Prosthesis (i.e. – artificial body members) – parts thereof – or ai – Having electrical actuator
Utility Patent
1999-03-25
2001-01-02
Willse, David H. (Department: 3738)
Prosthesis (i.e., artificial body members), parts thereof, or ai
Having electrical actuator
C414S004000
Utility Patent
active
06168634
ABSTRACT:
BACKGROUND OF THE INVENTION
The present invention generally relates to artificial muscle tissue capable of causing motion, inducing force and enabling control thereof with life-like action and attributes for robotic, cybernetic and artificial prostheses. In addition, the present invention provides a system and a method for movement using artificial muscle tissue.
It is, of course, generally known to simulate human movements and provide animation to, for example, robots. However, it is difficult to replicate such “life-like” animation employing conventional methods such as by using electric motors, linear actuators, rotary actuators, hydraulic cylinders, pneumatic cylinders, linear electric motors, solenoids and other like devices.
Such conventional methods and devices do not exhibit the inherent flexibility necessary to simulate biological systems. This is particularly true in matters that require propulsion and motion where contemporary force actuators produce an unnatural action and/or response.
For example, in U.S. Pat. No. 4,053,952, a magnetic controlled valve, relief valve and pump enervated with magnetic fluid to close or contract passageways in the presence of magnetic flux are described. The valve controls the flow of a separate pressurized fluid but does not control the flow of pressurized magnetorheological fluid to an artificial muscle or organ.
In U.S. Pat. No. 4,923,057, the physical behavior of composite structures filled with electrorheological fluids are modified with changing electric fields. However, the invention does not teach the flow of materials into and out of composite structures or the addition of a pressurized operating fluid.
Other patents describe using bladders and reinforced bladders to generate pressure and motion, such as U.S. Pat. Nos. 4,274,399; 4,615,260; 4,739,692; 4,944,755; 4,957,477; 5,098,369; and 5,131,905. Motion may be induced across joints, and enervation of the heart, artificial hearts or other organs may be achieved. However, none of the devices employ magnetorheological or electrorheological working fluids.
A need, therefore, exists for a device, a system and a method designed to produce natural animal-like motion and response in machines to more realistically simulate action and attributes for control of robotic, cybernetic and artificial prostheses.
SUMMARY OF THE INVENTION
The present invention provides a lightweight, flexible, controlled artificial muscle tissue for robotics, cybernetics and artificial prostheses and other applications as well as a system and a method for achieving the same.
To this end, in an embodiment of the present invention, an artificial muscle tissue element is provided. The artificial muscle tissue element comprises a fiber forming an interior between a first end and a second end. A valve element is provided at each of the first end and the second end, or, two valves at a single end. Magnetorheological fluid is provided in the interior of the fiber wherein the fluid enters and exits through the valve elements.
In an embodiment, the valve elements include an electromagnetic coil.
In an embodiment, the fiber is linearly stiff and radially compliant.
In an embodiment, a plurality of fibers is provided wherein each of the plurality of fibers includes a valve element.
In an embodiment, the valve elements may be open, closed, or partially open.
In another embodiment of the present invention, an artificial muscle tissue is provided. The artificial muscle tissue comprises a plurality of muscle fiber elements each having an interior formed between a first end and a second end. Valve elements are associated with at least one end of each of the plurality of muscle fiber elements. Magnetorheological fluid in the interior of each of the plurality of fiber elements is provided wherein the fluid enters and exits through the valve elements.
In an embodiment, an anchor point is provided at one end of each of the plurality of fiber elements commonly connecting the ends.
In an embodiment, an electromagnetic coil is provided at an opening at one end of each of the plurality of fiber elements.
In an embodiment, each of the plurality of muscle fiber elements varies in size and number.
In another embodiment of the present invention, a system for replicating and controlling artificial muscle tissue is provided. The system has a plurality of muscle fiber elements connected commonly at their respective ends wherein each of the plurality of muscle fiber elements has an interior. Valve elements are associated with one end of each of the plurality of muscle fiber elements; magnetorheological fluid is provided in the interior of the fiber elements wherein the fluid enters and exits through the valve elements. Processing means is connected to each of the valve elements controlling the entry and egress of the magnetorheological fluid.
In an embodiment, heating means is connected to the processing means to control temperature of the fluid.
In an embodiment, an input means is connected to the processing means.
In an embodiment, a display means is connected to the processing means.
In an embodiment, the processing means controls variables associated with the fluid.
In another embodiment of the present invention, a method for replicating and controlling artificial muscle tissue is provided. The method comprises the steps of: providing a plurality of muscle fiber elements; circulating magnetorheological fluid through the plurality of muscle fiber elements; and controlling the circulation of the fluid through the plurality of muscle fiber elements.
In an embodiment, the temperature of the fluid to the plurality of muscle fiber elements is controlled.
In an embodiment, a valve is associated with each of the plurality of muscle fiber elements.
In an embodiment, the plurality of muscle fiber elements is connected in parallel between common anchor points.
In an embodiment, the plurality of muscle fiber elements is connected in parallel between common anchor points and in series with another plurality of muscle fiber elements.
In an embodiment, another plurality of muscle fiber elements is provided wherein a joint between the first plurality and the second plurality of muscle fiber elements is further provided.
It is, therefore, an advantage of the present invention to provide a lightweight, flexible, controlled artificial muscle tissue for robotics, cybernetics, and artificial prostheses as well as other applications.
Another advantage of the present invention is to form an artificial muscle tissue, system and method that operates in pairs where contraction in a muscle or muscles exhausts fluid from an opposing muscle and/or holds a position with equal forces applied across a joint and/or applies damping to joint motion.
And, another advantage of the present invention is to provide an artificial muscle tissue, system and method that operates singly where contraction in a muscle is opposed with a spring and/or pressure against the flexible walls of the container and/or gravity and/or other forces.
A further advantage of the present invention is to provide an artificial muscle tissue replacement for conventional techniques requiring electrical motors, linear actuators, rotary actuators, hydraulic cylinders, pneumatic cylinders, linear electric motors, solenoids, and/or other force/motion devices.
A still further advantage of the present invention is to provide a life-like means for powering and/or controlling robotic applications that outwardly resembles animal tissue in action, function, appearance and control.
And, another advantage of the present invention is to provide an artificial muscle element or elements that may be energized individually or in groups.
A further advantage of the present invention is to provide an artificial muscle element or elements where groups thereof may be energized in parallel and/or in series.
A still further advantage of the present invention is to provide an artificial muscle tissue that expands outwardly and that simultaneously shortens in length thereby contracting while simultaneously generating a force.
Jackson Suzette J.
Patents + TMS P.C.
Willse David H.
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