Method and system employing strings of opposed air- inflatable tension actuators in jointed arms, legs, beams and columns for controlling theirmovements

Abstract From the Canadian patent

985.006-CANADA, GKP, S P E C I F I C A T I O N METHOD AND SYSTEM EMPLOYING STRINGS OF OPPOSED AIR-INFLATABLE TENSION ACTUATORS IN JOINTED ARMS, LEGS BEAMS and COLUMNS, FOR CONTROLLING THEIR MOVEMENTS Inventor : Henry M. Paynter, ABSTRACT OF THE DISCLOSURE The method and system employ strings of tension actuator in opposed relationship for controlling motions or deflections of jointed members: for example, for controlling the motions of arms, legs and elephant trunks or flexible antennae in robots and for controlling the deflections of beams and columns in frames and structures. There opposed tension actuators are inflated with controlled air pressures which are oppositely varied from a …