Soft robotic actuator enhancements

Patent metadata

Field	Value
Publication number	US-12145259-B2
Application number	US-202318349270-A
Country	US
Kind code	B2
Filing date	Jul 10, 2023
Priority date	Nov 18, 2014
Publication date	Nov 19, 2024
Grant date	Nov 19, 2024

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:
a master-side assembly comprising a master-side interface; and
a tool-side assembly comprising:
a tool-side interface configured to releasably couple the tool-side assembly to the master-side interface of the master-side assembly;
a soft actuator comprising a hollow body including an elastomeric material and configured to:
transition from an unactuated configuration to an actuated configuration upon application of an inflation fluid, and
move linearly relative to another soft actuator of the apparatus; and

an actuator attachment portion comprising an angular adjustment device disposed between, and adjacent to, the soft actuator and the tool-side interface and configured to adjust an angle of the soft actuator relative to a longitudinal axis extending through the apparatus.

2. The apparatus of claim 1 , wherein the master-side assembly further comprises a mechanical assembly configured to connect the master-side assembly to gantry.

3. The apparatus of claim 1 , wherein the master-side interface and tool-side interface each comprise a seal.

4. The apparatus of claim 3 , wherein the seals are configured to allow a sealed pathway for inflation fluid between the master-side assembly and the tool-side assembly.

5. The apparatus of claim 1 , wherein the master-side interface and tool-side interface are configured to releasably couple through a twist-lock interface.

6. The apparatus of claim 1 , wherein the angular adjustment device comprises a rotatable component.

7. The apparatus of claim 6 , wherein the angular adjustment device is configured to rotate with respect to the master-side assembly to change a relative angle between an attached actuator and the master-side assembly.

8. The apparatus of claim 1 , wherein the apparatus comprises a plurality of tool-side assemblies.

9. The apparatus of claim 8 , wherein each respective angular adjustment device is configured to independently adjust the angle of the actuator attached to the respective angular adjustment device.

10. The apparatus of claim 8 , wherein at least one of the angular adjustment devices is configured to interdependently adjust the angle at least two of the actuators.

11. The apparatus of claim 8 , wherein at least one of the angular adjustment devices is configured to adjust the angle of at least two of the actuators unequally but proportionally to each other.

12. The apparatus of claim 1 , further comprising a control device configured to transmit a control signal to the apparatus, wherein the control signal is configured to define a target angle for at least one of the angular adjustment devices.

13. The apparatus of claim 1 , wherein the angular adjustment device includes an electrical component.

14. The apparatus of claim 1 , wherein the angular adjustment device includes at least one of a mechanical, pneumatic, or hydraulic component.

15. The apparatus of claim 1 , wherein the angular adjustment device is configured to rotate inwards towards a center of the master-side assembly or outward away from the center of the master-side assembly.

16. A method comprising:
providing an apparatus according to claim 1 ; and
transmitting a control signal to the least one angular adjustment device to cause the at least one angular adjustment device to rotate.

17. The method of claim 16 , further comprising removing one of the plurality of soft actuators from the master-side assembly.

18. The method of claim 16 , further comprising moving the soft actuator linearly relative to the other soft actuator of the apparatus.

19. The method of claim 16 , wherein the control signal is configured to cause angular adjustment device to rotate to a different angle from a second angular adjustment device.

20. The method of claim 19 , wherein the different angle is dependent upon an angle of the second angular adjustment device.

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

• B25J15/0071

  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

• B25J15/12 Primary

  with flexible finger members · CPC title