Soft robotic actuator enhancements

Patent metadata

Field	Value
Publication number	US-11110616-B2
Application number	US-201816210315-A
Country	US
Kind code	B2
Filing date	Dec 5, 2018
Priority date	Nov 18, 2014
Publication date	Sep 7, 2021
Grant date	Sep 7, 2021

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; and
an angular adjustment device comprising one or more soft angle adjustors disposed adjacent to the proximal end of the one or more soft robotic actuators, the soft angle adjustors comprising one or more accordion extensions extending towards the distal end of the soft robotic actuators and being configured to be inflated independently of the soft robotic actuators.

2. The apparatus of claim 1 , wherein the soft angle adjustors comprise a plurality of soft angle adjustors that are further configured to be inflated independently of each other.

3. The apparatus of claim 1 , wherein the soft angle actuators are configured to, upon inflation, adjust a spread of the soft robotic actuators.

4. The apparatus of claim 1 , wherein the soft angle actuators are configured to, upon inflation and upon inflation of the soft robotic acutators, adjust an angle of attack of the soft robotic actuators.

5. The apparatus of claim 1 , wherein the one or more soft robotic actuators comprise a pair of actuators, and the angular adjustment device is provided laterally between the proximal ends of the pair of actuators.

6. The apparatus of claim 1 , wherein the one or more soft robotic actuators comprise first and second actuators arranged in a first pair, and third and fourth actuators arranged in a second pair, and the angular adjustment device comprises a first soft angle adjustor between the first pair of actuators, and a second soft angle adjustor between the second pair of actuators.

7. The apparatus of claim 1 , further comprising a tool side assembly attached to the proximal end of the one or more soft robotic actuators.

8. The apparatus of claim 7 , wherein the tool side assembly comprises an interface configured to mate to a corresponding interface on a master side assembly.

9. The apparatus of claim 7 , wherein the tool side assembly provides a seal for an inflation line configured to inflate the one or more soft robotic actuators.

10. The apparatus of claim 7 , wherein the tool side assembly provides an electrical connection.

11. A method comprising:
providing the apparatus of claim 1 ; and
inflating the one or more soft robotic actuators to cause the one or more soft robotic actuators to curl and make contact with a target object.

12. The method of claim 11 , further comprising inflating the angular adjustment device.

13. The method of claim 12 , wherein inflating the angular adjustment device is performed independently of inflating the one or more soft robotic actuators.

14. The method of claim 12 , wherein the angular adjustment device comprises a plurality of soft angle adjustors and inflating the angular adjustment device comprises inflating the plurality of soft angle adjustors independently of each other.

15. The method of claim 11 , further comprising deploying a force amplification device at least partially around the one or more actuators, 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.

16. The method of claim 15 , 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, the cuff or bellows having a longitudinally-extendible length, and further comprising adjusting the length of the cuff or bellows to change an amount of force exerted at the distal end of the one or more soft robotic actuators.

17. The method of claim 11 , further comprising attaching a strain limiting layer to the apparatus, wherein the soft robotic actuator has a neutral axis of bending, and the strain limiting layer comprises a rigidizing layer having one or more rigid components oriented perpendicular to the neutral axis of bending.

18. The method of claim 17 , further comprising securing the rigidizing layer 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.

19. The method of claim 11 , wherein the apparatus further comprises a tool side assembly having an interface, and further comprising attaching the tool side assembly to a master side assembly by mating the interface of the tool side assembly to an interface of the master side assembly.

20. The method of claim 19 , further comprising supplying an inflation fluid to the apparatus via the interface on the tool side assembly.

Assignees

• Soft Robotics Inc

Inventors

• Lessing Joshua Aaron
• Knopf Ryan
• Vause Carl

Classifications

• B25J15/10

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

• B25J15/0023

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

• B25J15/0071

  with needles engaging into objects to be gripped · CPC title

• B25J15/12 Primary

  with flexible finger members · CPC title