Pneumatic exomuscle system and method
A pneumatic exomuscle system and methods for manufacturing and using same. The pneumatic exomuscle system includes a pneumatic module; a plurality of pneumatic actuators each operably coupled to the pneumatic module via at least one pneumatic line, a portion of the pneumatic actuators configured to be worn about respective body joints of a user; and a control module operably coupled to the pneumatic module, the control module configured to control the pneumatic module to selectively inflate portions of the pneumatic actuators.
1. A pneumatic exomuscle system comprising:
a pneumatic module;
a plurality of pneumatic actuators each comprising one or more inflatable chambers operably coupled to the pneumatic module via at least one pneumatic line, a portion of the pneumatic actuators configured to be worn about respective body joints of a user, the one or more inflatable chambers defined by a body that is inextensible along one or more plane axes of the body while being flexible in other directions;
a plurality of anisotropic support structures configured to extend about a limb of the user and carry a load in a first direction, while providing for torsional movement in at least one second direction when worn by the user; and
a control module operably coupled to the pneumatic module, the control module configured to control the pneumatic module to selectively inflate portions of the pneumatic actuators.
2. The pneumatic exomuscle system of claim 1 , wherein the pneumatic actuators are disposed on at least one of a top-suit portion and bottom-suit portion configured to be worn by the user.
3. The pneumatic exomuscle system of claim 2 , wherein the pneumatic actuators are disposed on a top-suit portion such that the pneumatic actuators are configured to be disposed over shoulders and anterior and posterior elbow regions when the top-suit portion is worn by the user.
4. The pneumatic exomuscle system of claim 2 , wherein the pneumatic actuators are disposed on a bottom-suit portion such that the pneumatic actuators are configured to be disposed over anterior and posterior knee regions when the bottom-suit portion is worn by the user.
5. The pneumatic exomuscle system of claim 1 , wherein at least one pneumatic actuator of the plurality of pneumatic actuators comprises a plurality of elongated inflatable chambers stacked lengthwise in an array from a top-end to a bottom-end.
6. The pneumatic exomuscle system of claim 5 , wherein a portion of the inflatable chambers are configured to be simultaneously inflated as a group; and
wherein said at least one pneumatic actuator is configured to curl inward about an internal face of the at least one pneumatic actuator.
7. The pneumatic exomuscle system of claim 6 , wherein said at least one pneumatic actuator is configured to curl about an axis that is coincident with an axis of rotation of a body joint, when said at least one pneumatic actuator is worn over the body joint.
8. The pneumatic exomuscle system of claim 1 , wherein at least one pneumatic actuator of the plurality of pneumatic actuators comprises a plurality of inflatable chambers stacked in an array from a top-end to a bottom end, the chambers defining a first, second and third column, with each column defined by a set of inflatable chambers that are configured to be selectively inflatable as a group, and wherein each column is separately selectively inflatable from other of the columns.
9. The pneumatic exomuscle system of claim 8 , wherein said at least one pneumatic actuator is disposed on a top-suit portion such that said at least one pneumatic actuator is disposed over a shoulder of the user, when the top-suit is worn by the user.
10. The pneumatic exomuscle system of claim 1 , wherein the plurality of anisotropic support structures are operably connected to the pneumatic system via the at least one pneumatic line.
11. The pneumatic exomuscle system of claim 1 , wherein said pneumatic actuators comprise a woven fabric.
12. The pneumatic exomuscle system of claim 1 , wherein the control module is configured to control the pneumatic module to selectively inflate portions of the pneumatic actuators to induce body movements in the user.
13. The pneumatic exomuscle system of claim 1 , wherein the control module is configured to sense body movements of the user and control the pneumatic module to selectively inflate portions of the pneumatic actuators to support said body movements of the user.
14. The pneumatic exomuscle system of claim 1 , wherein a pneumatic actuator of the plurality of pneumatic actuators comprises a reinforcing structure configured to resist a concentrated buckling moment transferred by the pneumatic actuator during movement of the pneumatic actuator.
15. The pneumatic exomuscle system of claim 1 , wherein a pneumatic actuator of the plurality of pneumatic actuators defines a two or three dimensional shape configured to provide resistance to buckling of the pneumatic actuator during inflation of the pneumatic actuator.
16. The pneumatic exomuscle system of claim 1 , wherein the body that is inextensible along one or more plane axes of the body while being flexible in other directions comprises a planar fabric.
17. The pneumatic exomuscle system of claim 1 , wherein the one or more inflatable chambers are defined by one or more tubes that are inextensible along one or more axes of the tubes while being flexible in other directions.
18. A pneumatic actuator comprising:
a plurality of elongated inflatable chambers stacked lengthwise in an array from a top-end to a bottom end, the plurality of elongated inflatable chambers defined by a body that is inextensible along one or more plane axes of the body while being flexible in other directions; and
a plurality of anisotropic support structures configured to extend about a limb of the user and carry a load in a first direction, while providing for torsional movement in at least one second direction when worn by the user.
19. The pneumatic actuator of claim 18 ,
wherein a portion of the inflatable chambers are configured to be simultaneously inflated as a group;
wherein the pneumatic actuator is configured to curl inward about an internal face of the pneumatic actuator; and
wherein the pneumatic actuator is configured to curl about an axis that is coincident with an axis of rotation of a body joint, when said pneumatic actuator is worn over the body joint.
20. The pneumatic actuator of claim 18 , wherein the plurality of elongated inflatable chambers stacked lengthwise along a first axis in an array from the top-end to the bottom end, the length of the plurality of elongated inflatable chambers defining the first axis, the array configured to couple about a limb of a user at a joint of the limb, the limb extending along a second axis perpendicular to the first axis when the limb is in a straightened configuration.