CPC F15B 15/103 (2013.01) [F15B 2215/30 (2013.01)] | 20 Claims |
1. An apparatus to control a plurality of eversion-based actuators comprising:
a pressurized chamber including an aperture to intake a fluid;
an eversion-based actuator in the plurality of eversion-based actuators including a reel of material expandable upon intaking the fluid;
a first valve coupled to the pressurized chamber and connecting the pressurized chamber to a first pressure source via the aperture,
upon activation, the first valve to enable intake of the fluid into the pressurized chamber;
a second valve coupled to the pressurized chamber and connecting the pressurized chamber to a second pressure source via the aperture,
a pressure of the fluid in the first pressure source exceeding a pressure of the fluid in the second pressure source, and
upon activation, the second valve to enable outflow of the fluid from the pressurized chamber; and
a passive retraction system exerting a retraction force on the reel of material causing the reel of material to shorten when the retraction force exceeds an expansionary force exerted by the fluid in the pressurized chamber.
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