Hydraulically Actuated Muscle ( HAM ) Exo-Musculature

— The hydraulically actuated Exo-Musculature, consisting of a network of artificial hydro-muscles, can be rapidly assembled and utilized as either perform-alone or wearable, human body-symbiotic robotic system. Its fundamental unit is a novel hydraulically actuated muscle (HAM), which is inspired by the capabilities of biological muscles. The HAM design has certain advantages over natural muscles, such as being able to maintain a position without expending energy. This design uses an elastic element to apply tensile force, which is released when hydraulic pressure is applied. This gives the muscle the unique characteristic of storing elastic energy when pressurized and releasing it to contract. Other artificial muscles, such as the McKibben, are similar to HAM in the respect that they are fluid-actuated and can be locked in place, but the McKibben is contractile in operation. Additionally, HAM utilizes incompressible fluid (water) and it is limited to expansion in only one dimension, which offers a higher energy density. It is much more compliant than traditional hydraulic cylinders, making it better suited for use in human rehabilitation and augmentation. Finally, HAM is constructed using common materials, making it an extremely low cost solution for both medical and robotic applications.