Soft robotic actuator enhancements

Patent metadata

Field	Value
Publication number	US-10189168-B2
Application number	US-201514944999-A
Country	US
Kind code	B2
Filing date	Nov 18, 2015
Priority date	Nov 18, 2014
Publication date	Jan 29, 2019
Grant date	Jan 29, 2019

Abstract

Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.

First claim

The invention claimed is:

1. An apparatus comprising:
one or more soft robotic actuators, the soft robotic actuators comprising: a hollow body including an elastomeric material, the hollow body configured to accept an inflation fluid, a proximal end having an opening for receiving the inflation fluid, and a distal end opposite the proximal end that forms a gripping tip;
a hub comprising an interface for connecting to the one or more soft robotic actuators; and
an angular adjustment device for adjusting an angle of the one or more soft robotic actuators relative to the hub or relative to each other, the angular adjustment device comprising a rotatable component having a first interface configured to attach directly to the proximal end of one of the soft robotic actuators and a second interface configured to rotatably attach the angular adjustment device to the hub, the second interface configured to rotate the attached actuator with respect to the hub to change a relative angle between the attached actuator and the hub.

2. The apparatus of claim 1 , wherein the angular adjustment device comprises a rotatable component having an interface for attaching an actuator, wherein the rotatable component rotates with respect to the hub to change a relative angle between the attached actuator and the hub.

3. The apparatus of claim 1 , wherein the angular adjustment device comprises one or more soft angle adjustors disposed adjacent to the one or more soft robotic actuators, the soft angle adjustors being configured to be inflated independently of the soft robotic actuators to alter an angle between the soft robotic actuators.

4. The apparatus of claim 1 , wherein the one or more actuators include at least two actuators, and the angular adjustment device is configured to independently adjust the angle of the at least two actuators.

5. The apparatus of claim 1 , wherein the one or more actuators include at least two actuators, and the angular adjustment device is configured to interdependently adjust the angle of the at least two actuators.

6. The apparatus of claim 5 , wherein the angular adjustment device is configured to adjust the angle of the at least two actuators such that the angles of the at least two actuators are equal to each other.

7. The apparatus of claim 5 , wherein the angular adjustment device is configured to adjust the angle of the at least two actuators such that the angle of one of the at least two actuators is dependent on the angle of a different one of the at least two actuators and not equal to the angle of the different one.

8. The apparatus of claim 7 , wherein the angle of one of the at least two actuators is dependent on the angle of the different one of the at least two actuators according to a gear ratio.

9. The apparatus of claim 5 , wherein the angular adjustment device comprises a belt system.

10. The apparatus of claim 5 , wherein the angular adjustment device comprises a cam system.

11. An apparatus comprising:
the apparatus of claim 1 ; and
a force amplification device provided at least partially around the one or more actuator, the force amplification device configured to amplify a force exerted at the distal end of one or more actuators as compared to actuators that do not employ the force amplification device.

12. The apparatus of claim 11 , wherein the force amplification device comprises a band at least partially surrounding the one or more soft robotic actuators at a location between the proximal end and the distal end.

13. The apparatus of claim 11 , wherein the force amplification device comprises a cuff or bellows at least partially surrounding the one or more soft robotic actuators at a location between the proximal end and the distal end.

14. The apparatus of claim 13 , wherein the cuff or bellows has a longitudinally-extendible length, and adjusting the length of the cuff or bellows changes an amount of force exerted at the distal end of the one or more soft robotic actuators.

15. The apparatus of claim 11 , wherein the force amplification device comprises a flexible or stretchable strap at least partially surrounding the one or more soft robotic actuators at a location between the proximal end and the distal end.

16. An apparatus comprising:
the apparatus of claim 1 , wherein the soft robotic actuators each further comprise a strain limiting layer and a hollow body including an elastomeric material, the hollow body configured to accept an inflation fluid, the soft robotic actuator having a neutral axis of bending, and a rigidizing layer provided adjacent to the strain limiting layer or integral with the strain limiting layer, the rigidizing layer comprising one or more rigid components oriented perpendicular to the neutral axis of bending.

17. The apparatus of claim 16 , wherein the rigid components comprise a plurality of rigid slats molded into the strain limiting layer.

18. The apparatus of claim 17 , wherein the plurality of rigid slats are oriented in parallel to one another.

19. The apparatus of claim 16 , wherein the one or more rigid components are configured to prevent a grasping side of an actuator from cavitating or becoming concave when a vacuum is applied to the actuator.

20. The apparatus of claim 16 , wherein the rigidizing layer is secured to an actuator with one or more laces, straps, rings, or cords that extend across one or more troughs on a non-grasping side of the actuator.

21. An apparatus comprising:
the apparatus of claim 1 ; and
a gripping structure provided adjacent to or integral with a side of the soft robotic actuator configured for grasping an object, the gripping structure having a shape or texture that increases a grip of the actuator as compared to a soft robotic actuator lacking the gripping structure.

22. The apparatus of claim 21 , wherein the gripping structure is a conformal pad that is substantially convex when the actuator is not pressurized, and substantially flat when the actuator is pressurized.

23. The apparatus of claim 21 , wherein the apparatus comprises a plurality of actuators, and at least two of the actuators have different gripping structures.

24. The apparatus of claim 21 , wherein the soft robotic actuator comprises a plurality of different gripping surfaces provided at different locations on the actuator's grasping side.

25. The apparatus of claim 21 , wherein the gripping structure comprises one or more needles.

26. The apparatus of claim 1 , wherein the angular adjustment device comprises a servo motor.

27. The apparatus of claim 1 , wherein the one or more soft robotic actuators comprise a plurality of actuators, and adjustment of the angular adjustment device increases or decreases a volume enclosed by the plurality of actuators when the plurality of actuators are in an actuated state.

Assignees

• Soft Robotics Inc

Inventors

• Lessing Joshua Aaron
• Knopf Ryan
• Vause Carl

Classifications

• B25J15/12 Primary

  with flexible finger members · CPC title

• B25J15/10

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

• B25J15/0071

  with needles engaging into objects to be gripped · CPC title

• B25J15/0023

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