Soft robotic actuators and methods of manufacturing the same

Patent metadata

Field	Value
Publication number	US-2019099897-A1
Application number	US-201816205453-A
Country	US
Kind code	A1
Filing date	Nov 30, 2018
Priority date	Mar 23, 2015
Publication date	Apr 4, 2019
Grant date	—

Abstract

Exemplary embodiments relate to various improvements in soft robotic actuators, and techniques for manufacturing the improvements. For example, techniques for manufacturing a rigidizing layer for reinforcing a soft robotic actuator is provided. In another embodiment, a soft robotic actuator having integrated sensors is described. A flexible electroadhesive pad for achieving a conformal grip is also described. Still further, exemplary embodiments provide hydraulically-actuated soft robotic grippers, which allows for a reduction in the size of the actuation system and improved underwater operation.

First claim

1 . A method of manufacturing a rigidizing layer for a soft robotic actuator, the method comprising:
disposing a fabric sheet on a bottom plate of a hot press; disposing a layer of elastomeric material on the fabric sheet, the layer of thermoplastic material having a plurality of slots formed in it; disposing a rigid slat in each of the slots in the layer of thermoplastic material; disposing a compliant supportive layer on the layer of thermoplastic material and the slats; disposing a top plate of the hot press on the gasket; operating the hot press to bond the fabric sheet, the layer of thermoplastic material, and the compliant supportive layer together to form a bonded sheet; and cutting the rigidizing layer from the bonded sheet.

2 . The method of claim 1 , wherein the fabric sheet comprises nylon.

3 . The method of claim 1 , wherein the elastomeric material comprises a thermoplastic.

4 . The method of claim 1 , wherein the elastomeric material comprises thermoplastic polyurethane (TPU).

5 . The method of claim 1 , further comprising disposing a gasket on the layer of neoprene foam, the gasket having a number and arrangement of slots formed in corresponding to a number and configuration of the slots formed in the layer of thermoplastic material.

6 . The method of claim 1 , wherein the compliant supportive layer comprises a stretching foam.

7 . The method of claim 1 , wherein the compliant supportive layer comprises spandex and neoprene foam.

Assignees

• Soft Robotics Inc

Inventors

• Lessing Joshua Aaron
• Knopf Ryan Richard
• Vause Carl Everett
• Harburg Daniel Vincent

Classifications

• B32B33/00

  Layered products characterised by particular properties or particular surface features, e.g. particular surface coatings; Layered products designed for particular purposes not covered by another single class · CPC title

• B32B2309/02

  Temperature · CPC title

• B29C66/1122

  Single lap to lap joints, i.e. overlap joints (B29C66/45, B29C66/472, B29C66/52272 take precedence) · CPC title

• B29C66/71

  characterised by the composition of the plastics material of the parts to be joined (welding bar compositions B29C65/125) · CPC title

• B32B27/065

  of foam · CPC title