Granted Patent B2

US 12,251,826 · App. 16/827,484 · Granted Mar 18, 2025

Inventors: Saul Griffith (San Francisco, CA); Pete Lynn (Oakland, CA); Della Shea (San Francisco, CA); Kevin Albert (San Francisco, CA); Tim Swift (Clovis, CA)

Assignee: Roam Robotics Inc.

B25J9/0006A61H1/0237A61H1/024A61H1/0244A61H1/0274A61H1/0277A61H1/0281A61H1/0292B25J9/142F04B45/0533A61H1/0218

Abstract

Claims (25)

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 along lateral sides of respective body joints of a user including at least one of the same joint on opposing sides of the body; and

a control module operably coupled to the pneumatic module, the control module comprising a processor and memory configured to control the pneumatic module to selectively inflate portions of the pneumatic actuators.

2. The pneumatic exomuscle system of claim 1 , wherein the one or more inflatable chambers are defined by a flexible sheet material comprising a woven fabric.

3. The pneumatic exomuscle system of claim 1 , 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.

4. The pneumatic exomuscle system of claim 1 ,

wherein the plurality of pneumatic actuators each comprise a plurality of inflatable chambers;

wherein a first set of the plurality of inflatable chambers are configured to be simultaneously inflated as a first group;

wherein a second set of the plurality of the plurality of inflatable chambers are configured to be simultaneously inflated as a second group separately from the first group;

wherein the plurality of pneumatic actuators are configured to curl inward about a respective internal face of the plurality of pneumatic actuators; and

wherein the plurality of pneumatic actuators are configured to curl about an axis that is coincident with an axis of rotation of a respective body joint, when the plurality of pneumatic actuators are worn over the respective body joint.

5. The pneumatic exomuscle system of claim 1 , wherein said pneumatic actuators comprise a woven fabric tube.

6. The pneumatic exomuscle system of claim 5 , wherein the woven fabric tube is configured to be disposed directly adjacent to the body of the user and parallel to an axis of a joint of the body.

7. 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 by selectively inflating portions of the pneumatic actuators to induce body movements in the user.

8. The pneumatic exomuscle system of claim 1 , wherein the pneumatic actuators develop a resulting force based on a constrained internal surface length and external surface length of the pneumatic actuators.

9. The pneumatic exomuscle system of claim 1 , wherein the pneumatic actuators are configured to contract on themselves, but when pressurized to a certain threshold, the pneumatic actuators must direct forces generated by the pressurization axially by pressing on respective end faces of the pneumatic actuators due to there being no ability for the pneumatic actuators to expand further in volume due to being unable to extend past a maximum length.

10. The pneumatic exomuscle system of claim 1 , wherein each of the plurality of pneumatic actuators comprise a plurality of elongated inflatable chambers stacked lengthwise in an array from a top-end to a bottom end.

11. A pneumatic actuator comprising:

a plurality of elongated inflatable chambers stacked lengthwise in an array from a top-end to a bottom end, the pneumatic actuator configured to be worn about at least a lateral side of a joint of a user by surrounding the joint of the user based on curvature of the array about the joint of the user in at least two axes; and

a woven fabric tube.

12. The pneumatic actuator of claim 11 , wherein the plurality of elongated inflatable chambers are defined by a flexible sheet material that is defined by one or more of woven nylon, rubber, polychloroprene, a plastic, latex, and a fabric.

13. The pneumatic actuator of claim 11 , wherein the plurality of elongated inflatable chambers are defined by a woven fabric.

14. The pneumatic actuator of claim 11 , wherein the pneumatic actuator develops a resulting force based on a constrained internal surface length and external surface length of the plurality of elongated inflatable chambers.

15. The pneumatic actuator of claim 11 , wherein the pneumatic actuator is configured to contract on itself, but when pressurized to a certain threshold, the pneumatic actuator must direct forces generated by the pressurization axially by pressing on respective end faces of the pneumatic actuator due to there being no ability for the pneumatic actuator to expand further in volume due to being unable to extend past a maximum length.

Assignments (2)

Continuity (4)

References Cited (400)