Adjustable stiffness morphable manipulator

Patent metadata

Field	Value
Publication number	US-10259129-B2
Application number	US-201414270548-A
Country	US
Kind code	B2
Filing date	May 6, 2014
Priority date	May 6, 2014
Publication date	Apr 16, 2019
Grant date	Apr 16, 2019

Abstract

Compliant manipulators are provided, in which the manipulators include a plurality of slideably interlocked filaments each having a proximate end and a distal end. The interlocked filaments can be formed from a flexible material. The compliant manipulators can also include at least one filament-actuating device operatively connected to the respective distal ends of the plurality of slideably interlocked filaments. The at least one filament-actuating device can be manipulated directly or remotely to push and/or pull the respective filaments to impart a desired movement to the manipulator. The stiffness or flexibility of the manipulators can also be controlled to provide varying degrees of stiffness during use.

First claim

That which is claimed:

1. A compliant manipulator, comprising:
a flexible internal sheath;
a flexible external sheath;
a plurality of slideably interlocked filaments disposed between the flexible internal sheath and the flexible external sheath and defining a conduit, wherein each of the plurality of slideably interlocked filaments have a proximate end and a distal end and comprise a flexible material; and
at least one filament-actuating device operatively connected to the respective proximate ends of the plurality of slideably interlocked filaments to apply push and pull forces to selected ones of the plurality of slideably interlocked filaments to cause individual slideably interlocked filaments to slideably move relative to adjacent filaments along a longitudinal length of the plurality of slideably interlocked filaments;
wherein the plurality of slideably interlocked filaments comprise a male portion defining a generally T-shaped protrusion and a female portion, said female portion being configured for receiving the male portion of an adjacent filament; and
wherein a second surface of the flexible internal sheath defines a lumen along the length of the plurality of slideably interlocked filaments, the second surface of the flexible internal surface being opposite to the first surface of the flexible internal sheath;
wherein the plurality of slideably interlocked filaments include a first group of slideably interlocked filaments disposed adjacent a first surface of the flexible internal sheath and operatively connected to a first filament-actuating device of the at least one filament-actuating device, and the plurality of slideably interlocked filaments further including a second group of slideably interlocked filaments disposed adjacent a first surface of the flexible external sheath and operatively connected to a second filament-actuating device of the at least one filament-actuating device;
wherein the second group of slideably interlocked filaments are located proximate an internal surface of the first group of slideably interlocked filaments, wherein the first filament-actuating device is a first gimbal plate actuator, and wherein the second group of slideably interlocked filaments pass through an opening in the first gimbal plate actuator to operatively connect to the second filament-actuating device.

2. The manipulator of claim 1 , wherein the longitudinal length of each of the plurality of slideably interlocked filaments extends from the proximate end to the distal end and a transverse length being shorter than the longitudinal length.

3. The manipulator of claim 2 , wherein the plurality of slideably interlocked filaments are only anchored together at a single discrete section being located proximate to or at the distal end of the slideably interlocked filaments.

4. The manipulator of claim 1 , wherein a space defined by the external flexible sheath, the internal flexible sheath, and the plurality of slideably interlocked filaments is filled with a viscosity controllable fluid.

5. The manipulator of claim 4 , wherein the viscosity controllable fluid comprises a magneto-rheological fluid.

6. The manipulator of claim 5 , further comprising at one or more coil portions encircling the space filled with the magneto-rheological fluid.

7. The manipulator of claim 4 , wherein the viscosity controllable fluid comprises an actuatable polymer; and wherein the manipulator further comprises at least one electrode.

8. The manipulator of claim 1 , wherein a space defined by the external flexible sheath, the internal flexible sheath, and the plurality of slideably interlocked filaments is filled with a phase transition composition.

9. The manipulator of claim 1 , wherein the plurality of slideably interlocked filaments are directly interlocked with each other.

10. The manipulator of claim 1 , wherein the plurality of slideably interlocked filaments are located between an external flexible sheath and an internal flexible sheath; and wherein a space is defined by the external flexible sheath, the internal flexible sheath, and the plurality of slideably interlocked filaments.

11. The manipulator of claim 1 , wherein the second filament-actuating device is a second gimbal plate actuator.

12. The manipulator of claim 1 , wherein the flexible internal sheath is configured to confine the plurality of slideably interlocked filaments.

13. The manipulator of claim 1 , wherein the flexible internal sheath is formed of nitinol or polytetrafluoroethylene.

14. The manipulator of claim 1 , wherein the flexible external sheath is formed of a polymer or nitinol.

Assignees

• Univ Johns Hopkins

Inventors

• Armand Mehran
• Moses Matthew S
• Kutzer Michael D
• Tiffany Jason E

Classifications

• Y10T74/20323

  including flaccid drive element · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• B25J9/0015

  Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion · CPC title

• B25J19/068 Primary

  Actuating means with variable stiffness · CPC title

• B25J9/1075

  with muscles or tendons · CPC title