Soft robotic actuators

Patent metadata

Field	Value
Publication number	US-10465723-B2
Application number	US-201615289436-A
Country	US
Kind code	B2
Filing date	Oct 10, 2016
Priority date	Nov 19, 2010
Publication date	Nov 5, 2019
Grant date	Nov 5, 2019

Abstract

A soft robotic device includes a flexible body having a width, a length and a thickness, wherein the thickness is at least 1 mm, the flexible body having at least one channel disposed within the flexible body, the channel defined by upper, lower and side walls, wherein at least one wall is strain limiting; and a pressurizing inlet in fluid communication with the at least one channel, the at least one channel positioned and arranged such that the wall opposite the strain limiting wall preferentially expands when the soft robotic device is pressurized through the inlet.

First claim

What is claimed is:

1. A soft robotic actuator, comprising:
a molded body comprising a plurality of interconnected chambers disposed within the molded body, wherein a first portion of the molded body is strain limiting relative to a second portion of the molded body, wherein the first portion of the molded body has a thickness greater than the second portion of the molded body;
wherein the second portion of the molded body is configured to preferentially expand when the plurality of interconnected chambers are pressurized by fluid, causing a bending motion around the first portion of the molded body.

2. The soft robotic actuator of claim 1 , wherein the first portion of the molded body is formed using a material with a higher elastic modulus compared to that of a material forming the second portion of the molded body.

3. The soft robotic actuator of claim 1 , wherein the molded body comprises a reinforcing material to increase toughness and resistance to damage.

4. The soft robotic actuator of claim 1 , wherein the molded body further comprises a functional feature disposed on a surface of the molded body.

5. The soft robotic actuator of claim 4 , wherein the functional feature comprises a feature selected from the group consisting of a traction layer, a bidirectional fabric layer, a camouflage layer, a self-healing layer, suction cups and magnets.

6. The soft robotic actuator of claim 4 , wherein the functional feature is disposed on the first portion of the molded body.

7. The soft robotic actuator of claim 4 , wherein the functional feature is disposed at an end of the molded body.

8. The soft robotic actuator of claim 4 , wherein the functional feature comprises an anisotropic fabric that facilitates sliding in one direction and restricts sliding in another direction.

9. A gripping device comprising a plurality of actuatable arms, wherein each of the plurality of actuatable arms comprises the soft robotic actuator of claim 4 , wherein the plurality of actuatable arms are configured to bend from a first resting position to a second actuated position upon pressurization.

10. A multi-component soft robot comprising:
a plurality of soft robotic actuators of claim 1 ; and
a connector having a plurality of fluidic inputs, wherein one of the plurality of fluidic inputs is coupled to the interconnected chambers in one of the soft robotic actuators.

11. The multi-component soft robot of claim 10 , wherein the connector includes a flexible tether.

12. A gripping device comprising a plurality of actuatable arms, wherein each of the plurality of actuatable arms comprises the soft robotic actuator of claim 1 , wherein the plurality of actuatable arms are configured to bend from a first resting position to a second actuated position upon pressurization.

13. A method of gripping comprising:
providing a gripping device of claim 12 ; and
initiating a series of pressurizations and depressurizations that bring the gripping device in gripping contact with a target object.

14. A method of actuating a soft robotic actuator, the method comprising:
providing a soft robotic actuator of claim 1 ; and
providing sufficient pressure to the soft robotic actuator to cause a less stiff wall to expand preferentially, thereby causing the soft robotic actuator to bend around the first portion of the soft robotic actuator.

15. The soft body robotic device of claim 1 , wherein the molded body is comprised of a single material.

16. A soft robotic actuator, comprising:
a molded body comprising a plurality of interconnected chambers disposed within the molded body, wherein a strain limiting portion of the molded body is strain limiting relative to other portions of the molded body, and wherein the plurality of interconnected chambers comprise at least one wall that is thinner than the strain limiting portion of the molded body,
wherein the at least one wall is configured to preferentially expand when the plurality of interconnected chambers are pressurized by fluid, causing a bending motion around the strain limiting portion of the molded body.

17. The soft robotic actuator of claim 16 , wherein the molded body comprises a single material.

18. The soft robotic actuator of claim 16 , wherein the strain limiting portion of the molded body is formed using a material with a higher elastic modulus compared to that of a material forming the at least one wall.

19. The soft robotic actuator of claim 16 , wherein the molded body and the plurality of interconnected chambers each have a longitudinal axis, and wherein the longitudinal axes of the plurality of interconnected chambers are positioned and arranged at an angle with respect to the longitudinal axis of the flexible molded body, wherein the angle is between zero and 90 degrees.

20. The soft robotic actuator of claim 16 , wherein the molded body further comprises a functional feature disposed on a surface of the molded body.

21. The soft robotic actuator of claim 20 , wherein functional feature comprises a feature selected from the group consisting of a traction layer, a bidirectional fabric layer, a camouflage layer, a self-healing layer, suction cups and magnets.

22. A soft body robotic device, comprising:
a flexible molded body having a plurality of interconnected chambers disposed within the molded body, wherein the molded body comprises an elastically extensible portion and a strain limiting portion, and wherein the thickness of the molded body is at least 1 mm; and
a pressurizing inlet that is configured to receive fluid for the plurality of interconnected chambers,
wherein the molded body is configured to have a resting state and a pressurized state when the plurality of interconnected chambers are pressurized by the fluid;
wherein the elastically extensible portion preferentially expands, causing a bending motion around the strain limiting portion of the molded body in the pressurized state; and wherein the strain limiting portion has a wall thickness greater than the elastically extensible portion of the flexible molded body.

23. A soft body robotic device, comprising:
a flexible molded body comprising a plurality of interconnected pleated chambers comprising a flexible material; and
a strain limiting member affixed to the flexible molded body such that the strain limiting member forms a wall of the plurality of interconnected pleated chambers, wherein a thickness of the molded body is at least 1 mm; and
a pressurizing inlet that is configured to receive fluid for the plurality of interconnected pleated chamber;
wherein the plurality of interconnected pleated chambers are configured to have a resting state and a pressurized state;
wherein the plurality of interconnected pleated chambers are collapsed in the resting state;
wherein the plurality of interconnected pleated chambers preferentially expand in the pressurized state, causing a bending motion around the strain limiting member; and
wherein the strain limiting member has a wall thickness greater than other portions of the flexible molded body.

24. A soft body robotic device capable of extension, comprising:
a flexible molded body having a plurality of interconnected chambers disposed within the molded body;
a sealing member in a facing relationship with the flexible molded body, wherein the flexible molded body and the sealing member together define a plurality of channels, said channel defined by upper, lower and side walls; and
a pressu

Assignees

• Harvard College

Inventors

• Ilievski Filip
• Chen Xin
• Mazzeo Aaron D
• Whitesides George M
• Shepherd Robert F
• Martinez Ramses V
• Choi Won Jae
• Kwok Sen Wai
• Morin Stephen A
• Stokes Adam
• Nie Zhihong

Classifications

• B25J9/142

  comprising inflatable bodies · CPC title

• B25J11/00

  Manipulators not otherwise provided for · CPC title

• B25J9/1075

  with muscles or tendons · CPC title

• F15B15/10 Primary

  the motor being of diaphragm type · CPC title

• F15B7/06

  Details (F15B15/00 takes precedence) · CPC title