US 12,384,024 B2
Thermoactivate modular soft actuator based on phase transition
Amir Jafari, Dallas, TX (US); and Trevor W. Exley, Dallas, TX (US)
Assigned to UNIVERSITY OF NORTH TEXAS, Dallas, TX (US)
Filed by UNIVERSITY OF NORTH TEXAS, Dallas, TX (US)
Filed on Jan. 19, 2024, as Appl. No. 18/417,801.
Claims priority of provisional application 63/480,649, filed on Jan. 19, 2023.
Prior Publication US 2024/0326240 A1, Oct. 3, 2024
Int. Cl. B25J 9/14 (2006.01); F15B 15/10 (2006.01); F15B 21/0423 (2019.01); F15B 21/0427 (2019.01)
CPC B25J 9/142 (2013.01) [F15B 15/103 (2013.01); F15B 21/0423 (2019.01); F15B 21/0427 (2019.01)] 20 Claims
OG exemplary drawing
 
1. An actuation device comprising:
a Peltier comprising a first side and a second side;
a first container thermally coupled to the first side of the Peltier, wherein the first container is configured to axially contract in response to an increased pressure within the first container and axially expand in response to a decreased pressure within the first container; and
a second container thermally coupled to the second side of the Peltier, wherein the second container is configured to axially expand in response to an increased pressure within the second container and axially contract in response to a decreased pressure within the second container,
wherein the second container comprises:
a first rigid sleeve elastically coupled to a second rigid sleeve; and
a second flexible container disposed between the first rigid sleeve and the second rigid sleeve.