US Patent 9133864 Fluidic actuator and method of manufacture

A small, flexible fluidic actuator is presented which may be of millimeter scale in size and made of suitable flexible materials such as silicone. A manufacturing method and two analytical models for the device along with experimental test results are also disclosed. The flexible fluidic actuator devices disclosed include multidirectional fluidic actuator joints providing independently controllable multi-directional actuation movement. The dynamic behavior of the joints for various pressure loads was also characterized and described herein.