Manufacturing soft devices out of sheet materials

Patent metadata

Field	Value
Publication number	US-10001149-B2
Application number	US-201414502241-A
Country	US
Kind code	B2
Filing date	Sep 30, 2014
Priority date	Oct 1, 2013
Publication date	Jun 19, 2018
Grant date	Jun 19, 2018

Abstract

A soft composite actuator is described, including a first elastomeric layer; a strain limiting layer; and a first radially constraining layer, wherein the first elastomeric layer is disposed between the first radially constraining layer and the strain limiting layer; and the elastomeric layer, the strain limiting layer, and the radially constraining layer are bonded together to form at least one bladder for holding pressurized fluid. Methods of using and making of the soft composite actuator are described.

First claim

I claim:

1. A soft composite actuator, comprising:
a strain limiting layer;
a first radially constraining layer; and
a first elastomeric layer disposed between the first radially constraining layer and the strain limiting layer;

wherein
the first elastomeric layer, the strain limiting layer, and the first radially constraining layer are bonded together to form at least one bladder for holding pressurized fluid; and
the radially constraining layer comprises one or more openings through which one or more portions of the first elastomeric layer expand upon actuation, and one or more strain limiting sections free from any openings.

2. The soft composite actuator of claim 1 , the bond is selected from the group of thermal bonds, chemical bonds, mechanical bonds and combinations thereof.

3. The soft composite actuator of claim 1 , wherein the soft composite actuator further comprises a second elastomeric layer disposed adjacent to the first elastomeric layer and the strain limiting layer comprises a second radially constraining layer.

4. The soft composite actuator of claim 1 , wherein the radially constraining layer comprises one or more radially constraining sections.

5. The soft composite actuator of claim 4 , wherein the radially constraining sections comprise radially constraining strips evenly or unevenly distributed in the radially constraining layer.

6. The soft composite actuator of claim 5 , wherein the radially constraining strips are oriented parallel to one of the edges of the radially constraining layer or at an angle to one of the edges of the radially constraining layer.

7. The soft composite actuator of claim 5 , wherein the radially constraining strips are bonded to the first elastomeric layer.

8. The soft composite actuator of claim 1 , wherein the first elastomeric layer, the strain limiting layer, and the first radially constraining layer are bonded together to form a plurality of bladders for holding pressurized fluid.

9. The soft composite actuator of claim 1 , wherein the soft composite actuator further comprises one or more rigid elements attached to the strain limiting layer.

10. The soft composite actuator of claim 1 , wherein the bladder is designed to accommodate a pressurized fluid selected from the group consisting of a gas and a liquid.

11. The soft composite actuator of claim 1 , wherein one of the elastomeric layer, the strain limiting layer, and the radially constraining layer is configured to absorb fluids, transmit light, change color or luminescence, embed a soft sensor or a medical patch, embed at least a part of an electronic circuit or a heating element, or a combination thereof.

12. The soft composite actuator of claim 1 , wherein the soft composite actuator is part of a splint, a grasper, or a glove comprising a plurality of digits, or is a splint, a grasper, or a glove.

13. A soft actuating device comprising a plurality of the soft composite actuators of claim 1 .

14. The soft actuating device of claim 13 comprising:
a first soft composite actuator connected to a first fluid source; and
a second soft composite actuator connected to a second fluid source.

15. A method of actuation comprising:
providing the soft actuating device of claim 14 ; and
pressurizing the first soft composite actuator's bladder and the second soft composite actuator's bladder alternately by activating the first fluid source and the second fluid source alternately.

16. The method of claim 15 , wherein the first soft composite actuator bends upon actuation and the second soft composite actuator stiffens upon actuation.

17. A method of actuation comprising:
providing the soft actuating device of claim 13 ; and
pressurizing one or more bladders with one or more fluids, wherein the soft actuating device actuates in a predetermined manner.

18. A method of making a soft composite actuator of claim 1 , comprising:
providing a first elastomeric layer, a strain limiting layer, and a first radially constraining layer; wherein the elastomeric layer is disposed between the radially constraining layer and the strain limiting layer; and
bonding the first elastomeric layer, the strain limiting layer, and the first radially constraining layer to form sealed parameters defining at least one bladder for holding pressurized fluid.

19. The method of claim 18 , wherein providing a first elastomeric layer, a strain limiting layer, and a first radially constraining layer comprises:
providing a pre-stacked laminate comprising a first elastomeric laminate layer, a strain limiting laminate layer, and a first radially constraining laminate layer; and
separating part of the laminate to provide the first elastomeric layer, the strain limiting layer, and the first radially constraining layer stacked together.

20. The method of claim 18 , wherein the bond is selected from the group of thermal bonds, chemical bonds, mechanical bonds and combinations thereof.

21. The method of claim 18 , wherein the elastomeric layer, the strain limiting layer, and the radially constraining layer are contained in a package.

22. The method of claim 21 , wherein bonding is achieved by external heat passing through the packaging or internal heat generated by a heating element inside the packaging without the compromise of the package.

23. The method of claim 18 , wherein the elastomeric layer or the first composite layer is in a pre-strained state before bonding.

24. The method of claim 18 , wherein one of the layers has a non-planar shape before or during bonding.

25. A soft composite actuator, comprising:
a first composite layer having a length and a width comprising one or more first elastomeric sections and one or more first radially constraining sections that traverse the width of the first composite layer; and
a second composite layer having a length and a width comprising one or more second elastomeric sections and one or more second radially constraining sections that traverse the width of the second composite layer;
wherein the first composite layer and the second composite layer are bonded together to form at least one bladder for holding pressurized fluid, and wherein the radially constraining sections constrain radial expansion of the bladder and the elastomeric sections allow expansion of the first and second composite layers along their lengths.

26. The soft composite actuator of claim 25 , wherein the first and second composite layers have the same thickness.

27. The soft composite actuator of claim 25 , wherein upon actuation the first and second composite layers expand to extend the actuator a distance along the length of the bladder.

28. The soft composite actuator of claim 25 , the bond is selected from the group of thermal bonds, chemical bonds, mechanical bonds and combinations thereof.

29. The soft composite actuator of claim 25 , wherein the radially constraining sections comprise radially constraining strips oriented parallel to one of the edges of the composite layer or at an angle to one of the edges of the composite layer.

30. The soft composite actuator of claim 29 , wherein the radially constraining strips are evenly or unevenly distributed in the composite layer.

31. The soft composite actuator of claim 25 , wherein the first composite layer and the strain limiting layer are bond

Assignees

• Harvard College

Inventors

• Galloway Kevin C

Classifications

• B25J15/0023

  Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12) · CPC title

• B25J9/142

  comprising inflatable bodies · CPC title

• Y10T156/10

  Methods of surface bonding and/or assembly therefor · CPC title

• F15B15/10 Primary

  the motor being of diaphragm type · CPC title

• B25J15/10

  with three or more finger members {(B25J15/0009 takes precedence)} · CPC title