom can be facilitated using soft-actuators, including bending, twisting, shrinking and elongation along their longitudinal axis. As compared to hard- material actuators, such as electric motors, hydraulic and pneumatic pistons, soft-material actuators are privileged with several advantages, such as robustness to minor agitations / disturbances and instant force shocks, low weight with relatively higher power to weight ratio, resilience to harsh weather conditions, design flexibility, and uncomplicated and economical fabrication process.

[0007] Often pneumatic actuators are used for complex handlings. These pneumatic actuators are devices that operate on being pressurized by a fluid, i.e. air, and these devices convert the energy of the compressed air into motion. The devices are generally mechanisms including multiple rigid links, connected through joints. Several achievements have been made in the robotics industry, aiming to continuously improve the design, flexibility and structural

[0008] 29135-WO1 - PR / qub Keller Schneider

[0009] 21 October 2025 Patent- und Markenanwalte rigidity of robotic actuators. One use of actuators can be to facilitate movement of an object along multiple degrees of freedom, which is generally achieved by attaching and mechanically securing the object to the actuator, and then moving the actuator in a desired orientation by an electronic control unit coupled to the actuator. Specifically, an influx of compressed air in the pneumatic actuators facilitates movement of such an object along the desired orientation.

[0010] One category of actuators includes soft robotic structures / actuators, which are generally made of flexible materials, such as elastomers, to facilitate their bending along one or more axes. Another kind of actuators includes hard robots, which, due to their stiffness, have the capability of being precisely positioned and secured in a desired configuration.

[0011] Further known hybrid actuators are formed of a combination of a hard and a soft material, possessing both the virtues, i.e., design flexibility and structural rigidity are not known to the art.

[0012] Alongside, actuators composed of soft materials also exhibit certain disadvantages, such as lack of structural stability, the complexity involved in precisely positioning and securing them in a stabilized, desirable orientation, especially when such soft-actuators are under the influence of significant external forces, such as the impact of blowing wind. For such reasons, at times, hard-material robots / actuators are preferable over the soft actuators.

[0013] The structural stability of an actuator is generally a function of its stiffness and damping characteristics. During the process of interaction of robots with objects, in unknown dynamic environment, for example, during human-robot interaction, grasping of fragile objects, and during agile locomotion, soft-material actuators should be ideally capable of adjusting their stiffness and damping characteristics, so that they adapt themselves effectively during such tasks. Some approaches towards stabilization and stiffening of soft-actuators still exist. One of those techniques is particle jamming, which involves blending the material of the actuator with smaller size materials, such as grain or sheets that are capable of changing from a flexible to a solid-state material. One work in that direction was published in the work of Vincent et al. IEEE paper titled "Selective stiffening of soft-actuators based on jamming".

[0014] 29135-WO1 - PR / qub Keller Schneider

[0015] 21 October 2025 Patent- und Markenanwalte However, jamming generally requires an additional vacuum generation and distribution system, which leads to an increase in the intricacy of the system.

[0016] There is often a trade-off between structural flexibility and the structural rigidity, depending on whether soft-material or hard-material actuators are used for facilitating motion of objects. Perfect material combinations that form hybrid actuators equipped with both pliability and stabilization characteristics, are not yet known in the art.

[0017] State of the art solutions in the robotics industry lack in leveraging advantages of material combinations for actuators, which could exhibit both soft, flexible characteristics for facilitating bending of the actuator in a desired orientation, and the rigidity required for stabilizing and securing the actuator in place, after the object attached thereto has acquired the desired orientation.

[0018] Therefore, stabilization of soft-robots is yet an unvanquished challenge in the robotics industry. Further, soft material robotics is still a relatively new and developing field of technology, with continuous, on-going research occurring in the area.

[0019] The problem with existing hybrid actuators is that due to the influence of other possible components that can go through that actuator and link to the object that is mounted to the top plate, such as electrical cables, optical cables, pneumatic tubes, and security strings, the final positioning of the top plate / object can be negatively impacted, i.e. the position may change compared to the actuator without those additional elements, or these additional elements that go through the actuator or are attached to it, can negatively influence the positioning of the top plate, i.e. there could be the difference between the position obtained with and without those objects attached, even though the same pressure is applied to the chambers in those cases.

[0020] Considering the challenges mentioned above, and other shortcomings in the art, the person skilled in the art is confronted with the problem of creating a structure, characterized by both flexibility and pliability during the process of motion transfer to an object attached thereto, and its stability and rigidity after the object secured thereto has acquired the desired orientation.

[0021] 29135-WO1 - PR / qub Keller Schneider

[0022] 21 October 2025 Patent- und Markenanwalte Summary of the invention

[0023] The problem is solved by the features of claim 1. According to the invention, the actuator extends essentially along a longitudinal axis thereof and comprises: a flexible structure (1) having at least one inflatable chamber and a hinge mechanism mechanically connected to the flexible structure at at least two first positions located at an offset along the longitudinal axis of the actuator;

[0024] The flexible structure and the hinge mechanism are mutually attached in such a way that inflating and / or deflating the inflatable chamber causes a bending movement of the flexible structure at least about one axis extending perpendicular to the longitudinal axis of the actuator.

[0025] The actuator further comprises at least one restraining element mechanically connected to the flexible structure at at least two second positions located at an offset along the longitudinal axis of the actuator in such a way that the bending movement of the flexible structure due to inflation and / or deflation of the inflatable chamber is restrained in an end region of the bending movement, against a force caused by inflating the inflatable chamber.

[0026] The hinge mechanism provides additional bending stiffness to the actuator and firmly secures the actuator in the specific orientation. In order to increase the stiffness, the hinge mechanism is formed of a material having stiffness greater than the stiffness of the flexible structure.

[0027] Both the hinge mechanism and the restraining element may be directly and / or indirectly connected to the flexible structure.

[0028] A single actuator may be used to position a single object. More than one object may be positioned by a certain actuator, and more than one actuator according to the invention may be used to position a single object or a group of objects.

[0029] Preferably, the at least one restraining element is a continuous material portion extending between the second positions. This allows for particularly simple and compact construction.

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[0031] 21 October 2025 Patent- und Markenanwalte In particular, the at least one restraining element is an elongated tendon. The elongated form ensures that the restrainment is effected in a precisely defined location, affecting the movement of the actuator in the desired end region(s) without adversely affecting the movement otherwise.

[0032] In a first group of embodiments, the at least one restraining element is essentially inextensible. This allows for a particularly precise definition of the movement end position(s) in the end region(s). Furthermore, the movement is only affected at this end position or these end position(s) and the restraining element has no impact in other regions of the actuator's movement.

[0033] In a second group of embodiments, the at least one restraining element is made from an extensible material, in particular from an elastic material. Due to this, the restraining effect will set on gradually when the actuator is moved towards the end region, avoiding sudden jerks. Furthermore, when external forces on the actuator are varying (e. g. due to wind or similar effects, acting on the object attached to the actuator) the elastic restraining element generally dampens the movements.

[0034] In a third group of embodiments, the at least one restraining element includes at least one first region made from an essentially inextensible material and at least one second region made from an extensible material. The two regions may e. g. be two regions along the length of an elongated restraining elements and / or two radial regions, e. g. coaxial annular regions.

[0035] In a preferred embodiment, the actuator further comprises a top plate and a bottom plate each being mechanically secured to the flexible structure. One of the top and the bottom plates may be designed and adapted to receive the object directly on a surface thereof.

[0036] In particular, the hinge mechanism is pivotally connected to the top and bottom plates, through one or more hinge elements provided on the top and bottom plates. The hinge elements provide in particular two mutually perpendicular axes of rotation for the actuator.

[0037] 29135-WO1 - PR / qub Keller Schneider

[0038] 21 October 2025 Patent- und Markenanwalte The mechanical connection of the hinge mechanism to the top and the bottom plates may be configured to constrain movement of the flexible structure along the longitudinal axis of the actuator.

[0039] In preferred embodiments, the flexible structure comprises at least two inflatable chambers, in particular at least three inflatable chambers, wherein the bending movement of the flexible structure at least about one axis extending perpendicular to the longitudinal axis of the actuator, in particular about two mutually perpendicular axes both extending perpendicular to the longitudinal axis of the actuator, is caused on account of a pressure difference created between the chambers. The pressure difference is obtained by correspondingly inflating and / or evacuating the chambers. In particular, the excess pressure within the chamber compared to the ambient air may be controlled similarly as reduced pressure (up to vacuum) in the chamber, wherein the pressures in different chambers may be affected in different ways.

[0040] In a pressurized state of the actuator, a pressure difference is created between the different chambers, on account of which at least one of the chambers is an inflated state. This facilitates bending of the flexible structure of the actuator at least about one axis extending perpendicular to the longitudinal axis thereof.

[0041] In the case of the flexible structure comprising three inflatable chambers, they are preferably arranged in a triangular relationship, in particular essentially symmetrically about the longitudinal axis of the actuator, and there are at least two restraining elements each of which being arranged parallel and in the vicinity of different of the three inflatable chambers.

[0042] Preferably, the restraining elements are elongated and that their main portion extends in a radial plane including the longitudinal axis of the actuator and a longitudinal axis of the respective inflatable chamber in a straight configuration thereof.

[0043] In a first preferred embodiment, the at least two inflatable chambers are constituted by at least two individual bellows units.

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[0045] 21 October 2025 Patent- und Markenanwalte In this case, there is preferably at least one spacer for mechanically limiting a deformation of at least one of the at least two bellows units, in particular for fixing a distance between the at least two bellows units. This enhances overall stability of the flexible structure and avoids one of the bellows units bending away which might lead to a collapse of the structure.

[0046] Preferably, the at least one spacer is arranged between two of the at least two bellows units, contacting both of the two bellows units. This allows for restricting the degrees of freedom of two bellows units with a single spacer, thus reducing the number of components and the required space for the spacer(s). In this case, the spacer preferably comprises a base part and two arc-shaped wings extending from the base part, defining accommodations for the two bellows. Experiments have shown that this geometry reliably prevents undesirable configurations of the bellows.

[0047] The spacer may be arranged to mechanically fix a distance between the at least two bellows units, in particular to ensure a minimum distance between two neighboring bellows units in at least along a longitudinal portion thereof.

[0048] Advantageously, the at least one spacer restricts movement of the associated bellows in an end region thereof. In embodiments featuring a top plate and a bottom plate, the spacer is preferably attached to the top or bottom plate, respectively. Preferably, the longitudinal extension of the spacer (or each of the spacers) is 15-35% of the longitudinal extension of the associated bellows.

[0049] More than one spacer may be arranged along the longitudinal extension of the bellows units. In particular, two spacers may be arranged on the actuator, the two spacers interacting with the opposing end portions of a given pair of two bellows.

[0050] In embodiments with three bellows, a single spacer or two spacers are preferably arranged to interact with a pair of bellows, wherein a first restraining element is arranged closed to a first bellows of the pair of bellows and a second restraining element is arranged close to a second bellows of the pair of bellows. The third bellows does preferably not interact with a spacer (and does not feature a neighboring restraining element).

[0051] 29135-WO1 - PR / qub Keller Schneider

[0052] 21 October 2025 Patent- und Markenanwalte The at least one spacer may be beneficial in actuators that do not feature restraining elements, i. e. an actuator for moving and securing an object in a specific orientation, the actuator extending essentially along a longitudinal axis thereof, wherein the actuator comprises a flexible structure having at least two inflatable chambers, in particular at least three inflatable chambers, the chambers constituted by individual bellows units, and a hinge mechanism mechanically connected to the flexible structure at at least two first positions located at an offset along the longitudinal axis of the actuator. The flexible structure and the hinge mechanism are mutually attached in such a way that a pressure difference created between the chambers causes a bending movement of the flexible structure at least about one axis extending perpendicular to the longitudinal axis of the actuator, in particular about two mutually perpendicular axes both extending perpendicular to the longitudinal axis of the actuator. The actuator further comprises at least one spacer for mechanically limiting a deformation of at least one of the at least two bellows units.

[0053] Accordingly, the following table represents a non-exhaustive list of preferable configurations of actuators including three parallel individual bellows units:

[0054] Similarly, in actuators having two individual bellows units, different numbers of tendons and spacers may be employed, e. g. 0, 1, 2 or more tendons and 0, 1, 2 or more spacers.

[0055] In a second preferred embodiment, the at least two inflatable chambers are formed in a common unitary body. Embodiments are possible that feature more than one unitary body, wherein these unitary bodies comprise one or several inflatable chambers each.

[0056] Preferably, the at least one restraining element is formed within the unitary body.

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[0058] 21 October 2025 Patent- und Markenanwalte Both in the case of separate bellows units as well as chambers in a common unitary body, the inflatable chambers preferably include one or more rib structures provided on one more of an outer surface and an inner surface thereof.

[0059] Also, in at least one of the inflatable chambers, the wall or a section of the wall forming the chamber may have a side facing the longitudinal axis and a non-facing side, wherein the non-facing side is thinner than the side facing the longitudinal axis.

[0060] In a further embodiment, the flexible structure includes a hollow interior portion, and at least one opening leading into the hollow interior portion, wherein the plurality of inflatable chambers circumferentially surround the hollow interior portion.

[0061] In a preferred embodiment, the hinge mechanism is an outer universal joint, surrounding and wrapping around the flexible structure and positioned in a manner located at a radial offset to the peripheral portion of the flexible structure.

[0062] Alternatively, other hinge mechanisms may be used such as an inner universal joint.

[0063] In accordance with another aspect of the invention, the disclosure provides a mechanism comprising the actuator as described above and an object mechanically connected and firmly secured to the actuator. The object can be a solar module for harnessing solar energy, or a reflective plate meant for at least partially reflecting the solar radiation incident thereon, in a desired direction.

[0064] According to another aspect, the disclosure sets forth a solar energy harnessing apparatus, including multiple mechanisms as mentioned above and a plurality of solar modules or reflective elements, wherein each solar module is individually, mechanically connected to a respective of the plurality of actuators.

[0065] According to yet another aspect, the disclosure discloses a building having a facade, the building being equipped with a solar energy harnessing apparatus as described above. The apparatus is mounted on the building's facade in a manner that it at least partially shields the building.

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[0067] 21 October 2025 Patent- und Markenanwalte In accordance with another aspect, the disclosure provides an arrangement of multiple buildings, wherein the arrangement includes at least a first building as mentioned above, and a second building. The two buildings are positioned with respect to each other in such a manner that the rays reflected by the first building equipped with the solar energy harnessing apparatus, specifically sunrays, can be projected towards the second building.

[0068] That is, the current disclosure inter alia provides a hybrid pneumatic actuator, formed as a combination of a hard and a soft material. The actuator is capable of bending at least along two different axes mutually perpendicular to each other. The actuator exhibits the ideal characteristics of both soft and hard robotics structures, and is characterized by its low weight, resilience to unfavorable weather conditions, such as under the influence of heavy wind, and is also structurally stable and can be precisely controlled for securing it in a desired orientation. Further advantages of the actuator include its design customizability, ease of fabrication, and low cost.

[0069] Brief description of the drawings

[0070] The drawings used to explain the embodiments show:

[0071] Fig. 1a an outside view of a hybrid pneumatic actuator according to a first embodiment of the invention;

[0072] Fig. 1 b a schematic vertical view of the actuator;

[0073] Fig. 1c a horizontal cross-section view of the actuator;

[0074] Fig. 2a a schematic vertical view of a hybrid pneumatic actuator according to a second embodiment of the invention;

[0075] Fig. 2b a horizontal cross-section view of the actuator;

[0076] Fig. 3a a first cross-sectional view of the flexible structure of the actuator;

[0077] Fig. 3b a second cross-sectional view of the flexible structure;

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[0079] 21 October 2025 Patent- und Markenanwalte Fig. 4 a facade orientation control feedback system using actuators according to the invention;

[0080] Fig. 5 an assembled state of a mechanism for moving an object in a desired orientation using an actuator according to the invention;

[0081] Fig. 6 a schematic diagram of the pneumatic control system for the facade orientation control feedback system;

[0082] Fig. 7 an embodiment of a a solar energy harnessing apparatus, in a state mounted on the facade of a building compartment or room of a building;

[0083] Fig. 8 an outside view of a hybrid pneumatic actuator according to a third embodiment of the invention;

[0084] Fig. 9 an oblique view of a spacer used in the actuator of the third and fourth embodiment of the invention;

[0085] Fig. 10 an outside view of a hybrid pneumatic actuator according to a fourth embodiment of the invention;

[0086] Fig. 11 a horizontal cross-section view of the actuator according to the third or fourth embodiment;

[0087] Fig. 12 an outside view of a further hybrid pneumatic actuator; and

[0088] Fig. 13 an outside view of a further hybrid pneumatic actuator.

[0089] In the figures, the same components are given the same reference symbols.

[0090] Preferred embodiments

[0091] The following detailed description illustrates aspects of the disclosure and the ways it can be implemented. However, the description does not define or limit the invention, such definition or limitation being solely contained in the claims appended thereto. Although the

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[0093] 21 October 2025 Patent- und Markenanwalte best mode of carrying out the invention has been disclosed, those in the art would recognize that other embodiments for carrying out or practicing the invention are also possible. Further, for the purpose of maintaining uniformity in the disclosure, wherever possible, like elements, components, structures or modules are denoted by like numerals in the drawings and the following description.

[0094] The term "flexible structure", wherever mentioned in the disclosure, means a structure that is pliable, i. e. has sufficient elasticity to be deformed or bent without fracture in a desired configuration.

[0095] The current invention proposes a pneumatic actuator, formed of a combination of a hard material structure and a flexible structure formed of a soft-material, and therefore, a hybrid pneumatic actuator, which is capable of rotating an object at least along two axes perpendicular to its longitudinal axis. Further, the invention also discloses a solar energy harnessing apparatus, or, equivalently, a dynamic facade apparatus, comprising multiple facade modules, i.e., the actuators, mounted over the facade of a building, with each actuator having an end attached to a solar panel for harnessing solar energy. Additionally, the invention further discloses a reflective facade apparatus, wherein, in an arrangement of buildings, multiple facade modules, i.e., the actuators, are mounted over the facade of a first building, with each facade module having a reflective plate or mirror attached to an end thereof, wherein such reflective plates or mirrors at partially reflect and direct the sun rays from the first building, to a second building neighboring the first building, for reducing the heat island effect. An undesirable portion of the irradiation, during a hot summer day, for example, may also be partially directed back to the sky.

[0096] Figures 1a-c illustrate a hybrid pneumatic actuator 100 according to a first embodiment of the invention. Figure 1a shows a three-dimensional perspective view of the actuator. Figure 1 b is a schematic vertical view, Figure 1c is a horizontal cross-section view. A longitudinal axis A-A' / of the actuator extends parallel to the z-axis of the Cartesian coordinate system depicted on the top right portion of the figure for reference. As is clear, the actuator extends longitudinally, generally parallel to its longitudinal axis A-A' / .

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[0098] 21 October 2025 Patent- und Markenanwalte The actuator includes a unitary body, namely an inner core formed of a flexible structure, generally denoted and indicated by numeral '1' herein and hereinafter. The flexible structure 1 is preferably made of a soft-material, such as an elastomer, and is capable of bending at least along two mutually perpendicular axes of rotation. Specifically, with respect to a Cartesian coordinate system shown on the top right portion of the figure, the flexible structure 1 can bend along the x- and y- axes, and therefore, can execute both pitching (about y-axis) and rolling motion (about x axis). The structure, shape and components of the flexible structure will be explained in detail hereinafter, in conjunction with other figures to follow.

[0099] Two flat plates are attached to the top and the bottom portion of the actuator 100. A base plate, or equivalently, a bottom plate 4 is attached to the lower portion of the flexible structure 1. The base plate 4 has a generally circular form with a specific width, and it resembles the shape of a disc. However other shapes for the base plate 4 may also be contemplated, such as an oval, elliptical or an irregular shape. Preferably, the top and bottom surfaces of the base plate 4 have a flat, planar surface, so that ease of fixture and attachment of the plate to the bottom portion of the flexible structure 1 can be facilitated during the process of assembling the actuator 100.

[0100] Further, a top plate 3 is attached and secured to a top portion of the flexible structure 1. Similar to the base plate 4, the top plate 3 also preferably has a disc shaped structure, with flat top and bottom surfaces. The top surface 3a of the plate 3 is designed and dimensioned to receive an object thereon. That object is securable to the top surface 3a through any of the appropriate attachment means known in art, such as nuts and bolt assemblies. In some embodiments, that object may also be adhered or bonded to the top surface 3a of the plate 3. In other embodiments, the object may be welded or soldered to the top plate 3 at certain portions. Therefore, as the flexible structure 1 bends along one or more of the x-and y-axes, the top plate 3 facilitates movement of the object attached thereto, in a desired orientation.

[0101] Stiffening means 2 surrounds and is mechanically connected and secured to the flexible structure 1 . The stiffening means 2 is formed of a rigid material and thus, acts and functions as the rigid structural part of the hybrid actuator 100. In view of the combination of the

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[0103] 21 October 2025 Patent- und Markenanwalte flexible structure 1 and the stiffening means 2, the actuator 100 can be construed as a hybrid soft-hard robotic actuator, configured to impart both flexibility to the actuator during the process of bending, and structural rigidity and robustness during the state when the actuator 100 has acquired a desired orientation.

[0104] The stiffening means 2 is a universal joint (U joint), also generally known as a Cardan joint or Hooke's joint. A universal joint or a Cardan joint generally couples two different shafts, and facilitates rotation of the shafts along two mutually angled axes of rotation. Similarly, the stiffening means 2, being mechanically secured to the flexible structure, facilitates bending of the flexible structure 1 along two mutually perpendicular axes, i.e., the x and y- axes, as shown.

[0105] Integral components of the stiffening means 2 includes four arcuate members pivotally connected to the top and bottom plates 3 and 4 at suitable points. Specifically, in the currently depicted embodiment, a pair of arcuate bars 2a and 2b are shown on the left side of the flexible structure 1, and similarly, another pair of bars 2c and 2d is shown on the right side, also connected to the flexible structure.

[0106] Pivotal joints of the type indicated by numeral '6' are provided on the top and bottom plates 3 and 4, for connecting the arcuate bars 2a, 2b, 2c and 2d to the top and bottom plates. For example, as depicted, the left side arcuate member 2a of the stiffening means 2 is pivotally connected to the top and the bottom plates 3 and 4 at pivot joints 6a and 6b, respectively. A hinge element 7 extending downwards is provided at a surface portion of the top plate 3. That hinge element is provided with a hole, where the pivot joint 6a is located. Screws or nuts-bolt assemblies may be used for enabling such pivotal connection. Further, for each of the arcuate bars 2a-d, one end thereof is pivoted to either the top or bottom plate 3 or 4, and the other end is pivoted to the other of the top and bottom plates.

[0107] Similar hinge elements 7 are provided at suitable surface portions of the bottom and top plates, for securing the arcuate bars 2a-d to the plates 3 and 4 at different pivot joints, such as the shown pivot joints 6b and 6c, located at an offset to the longitudinal axis of the actuator 100. Specifically, in the current embodiment, four pivot joints are provided

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[0109] 21 October 2025 Patent- und Markenanwalte altogether. Joint 6a being on the top plate 3, joints 6b and 6c being provided on the bottom plate 4, and joint 6d (not shown), being hidden in the current view and provided on the top plate 3. That hidden joint 6d pivotally connects the arcuate members 2b and 2c to the top plate 3, as can be visualized. As the actuator 100 is bent along one of the two mutually perpendicular axes (i.e., x- or y- axis), the chambers 10 extend slightly along the longitudinal axis A-A / , and therefore, additional frictional forces are created at the hinge elements 7, which provide additional bending stiffness and therefore, stabilize the actuator 100 in the desired orientation.

[0110] As mentioned earlier, the arcuate bars 2a-2d each are rigid structures, and are each formed of a metallic material, or a metallic alloy. Suitable materials for arcuate bars may include aluminum, stainless steel or any other suitable metallic or metal & non-metal alloy, or any composite material.

[0111] According to the invention, the stiffening means is an outer U-joint, surrounding and wrapping around the flexible structure 1 and positioned in a manner located at a radial offset to the peripheral portion of the flexible structure 1. However, in alternative constructions not according to the invention, the stiffening means 2 may also be an internal U-joint, located within the interior of the flexible structure 1. In those cases, similar pivot points may be provided at a suitable inner portion of the flexible structure 1 or at the top and bottom plates 3 and 4, and the stiffening means 2 may be fixedly secured to the flexible structure in an appropriate manner. Further, openings may be provided in the middle of such an internal U-joint, to allow passage of cables and facility lines, such as pneumatic tubes. Else, such openings for facility lines could also be alternatively provided within the interior of the flexible structure 1. Additionally, the openings may be through-openings, extending all through the longitudinal length of the actuator 100, and may have a circular, elliptical, oval or any other regular or irregular cross-section.

[0112] As a further alternative embodiment, instead of a single external U-joint, as shown currently, some embodiments may also leverage a combination of multiple U-joints 2, with such joints being interconnected. In a further alternative construction not according to the invention, instead of a single internal U-joint, a combination of multiple U-joints, with such joints being

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[0114] 21 October 2025 Patent- und Markenanwalte interconnected could also be contemplated. Provision of such multiple joints may provide enhanced rigidity and a better motion performance for the actuator 100 by enlarging the available motion space. Particularly, motion of a system of chained U-joints may comply with, and follow the motion of the flexible structure 1 of the actuator 100 better.

[0115] Being firmly secured and mechanically connected to the flexible structure 1 in the manner depicted in Fig. 1a, b, the stiffening means 2 provides rigidity and stiffness to the actuator 100 and secures it firmly in position, once the actuator 100 has moved to the desired orientation. An additional function of the stiffening means is to prevent longitudinal motion (i.e., translation) of the flexible structure 1 along the longitudinal axis AA / . Therefore, the expansion or contraction of the flexible structure 1 in direction parallel to the longitudinal axis is prevented, due to pivotal connections of the stiffening means to the top and bottom plates 3 and 4 at multiple points. Another advantage of the stiffening means 2 lies in that it also prevents the flexible structure 1 from rotating along the z-axis, i.e., preventing the structure from performing torsional movements about the longitudinal axis. Therefore, under the influence of unfavorable weather conditions, such as heavy winds, the actuator remains substantially stable and firmly secured in position, and therefore, any undesirable movement of the object attached thereto, can be avoided.

[0116] Connected to the bottom surface of the base plate 4 is a pneumatic connector 5. That connector has multiple plug-in points, which can be coupled to a pneumatic system (shown in Fig. 6). The pneumatic connector activates the actuator 100, which is then pressurized by influx of air.

[0117] The structure and shape of the flexible structure 1 of the actuator 100 will now be explained in detail, in conjunction with Fig. 3a and Fig. 3b. Shown in Fig. 3a is the flexible structure 1 in an anti-clockwise bent position about the y-axis (as viewed from the front). In other words, the structure 1 is executing pitching motion in the current state, being bent towards the left, and performing rotation in a plane parallel to the x-z plane.

[0118] The flexible structure 1 includes three inflatable chambers 10a, 10b and 10c, as shown. As shown in Fig. 3b, two inflatable chambers 10a and 10b exist on the left and right side of the

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[0120] 21 October 2025 Patent- und Markenanwalte flexible structure 1, and a third inflatable chamber 10c (hidden, and not shown herein) is formed at the back portion.The three chambers can be envisioned more easily in a top view of the flexible structure illustrated in Fig. 3b on the right side of the shown drawing.

[0121] A unitary body, namely a central core 11, extends longitudinally along the length of the flexible structure 1. That core 11 has a hollow interior portion 12 configured to receive and allow passage of electrical cables or facility lines through the flexible structure 1. To affect that, an opening at the bottom of the central core 1 1 leads into its hollow interior 12. The diameter of the central core 11 preferably lies between 10 and 30 mm. In alternative embodiments, wherein the dimensions of the actuator are scaled up, that diameter may be within a range of about 10-20 cm. Further, in other embodiments where the dimensions are scaled down, the reduced diameter can be also within a range of 1-2 mm. It can further be contemplated that other design parameters, such as the longitudinal length of the actuator and the wall thickness of its flexible structure would change accordingly in those embodiments.

[0122] Other design variations of the flexible structure may incorporate multiple cores of the type 11, each having a corresponding opening leading into a hollow interior of the type 12, to facilitate passage of facility lines through the cores. Such multiple cores may be centrally confined within the inflatable chambers, either symmetrically or asymmetrically around the longitudinal axis of the actuator.

[0123] As seen, the three inflatable chambers 10a, 10b and 10c are formed symmetrically around the longitudinal axis of the actuator 100, and are designed to circumferentially surround and completely encompass the central core 11. Further, the chambers 10 extend in a manner such that each of them preferably spans an equal angular extent around the longitudinal axis A-A / of the actuator 100. In the current embodiment, the three inflatable chambers, each extends spanning an angular range of 1200 around the longitudinal axis. In certain less preferred embodiments, an asymmetrical configuration for the inflatable chambers 10 may also be contemplated, where they may extend in a manner having different angular range of circumferential extension around the central core 11. Those embodiments would be preferable, when bending of the flexible structure 1 along one direction or degree of

[0124] 29135-WO1 - PR / qub Keller Schneider

[0125] 21 October 2025 Patent- und Markenanwalte freedom, for example, is more frequently utilised and preferred over the other degrees of freedom.

[0126] Each of the inflatable chambers 10a, 10b and 10c has an outer structure formed of an exterior wall and an interior wall. More specifically, the interior wall faces the longitudinal axis of the flexible structure 1, or equivalently, surrounds the central core 11, and the exterior wall forms a non-facing side with respect to the longitudinal axis, and therefore, is in contact with the outer environment. In some embodiments, the exterior wall of the chambers 10 is thinner than the interior wall. That characteristic of the chambers 10 facilitates a greater deformation, when they are in the pressurized state. Specifically, to pressurize one of the chambers 10a-c, air may be brought into that chamber, which creates a pressure difference and results in bending of the actuator in a direction towards the other two deflated chambers. That bending effect is enhanced due to the difference in thickness of the interior and exterior walls of the individual chambers 10a-c. During the bending of the flexible structure the ribs of the deflated chambers compress and bend towards each other until they touch, and similarly, the ribs of the inflated chamber expand and move radially outwards, to allow smooth bending of the flexible structure 1 along the x- or the y-axis.

[0127] Further, those in the art may contemplate other variations, such as a combination of more or less than three inflatable chambers encompassing the central core 11, and such variations are well within the scope of the present disclosure. For example, in some cases, only two inflatable chambers spanning an angular range of 180o each peripherally around the central 11 may suffice. Embodiments having a symmetrical arrangement of four inflatable chambers around the central core, with each chamber spanning an angular extent of 900 circumferentially around the central core 11 may also be contemplated.

[0128] Each inflatable chamber 10 has a ribbed structure provided on its outer surface. The ribbed structure specifically includes multiple inner ribs 9a, 9b (shown in Fig. 3a) and outer ribs 8a, 8b, 8c (shown in Fig. 3a). The inner and outer ribs are positioned alternately over the outer surface of the inflatable chambers 10a, 10b and 10c, in a manner juxtapositioned next to each other in a top-down envision of the chambers along the longitudinal axis. Owed to the ribbed structure, the flexible structure functions as a bellow, when pressurized by air.

[0129] 29135-WO1 - PR / qub Keller Schneider

[0130] 21 October 2025 Patent- und Markenanwalte The outer ribs 8a, 8b and 8c, each extend radially outwards from the longitudinal axis of the flexible structure 1, to a predetermined length. Preferably, the outer ribs 8 have the same diameter as measured with respect to the longitudinal axis of the actuator 100, though non- uniform ribs with variable diameters may also be contemplated.

[0131] Inner ribs 9a and 9b (shown in Fig. 3a are formed between each pair of outer ribs 8. Specifically, as shown, an inner rib 9a is formed between the pair of outer ribs 8a and 8b, and similarly, another inner rib 9b is organized between the other corresponding pair of outer ribs 8b and 8c. Further, as is obvious, the radial, outward extension of the inner ribs 9 is smaller in comparison to that of the outer ribs 8. In a planar segment of the flexible structure 1, the inner ribs and outer ribs would appear as rectangular structures, located symmetrically about the longitudinal axis.

[0132] In some embodiments, instead of the inner ribs 9a, 9b, grooves may be provided between the adjacent pairs of outer ribs 8a, 8b and 8c, which may instead protrude radially inwards, towards the longitudinal axis of the actuator. A U-shaped form for such grooves may be generally preferable.

[0133] In some embodiments, the structure of the outer surface of the inflatable chambers 10 may also be simply planar, without any surface profile variations provided thereon. Mere difference in pressures between the individual chambers would still expand one of the inflated chambers with respect to the other deflated chambers and, therefore, the functionality and purpose of the actuator would still be fulfilled. However, the ribbed structure is preferable, as it imparts additional deformation characteristics to the flexible structure 1.

[0134] Further, preferably the inner ribs 9a, 9b may have a thickness smaller than the thickness of the outer ribs 8a, 8b and 8c. This provides an additional deformation and bending capability to the flexible structure 1.

[0135] The ribbed structures, i.e., the inflatable chambers 10a-c of the pneumatically powered actuator 100 are made of an elastomeric material, such as Neoprene rubber, particularly

[0136] 29135-WO1 - PR / qub Keller Schneider

[0137] 21 October 2025 Patent- und Markenanwalte Neoprene CR 5215. However, other suitable elastomeric materials may also be used for the chambers 10, such as Ecoflex 00-30, Vario 15 / 40, Elastosil M4601, an EPDM material etc.

[0138] Referring now back again to Fig. 1a-c, the stiffening means 2, i.e., the Universal joint, enables modulation of the mechanical impedance of the actuator 100, by preventing its expansion along the z-axis, as mentioned earlier. When all the three inflatable chambers 10a-c are inflated, three antagonistically coupled moments are generated onto the U-joint, increasing the frictional force on the hinge elements 7. Due to that, the stiffness of the actuator 100 can be precisely controlled, and therefore, the flexible structure 1 can be stiffened when being in the desired orientation, which eventually behaves as a hard actuator. More specifically, the securement and stabilization of the actuator is achieved by virtue of its hybrid structure, i.e., the combination of the flexible structure 1 and the stiffening means 2 it is composed of. As the pressure in all the three chambers of the flexible structure 1 is increased, bending moments generated within the chambers get instantaneously, antagonistically coupled to the stiffening means 2. This creates a state of stable equilibrium. Any external force acting on the top plate of the actuator pushes the actuator 100 off the stable orientation, and the antagonistic forces increase accordingly, opposing the tendency of the external force to disturb the state of equilibrium. As soon as the external force ceases to act, the antagonistic forces move the actuator 100 back to its equilibrium position.

[0139] In operative state of the actuator 100 (shown in Fig. 1 a-c), its motion along two different degrees of freedom, i.e., its capability to bend along two mutually perpendicular axes (x- and y-axis) will now be comprehensively explained. Normally, in an unpressurized, inoperative state of the actuator 100, the chambers 10a, 10b and 10c each remain deflated, and there is no air within their interior. In other words, the flexible structure 1 is in an upright position in the unpressurized state of the actuator, extending parallel to the longitudinal axis AA / of the actuator 100. In a pressurized state, however, air is directed towards one of the chambers 10a-c, which results in bending of the flexible structure 1. For example, directing air into the chamber 10a on the left side inflates that chamber, simultaneously deflating the other two chambers 10b and 10c, which results in a clock-wise bending (i.e., pitching) of the flexible structure about the y-axis. To achieve a bending on the opposite

[0140] 29135-WO1 - PR / qub Keller Schneider

[0141] 21 October 2025 Patent- und Markenanwalte side (as shown in Fig. 3a), in a plane parallel to the x-z plane, the chamber 10 b can be inflated, which results in bending of the chambers 10a and 10c, and allows anti-clockwise (as seen from the front) bending of the flexible structure 1 about the y-axis.

[0142] Similarly, for achieving rolling motion, i.e., bending about the x-axis, the chamber 10c at the back portion may be inflated.

[0143] For oblique bending, i.e., a combination of pitching and rolling motion, more than one of the chambers 10a-c may be simultaneously inflated, to achieve the desired motion of the actuator.

[0144] Suitable openings or inlets may be provided at a bottom portion of the inflatable chambers 10a-c for pressurization.

[0145] The motion limiting elements, hereafter referred to as tendons, depicted by 200a and 200b in Fig. 1a-c, Fig. 2a, 2b, and Fig. 3a, 3b are introduced to address the issue of stabilization of the top plate in its limit position, i.e. when the chambers 10b and 10c are fully inflated. The tendons 200a and 200b are mounted between the top plate 3 and the bottom plate 4 of the actuator 100, and together with the flexible structure 1.

[0146] The tendons can also be attached only to the top and the bottom plate without necessarily touching or being attached to the flexible structure 1.

[0147] When chambers 10b and 10c are fully inflated, i.e. the top plate 3 is close to reaching its maximum position allowed by the pivot joints 6, the mechanical properties and dimensions of the flexible structure 1, and the general dimensions of the stiffening means 2, then the tendons 200a and 200b start to be stretched and through their material properties, such as tensile strength, they provide the opposite force to top plate 3 and the bottom plate 4, preventing them from further rotation. As forces on the top and the bottom plates stemming from the pressure in the chambers 10b and 10c are acting in the opposite direction of the stretched tendon, the rotation of the top plate 3 and the bottom plate 4 will be stabilized and kept in a relatively fixed position.

[0148] 29135-WO1 - PR / qub Keller Schneider

[0149] 21 October 2025 Patent- und Markenanwalte Tendons can be attached in any number, arrangement, or geometry between the top plate 3 and the bottom plate 4.

[0150] The tendons 200a and 200b are attached circumferentially from the longitudinal axes (the outer most position) mounted between the top and bottom plates and the soft structure. The attachment of the tendon to the plates is by the means of clamping.

[0151] If the lengths of the tendons 200a and 200b are the same, the limit rotational position of the top plate 3 compared to the bottom plate 4 will be only (or mainly) in the rolling motion (about x axis) and insignificant (minor) in the pitching motion (about y-axis).

[0152] The tendons 200a and 200b can be made of inextensible materials, such as metals wires, or extensible materials, such as elastomers, or a combination of it. If tendons are inextensible, they allow for more precise positioning of the top plate 3 in the maximum position allowed than the extensible tendons.

[0153] The inextensible tendons bring less flexibility under the influence of active external forces, when the forces are acting in the rotational direction that would require further extension of the tendons. Extensible tendons, when stretched to their original length, would allow for a certain extension according to the stress-strain curve (or force-elongation curve) of the used extensible material. This can be favorable, since it will reduce the peak stresses transferred by external forces such as wind to the actuator and the mounting structure, which increases mechanical resilience and lifetime of the system. In particular, a non-linear stress-strain curve for the extensible tendons may be preferred since this will allow to strongly increase mechanical stiffness close to the maximum position, allowing for precise controllability while still maintaining some elasticity to accommodate large external forces.

[0154] The combination of materials in the tendon can be obtained along the longitudinal axis of the tendon, so that the two ends of the tendon are extensible, e.g. made of elastomers, and the middle part, in between the two extensible ends, is made of inextensible parts, such as metal wires.

[0155] 29135-WO1 - PR / qub Keller Schneider

[0156] 21 October 2025 Patent- und Markenanwalte The combination of materials in the tendon can be obtained along the radial axis of the tendon, so that the core can be made of inextensible materials, such as metal wires, and the outside of extensible materials, such as elastomers. This case allows mainly the protection of the inextensible core from external mechanical impacts on the joint.

[0157] Several tendons with different material properties, in particular different elastic properties, can also be combined with their respective axes of elongation in parallel, optionally having different attachment points to the top or bottom plate or sharing one or both attachment points, or being mechanically combined into a single tendon structure with multiple parallel longitudinal fibers with different elastic properties. For example, if several tendons are combined in this way in parallel, where the tendons are mounted in a way that they are not under mechanical load for a certain range of angular positions of the pivot joints 6 but become mechanically loaded (under tension) for angular positions exceeding a certain limit position, and if this limit position is different for each of the tendons combined in parallel, this would allow the combination of tendons to show a non-linear (e.g. piecewise linear) stress-strain curve.

[0158] One or more of the tendons may also include mechanical damping.

[0159] In another example, one or more tendons could be mechanically integrated in a sheet-like structure extending between the top plate 3 and bottom plate 4 and substantially covering the actuator 100 in a radial direction. Such a sheet-like structure can serve both as a mechanical limiting element as well as a protection of the actuator from environmental factors such as dust, moisture and UV-radiation.

[0160] If the chambers 10b and 10c are inflated to different pressures, then the actuator will rotate around the y axis, i.e. have the pitching motion. In this case, only tendon 200a or tendon 200b will be active, i.e. fully stretched, or under tension. In more details, e.g., if chamber 10b is fully inflated, then the tendon 200a will be active (stretched), while tendon 200b is loose. In this case, the active tendon will allow the precise rotation of the top plate of the actuator in all the limit positions where the active tendon is fully stretched, by changing the pressures in the chambers 10a and 10c.

[0161] 29135-WO1 - PR / qub Keller Schneider

[0162] 21 October 2025 Patent- und Markenanwalte The stiffness of the actuator can be controlled, i.e. dynamically changed, making it with a variable stiffness, if the pressure in all three chambers is increased or decreased simultaneously.

[0163] In case of multi-body elastomeric, flexible structures, such as chambers 10a, 10b, and 10c depicted in Fig. 2a, 2b, the means of keeping the several flexible structures in a certain relative position to each other is introduced, called triangles (depicted as 300a, 300b, 300c in Fig. 2a and Fig. 2b). This triangle has four openings in the case of three elastomeric bodies (chambers), where three outer openings are used to mount the three chambers and the central opening can be used for passing through the service lines, such as PV cables, pneumatic tubes, optical cables, etc. One or more triangles can be used to keep the flexible structures, i.e. chambers on a certain distance from each other, and mounted on several places along the length of the ribbed actuators, as depicted in Fig 2a, so that the flexible structures are passing through the openings of the triangles. The triangles can be made from flexible materials, such as elastomers, or inflexible materials like plastics, metal, or wood. The triangles can be made also of wires or springs and in this case can be wrapped around the flexible structures. The flexible structures can have ribs (such as 8 or 9) or be made without ribs.

[0164] In another example, mechanical limiting elements with or without elasticity, such as mechanical limit stops and / or torsional springs, could be included at or in mechanical combination with the pivot joints 6a, 6b, 6c, and / or 6d in order to support or replace the functionality of the tendons 200a or 200b.

[0165] The object to be mounted on the actuator 100, whose motion and orientation is desired to be controlled, can be either a solar module or a reflective plate or a mirror mounted over a facade of a building. Particularly, multiple such solar modules or reflective plates can be mounted over the facade of a building, forming a facade system, wherein each such solar modules or reflective plate can be connected to an actuator 100, for the purpose of controlling its orientation. Further, in some embodiments, more than one such solar module or reflective plate can be commonly coupled to, and controlled by a single actuator, reducing the requirement for the number of actuators.

[0166] 29135-WO1 - PR / qub Keller Schneider

[0167] 21 October 2025 Patent- und Markenanwalte Methods for controlling such a dynamic modular building envelope, including the control feedback with respect to a reference, will now be explained in conjunction with Fig. 4. Decomposition of the controlling operation includes two different tasks. The first task dictates a lower level control, which deals with the orientation control for the facade and its individual elements. The second task is a high-level control which considers the facade as a unitary system and deals with the energy and comfort related effects that the facade module can modulate based on the customized user requirements, along with the aim to harness maximum solar energy when the facade modules are solar panels. That control can be either directly linked to the building on which the facade system is mounted, or may also be at least partially linked to the neighboring building, particularly in cases where the facade module are reflective plates.

[0168] Shown in Fig. 4 is a facade orientation control feedback system generally denoted by numeral 110. Facade modules 17 are shown being mounted over a building. Each such facade module is directly coupled to an orientation sensor 16, which may be an inertial measurement unit (IMU) or a set of sensors. The sensor 16 performs orientation measurements, defined by the roll and pitch angle for the corresponding actuators. A reference control 13 obtains an orientation feedback from the orientation sensors 16 and compares it with certain reference orientation control and orientation signals. The results of the comparison are then sent to a pneumatic control system shown in detail in Fig. 6, which eventually controls the soft actuators. Numeral 14 represents a controller for the actuators, and is connected to a valve manifold 15 that controls the volumetric flow of air into the different chambers of the actuators.

[0169] Moving now to Fig. 6, it depicts a schematic diagram of the pneumatic control system for the dynamic solar module facade. Flow of air received from a pressurized air-supply source 22 first passes through an adjustable flow regulator 23 and is thereafter directed to a pressure distribution manifold 18. That manifold 18, being commonly connected to each of the actuators 100, distributes the air-flow line into multiple channels, each leading to the chambers of a specific actuator 100. Pressure sensor 24 continuously measures the air pressure within the distribution manifold 18 and the delivery lines. A realtime controller 19

[0170] 29135-WO1 - PR / qub Keller Schneider

[0171] 21 October 2025 Patent- und Markenanwalte is coupled to a graphical user interface 20, and 21 is a real-time microcontroller (m- controller) having the necessary circuitry for motion control, including at least a microprocessor, an I / O circuit and a dedicated, stored program memory for storing control algorithms.

[0172] When being in its operative state, the facade modules, i.e., the actuators, are substantially noiseless, with very low noise (about 30 Decibel intensity level) from the enclosed small electro-pneumatic valves integrated in the modules being audible from outside, when a listener is located proximal to the facade.

[0173] As a high-level control for the entire facade system, considering the envelope of solar modules or reflective plates attached to the actuators in conjunction with the building space behind the facade, the parameters of the building space and the building system play a crucial role in determining an optimal facade control strategy, which maximizes the energy efficiency of the building. An appropriate simulation framework is developed and utilized for minimizing the net energy demand of a building equipped with such facade modules. The framework incorporates and analyzes factors including the photovoltaic generation, level and inclination of incident solar irradiation on the solar modules, and the building system performance, to finds an optimal angle for a given weather condition. Further, a realtime control algorithm can be coupled with the simulation model, which provides real-time weather conditions as an input to the model. The simulation can then adapt the optimal angle instantaneously in relation to any changes in the weather conditions, particularly the inclination of the sun rays diurnally. Therefore, feedback control of the facade modules incorporates weather changes as an integral parameter. Further, in comparison to a standard, static Building Integrated Photovoltaic System (BIPV), the current simulations have manifested about 20-80 % of net energy savings.

[0174] The pneumatic system complexity was kept to the minimum to reduce the cost involved. Further, the system had a central organization due to the existence of the common pressure distribution manifold for all the valves. When a certain pressure level was established within the pressure distribution manifold, it could be easily distributed to one or more chambers at a time.

[0175] 29135-WO1 - PR / qub Keller Schneider

[0176] 21 October 2025 Patent- und Markenanwalte Fig. 7 depicts a solar energy harnessing apparatus 120, in a state mounted on the facade 27 of a compartment or room of a building 26, with the facade modules facing the sunlight. As shown, multiple objects 25, which are thin-film solar panels, particularly thin-film Copper Indium Gallium Selenide (CIGS) or mono-crystalline silicon (mono-Si) Photovoltaic panels are mounted directly on the facade of the building, and are meant for trapping and harnessing solar energy and converting it into electrical power.

[0177] The solar panels 25 in the middle rows are well aligned to harness maximum irradiation and therefore, maximum the production of solar energy.

[0178] Altogether, and generally, when utilized as a shading system, the facade apparatus shown above is well adapted to respond to the occupant requirement and his / her desirable comfort level. Multiple effects can be achieved using such a combination of facade modules, such as complete opening for a through-view to the exterior, entire closure for maintaining privacy within the compartment's interior, or, for example, a partial closure of the shielding system to avoid the sunlight from invading into the interior at least partially.

[0179] The long-term performance of the facade apparatus in real-time weather conditions was also experimentally verified. In, unfavorable conditions, for example, storms with high wind speeds of about 70-80 Km / h or more may appear, which may substantially agitate the orientation of the facade modules. Under such conditions, the stabilizing mechanism for the actuator 100 of the facade apparatus can be activated, and the flexible structure 1 of each actuator 100 can be stiffened by increasing the pressure in all the inflatable chambers 10 (shown in Fig. 1, 2) of the flexible structure 1 at the same time. Furthermore, under such conditions tendons 200a and 200b with some elasticity are preferred to reduce the peak stress on the facade apparatus.

[0180] Fig. 4 illustrates an assembled state of a mechanism 140 for moving an object in a desired orientation, in accordance with an embodiment of the disclosure. The mechanism includes the actuator 100 as shown in Fig. 1, 2 earlier with the object 30 mounted thereon, the object being mechanically connected to the actuator 100. The object 30, specifically, may either be a reflective plate or a mirror, or may be a solar panel (i.e., a mono-crystalline silicon or thin-

[0181] 29135-WO1 - PR / qub Keller Schneider

[0182] 21 October 2025 Patent- und Markenanwalte film CIGS PV panel). An orientation sensor 31 is connected to object 30. That sensor continuously monitors the orientation of the object 30, in the operative state of the actuator.

[0183] Indicated by numeral 32 is a Photovoltaic junction box having a bypass diode, acting as an enclosure for accommodating electrical connections leading to the solar panels. The soft- structure of the actuator, i.e., the flexible structure 1, is positioned directly underneath the object 30. The universal joint, i.e., the stiffening means 2 surrounds and mechanically connected to the flexible structure 2. A cantilever beam 33 is secured to the actuator, preferably to the bottom plate of the flexible structure 1. Numeral 34 indicates a pneumatic control module for controlling the motion, i.e., bending of the object along two different axes, based on commands received from a user interface. Finally, tubes carrying service lines are indicated by numeral 35. Such service lines include the PV electrical cables, control cables and pneumatic tubes for pressurizing the actuator with air.

[0184] In view of the different embodiments comprehensively described and illustrated herein, the solar energy harnessing apparatus, i.e., the facade apparatus, acts as a modular, dynamic and a light weight envelope for the facade of a building, with thin-film photovoltaic panels being attached to the actuator of the present invention. Further, the apparatus exhibits several advantages, such as the solar heat gain, daylighting, photovoltaic energy generation, and occupant's comfort, controllable with an unprecedented spatial and temporal resolution. Further, when the apparatus is rather used as a reflective facade apparatus in an urban environment, the incident solar radiation can be redistributed to the neighboring areas or building, or may also be partially reflected to the sky, based on the user requirements. For example, the incident solar radiation could be partially or fully redistributed into the building where the facade apparatus is mounted or into other buildings in order to provide daylight for occupants when and where it is needed. Furthermore, reflective surfaces may be modified, e.g. with coatings, in order to preferentially reflect only certain parts of the solar spectrum. For example, in the case of solar radiation reflected to the sky, coatings that enhance passive radiative cooling may be used on the reflective surfaces. Further, apparatus has the potential for a fundamental shift

[0185] 29135-WO1 - PR / qub Keller Schneider

[0186] 21 October 2025 Patent- und Markenanwalte from static building envelopes to a dynamic-adaptive skin / envelope for future nearly zeroemission buildings.

[0187] An array of actuators mounted on a single strength line, a single curved line, a diagonal grid, a hexagonal grid, a circular grid, a grid with a complex 3d shape, on a rectangular box, or on a sphere. The support structure is made of rigid materials, such as metal, concrete, wood, or rigid composite materials.

[0188] The chambers (one or more) in an array of actuators can be connected in series, in parallel, ring, or any combination of these two.

[0189] In another example, the object to be mounted on the actuator 100, whose motion and orientation is desired to be controlled, can be a plate absorbing or reflecting sound waves. If one or several such actuators 100 with such sound absorbing and / or reflecting plates are mounted over a surface of a building or other free-standing structure, the acoustic properties of this surface can be controlled by changing the orientation of these plates. For example, the acoustic properties of a wall inside a concert hall could be improved, or the noise reduction properties of a noise blocking wall along a highway could be enhanced. Furthermore, since the orientation of one or more of these plates can be controlled dynamically, the system can adapt to dynamic changes in the acoustic environment. For example, the orientations of the plates on the surface of a wall or ceiling in a concert hall could dynamically change for different acoustic situations such as different musical instrument types and locations or different audience occupancy numbers. Or in another example, the orientation of plates on the surface of a wall beside a highway could dynamically adapt to moving noise sources such as loud trucks or trains to enhance noise suppression for residents behind the wall.

[0190] In another example, the object to be mounted on the actuator 100 could include other elements such as sound emitting, sound absorption or sound distribution devices, such as diffusers. For example, sound emitting devices such as miniature loudspeakers or piezoelectric resonators could be mounted on the panels to provide a controllable sound

[0191] 29135-WO1 - PR / qub Keller Schneider

[0192] 21 October 2025 Patent- und Markenanwalte environment inside and / or outside of the building, or to provide active noise canceling. Also, sound receiving devices may be included e.g. for communication purposes.

[0193] Other elements can be mounted between the top plate and the object attached, such as heat dissipation elements, like metal fins.

[0194] Other elements can be mounted between the top plate and the object attached, such as air moisture absorbers.

[0195] Other elements can be mounted between the top plate and the object attached, such as water sprinklers. Water sprinklers are supplied by the tubes passing through or attached to the actuator and the support structure.

[0196] Other elements can be mounted between the top plate and the object attached, such as sensors: gyros, accelerometers, magnetometers, IMU, relative pressure sensors, absolute pressure sensors, laser distancers, ultra sound distancers, optical encoders, humidity sensors, temperature sensors, CO2 sensors, VOC sensors,

[0197] An array of actuators with the support structure forms a rigid structure called a unit. This unit can be mounted on all outside surfaces of buildings having different orientations, including roofs, balconies, in front of glazed or opaque surfaces, eaves (overhanging structures), skylights, etc. The units can also be mounted on a self-supporting structure, such as pergolas and solar trees. The units also can be used indoor of buildings, halls, and other built structures. The units can be also used in between transparent elements, such as glass plates or similar.

[0198] The individual actuators or an array of actuators can be used on all surfaces of greenhouses.

[0199] The individual actuators or an array of actuators can be used on vehicles, including naval vehicles, land vehicles, trucks, rail vehicles.

[0200] Mention the applications for within the spaceship and space installations, such as satellites, deploying on other space bodies.

[0201] 29135-WO1 - PR / qub Keller Schneider

[0202] 21 October 2025 Patent- und Markenanwalte In another example, a pressure difference between different chambers in the actuator is created by applying a vacuum (i.e., a pressure less than atmospheric pressure) to one or more of the chambers while applying a higher pressure to the other chambers. Creating a pressure difference by applying vacuum in at least one of the chambers is advantageous because in this way in order to achieve a given pressure difference between two chambers the pressure needed in the high pressure chamber is smaller than in the case when both chambers are at or are above atmospheric pressure. Being able to use smaller pressures in the system decreases the wear on chamber and tubing materials and increases the lifetime of the system. Furthermore, using vacuum is advantageous because by applying a vacuum to a chamber that needs to be emptied, the air can be removed from that chamber much faster than if the chamber is only passively ventilated to atmospheric pressure. Also, it creates the additional rotational force in the rolling motion (about the x-axis) and pitching motion (about the y-axis), besides the rotational forces stemming from the chambers with the higher pressure. Therefore, it also increases the responsiveness of the actuator and allows for faster motion.

[0203] One hybrid actuators with a shaft or linear railing or a metal plate attached to the top plate and moving an array of objects attached to it, such as PV panels, reflecting elements, PV panels with reflective elements, PV panels with absorbers, PV panels with heat dissipators, PV panels with light emitting devices mounted on the back or the front of the panels, sound emitting or receiving devices.

[0204] Figures 8 and 10 are outside views of hybrid pneumatic actuators according to a third and fourth embodiment of the invention, Figure 9 is an oblique view of a spacer used in these actuators. Figure 11 is a horizontal cross-section view of the actuator according to the third or fourth embodiment. The actuators 400, 500 share many components and features with the actuators according to the first and second embodiments. Inter alia, the actuators 400, 500 include an inner core formed of three bellows 10a, 10b, 10c, extending between a top plate 3 and a bottom plate 4. Two tendons 200a, 200b are attached to the top plate 3 and the bottom plate 4, neighboring two of the bellows 10b, 10c. Further, a stiffening means 2

[0205] 29135-WO1 - PR / qub Keller Schneider

[0206] 21 October 2025 Patent- und Markenanwalte in the form of a universal joint connects the top and bottom plate 3, 4. The pivotal joints 6a, 6b, 6c, 6d of the stiffening means 2 are shown in Figure 11.

[0207] In the actuator of the third embodiment shown in Figure 8, a single spacer 50 is attached to the bottom plate 4, extending in between the two bellows 10b, 10c, which are associated to the two tendons 200a, 200b.

[0208] In the actuator of the fourth embodiment shown in Figure 9, two spacers 50.1, 50.2 are attached to the top plate 3 and bottom plate 4, respectively, extending in between the two bellows 10b, 10c, associated with the tendons 200a, 200b.

[0209] The spacer 50 is extruded from a polymeric material. It has a constant cross section, including a substantially rectangular base part 51 featuring a through hole 52, and two arc- shaped wings 53a, 53b extending from the base part 51 in such a way that they form concave portions together with the outer surfaces of the base part 51. The radius of the concave portions is adapted to the outer radius of the bellows 10b, 10c.

[0210] The spacers 50, 50.2 are attached to the bottom plate 4 by a screw extending through the respective through hole 52. The spacer 50.1 is attached to the top plate 3 by another screw extending through the respective through hole 52.

[0211] Each of the spacers 50, 50.1, 50.2 extends along about 25% of the longitudinal extension of the bellows 10b, 10c.

[0212] Figures 12 and 13 are outside views of further hybrid pneumatic actuators. The actuators 600, 700 share many components and features with the actuators according to the third and fourth embodiments. They differ from these embodiments in that they do not comprise tendons.

[0213] Inter alia, the actuators 600, 700 include an inner core formed of three bellows 10a, 10b, 10c, extending between a top plate 3 and a bottom plate 4. A stiffening means 2 in the form of a universal joint connects the top and bottom plate 3, 4.

[0214] 29135-WO1 - PR / qub Keller Schneider

[0215] 21 October 2025 Patent- und Markenanwalte In the actuator shown in Figure 12, a single spacer 50 (as described above, in connection with Figure 9) is attached to the bottom plate 4, extending in between two bellows 10b, 10c. In the actuator shown in Figure 13, two such spacers 50.1, 50.2 are attached to the top plate 3 and bottom plate 4, respectively, extending in between the two bellows 10b, 10c.

[0216] The spacers 50, 50.2 are attached to the bottom plate 4 by a screw extending through the respective through hole 52. The spacer 50.1 is attached to the top plate 3 by another screw extending through the respective through hole 52.

[0217] Each of the spacers 50, 50.1, 50.2 extends along about 25% of the longitudinal extension of the bellows 10b, 10c.

[0218] The spacer or spacers control the deformation of the respective end portion of the neighboring bellows. Experiments have shown that they reliably prevent the bellows from buckling inward, which happens in comparative actuators without spacers especially when they assume a position with a large angle between the top and bottom plate.

[0219] The spacers as described in connection with Figures 8-13 may be combined with triangles as described in connection with Figures 2a, 2b. Possible embodiments include a combination of a spacer in one of the end regions of the bellows with a triangle arranged in the opposite end region and / or the central region of the bellows. As well, they include a combination of two spacers in the two end regions with a triangle in a central longitudinal position.

[0220] In the context of the embodiments described above, the use of restraining elements (tendons) and spacers has been described in the context of actuators with three chambers or bellows. However, restraining elements and spacers may be used in actuators with a lower number of chambers or bellows, e. g. as described in the following.

[0221] In a further embodiment, the actuator includes two bellows that are mounted between a bottom plate and a top plate similar to the configurations of the third and fourth embodiment described above. Further, a universal joint is mounted between the two plates allowing for relative rotation of the two plates about two perpendicular axes. The universal

[0222] 29135-WO1 - PR / qub Keller Schneider

[0223] 21 October 2025 Patent- und Markenanwalte joint may be attached to the two plates on attachment points that lie on the perpendicular bisector line defined by the centres of the two bellows. Now, a first spacer is attached to one of the top plate or bottom plate, extending in between the two bellows. A second spacer may optionally be attached to the other plate, again extending in between the two bellows. The shape of the spacer(s) is chosen to define to opposing arc-shaped accommodations for the neighboring surfaces of the bellows.

[0224] In addition, two tendons are attached to the two plates. The attachment points are in positions close to the circumference of the plates, close to either one of the two bellows, moved slightly to the direction opposite the attachment points of the universal joint.

[0225] Again, the spacers and / or tendons support the correct motion of the actuator and the bellows, respectively.

[0226] Starting from this embodiment, in a further embodiment the universal joint may be replaced by a hinge to create an actuator having only a single rotational degree of freedom. Starting from there, in yet a further embodiment, the two bellows are replaced by a single bellows. In this case, spacers may be foreseen laterally of the single bellows (either on one of the top or bottom plate or on both plates), and a single tendon is arranged on a line extending through the attachment points of the hinge and the centre of the single bellows, on a side of the bellows opposite to the hinge.

[0227] Similar to the actuators with three chambers or bellows described above, these further embodiments may comprise different numbers of tendons and spacers, depending on the additional restrictions of movement needed.Additional aspects, advantages, features and objects of the present disclosure would be made apparent from the drawings illustrating embodiments of the invention and the detailed description of the illustrative embodiments construed in conjunction with the appended claims that follow.

[0228] 29135-WO1 - PR / qub Keller Schneider

[0229] 21 October 2025 Patent- und Markenanwalte

Claims

1. 35Claims1. An actuator for moving and securing an object in a specific orientation, the actuator extending essentially along a longitudinal axis thereof and comprising: a flexible structure having at least one inflatable chamber and a hinge mechanism mechanically connected to the flexible structure at at least two first positions located at an offset along the longitudinal axis of the actuator; wherein the flexible structure and the hinge mechanism are mutually attached in such a way that inflating and / or deflating the inflatable chamber causes a bending movement of the flexible structure at least about one axis extending perpendicular to the longitudinal axis of the actuator; characterised by at least one restraining element mechanically connected to the flexible structure at at least two second positions located at an offset along the longitudinal axis of the actuator in such a way that the bending movement of the flexible structure due to inflation and / or deflation of the inflatable chamber is restrained in an end region of the bending movement, against a force caused by inflating the inflatable chamber.

2. The actuator as recited in claim 1, characterized in that the at least one restraining element is a continuous material portion extending between the second positions.

3. The actuator as recited in claim 2, characterized in that the at least one restraining element is an elongated tendon.

4. The actuator as recited in one of claims 1 to 3, characterized in that the at least one restraining element is essentially inextensible.

5. The actuator as recited in one of claims 1 to 3, characterized in that the at least one restraining element is made from an extensible material, in particular from an elastic material.29135-WO1 - PR / qub Keller Schneider21 October 2025 Patent- und Markenanwalte366. The actuator as recited in one of claims 1 to 3, characterized in that the at least one restraining element includes at least one first region made from an essentially inextensible material and at least one second region made from an extensible material.

7. The actuator as recited in one of claims 1 to 6, characterized in that the actuator further comprises a top plate and a bottom plate each being mechanically secured to the flexible structure.

8. The actuator as recited in one of claims 1 to 7, characterized in that the flexible structure comprises at least two inflatable chambers, in particular at least three inflatable chambers, wherein the bending movement of the flexible structure at least about one axis extending perpendicular to the longitudinal axis of the actuator, in particular about two mutually perpendicular axes both extending perpendicular to the longitudinal axis of the actuator, is caused on account of a pressure difference created between the chambers.

9. The actuator as recited in claim 8, characterized in that the flexible structure comprises three inflatable chambers, arranged in a triangular relationship and at least two restraining elements each of which being arranged parallel and in the vicinity of different of the three inflatable chambers.

10. The actuator as recited in claim 9, characterized in that the restraining elements are elongated and that their main portion extends in a radial plane including the longitudinal axis of the actuator and a longitudinal axis of the respective inflatable chamber in a straight configuration thereof.

11. The actuator as recited In one of claims 8 to 10, characterized in that the at least two inflatable chambers are constituted by at least two individual bellows units.

12. The actuator as recited in claim 11, characterized by at least one spacer for mechanically limiting a deformation of at least one of the at least two bellows units.29135-WO1 - PR / qub Keller Schneider21 October 2025 Patent- und Markenanwalte13. The actuator as recited in claim 12, characterized in that the at least one spacer is arranged between two of the at least two bellows units, contacting both of the two bellows units.

14. The actuator as recited in claim 13, characterized in that the at least one spacer comprises a base part and two arc-shaped wings extending from the base part, defining accommodations for the two bellows.

15. The actuator as recited in any of claims 12 to 14 and in claim 7, characterized in that the at least one spacer is mounted to at least one of the top plate and bottom plate.

16. The actuator as recited in one of claims 8 to 10, characterized in that the at least two inflatable chambers are formed in a common unitary body.

17. The actuator as recited in claim 16, characterized in that the at least one restraining element is formed within the unitary body.

18. The actuator as recited in one of claims 1 to 17, characterized in that the hinge mechanism is an outer universal joint, surrounding and wrapping around the flexible structure and positioned in a manner located at a radial offset to the peripheral portion of the flexible structure.29135-WO1 - PR / qub Keller Schneider21 October 2025 Patent- und Markenanwalte

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