Fluid-Driven Finger Actuators With Segmented Cells for Hand Articulation
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Solution Overview
Problem
Current joint rehabilitation devices are either complex and costly due to hard actuation systems or require high pressures and complicated control hardware for soft actuation systems, limiting their ability to provide controlled complex body motions.
Innovation Solution
The development of fluid-driven actuators with semi-rigid segments and flexible cells that allow for angular displacement, minimizing mechanical complexity and enabling independent pressure control of cells to mimic human hand articulations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If hard actuation systems with electrical motors or pneumatic cylinders are used, then actuation reliability is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces traditional mechanical actuation systems (electrical motors, pneumatic cylinders) with a fluid-driven soft actuator system. The actuator uses fluid pressure to inflate flexible cells, creating articulation through soft material deformation rather than mechanical linkages. This substitution eliminates complex mechanical components while maintaining actuation functionality, directly resolving the contradiction between reliability and complexity.
Solution Approach 2:
The patent employs flexible cells made of soft materials that can be inflated and deflated to create articulation. These flexible shells replace rigid mechanical components, enabling complex body motions through material compliance rather than mechanical joints. The flexible nature of the cells reduces mechanical complexity while providing reliable actuation through fluid pressure control.
2Device complexity
If soft actuation systems with soft muscle-like actuators are used, then device complexity is reduced, but actuation pressure requirements increase
Solution Approach 1:
The patent divides the soft actuator into multiple discrete flexible cells that can be independently controlled. Each cell can be inflated or deflated separately to create specific articulations. This segmentation allows for distributed pressure control, reducing the peak pressure requirements compared to a single large actuator while maintaining the ability to produce complex motions.
Solution Approach 2:
The patent implements dynamic control of fluid pressure to the flexible cells, allowing the system to adapt pressure levels based on the specific articulation required. The system can use lower pressures for simpler motions and increase pressure only when needed, optimizing the pressure requirements while maintaining reduced mechanical complexity.
3Ease of operation
If soft actuation systems are used, then ease of operation is improved, but control precision for complex motions deteriorates
Solution Approach 1:
The patent segments the actuator into multiple independently controllable flexible cells, each contributing to different aspects of articulation. This segmentation enables precise control of complex motions by independently actuating specific cells, while the overall system remains operationally simple through unified fluid pressure control. The modular cell structure provides fine-grained control without complicating the user interface.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
These actuators provide complex articulations similar to a human hand while reducing mechanical complexity and operational pressures, enhancing control and safety for rehabilitation devices.
Implementation Method 1
adjustments of an internal pressure of the cell rotates the first end relative to the second end to angularly displace the second segment relative to the first segment
Data Source
AI summary
This disclosure includes manipulating apparatuses and related methods. Some manipulating apparatuses include an actuator having a semi-rigid first segment, a semi-rigid second segment, and one or more flexible cells disposed between the first segment and the second segment, where the actuator is configured to be coupled to a fluid source such that the fluid source can communicate fluid to vary internal pressures of the one or more cells, and where each cell is configured such that adjustments of an internal pressure of the cell causes angular displacement of the second segment relative to the first segment.