US Patent 12129876 Bistable elastomeric actuator

Elastomeric actuators and methods of making the same are provided herein. In some examples, an actuator includes a body comprising a plurality of pairs of frustums, wherein the body is configured to receive a fluid to extend the actuator and to remove the fluid to contract the actuator. In some examples, each pair of frustums includes two thin frustum shells sharing a common base circle diameter.