Systems and methods for actuating soft robotic actuators

Patent metadata

Field	Value
Publication number	US-9945397-B2
Application number	US-201414243656-A
Country	US
Kind code	B2
Filing date	Apr 2, 2014
Priority date	Nov 19, 2010
Publication date	Apr 17, 2018
Grant date	Apr 17, 2018

Abstract

Systems and methods for providing a soft robot is provided. In one system, a robotic device includes a flexible body having a fluid chamber, where a portion of the flexible body includes an elastically extensible material and a portion of the flexible body is strain limiting relative to the elastically extensible material. The robotic device can further include a pressurizing inlet in fluid communication with the fluid chamber, and a pressurizing device in fluid communication with the pressurizing inlet, the pressurizing device including a reaction chamber configured to accommodate a gas-producing chemical reaction for providing pressurized gas to the pressurizing inlet.

First claim

What is claimed is:

1. An untethered robotic device, comprising:
a flexible body having a fluid chamber, wherein the flexible body comprises an elastically extensible material and a portion of the flexible body comprises a strain limiting layer that is strain limiting relative to the elastically extensible material, wherein the flexible body is configured to bend around the strain limiting layer upon receiving pressurized fluid in the fluid chamber;
a pressurizing inlet in fluid communication with the fluid chamber; and
an untethered pressurizing device on the robotic device in fluid communication with the pressurizing inlet, wherein the pressurizing device is separate from the fluid chamber and is configured to generate the pressurized fluid in order to provide the pressurized fluid to the fluid chamber of the flexible body.

2. The robotic device of claim 1 , wherein the pressurizing device comprises a gas-producing reagent selected to provide a gas in a thermal decomposition reaction.

3. The robotic device of claim 2 , wherein the pressurizing device comprises an electrolytic cell and the gas-producing reagent is selected to provide a gas product during electrolysis.

4. The robotic device of claim 2 , wherein the pressurizing device further comprises a resistive wire in thermal contact with the gas-producing reagent, and wherein the resistive wire is configured to receive electric current.

5. The robotic device of claim 2 , wherein the gas producing reagent comprises azide salt.

6. The robotic device of claim 1 , wherein the pressurizing device includes a gas-producing reagent selected to provide a gas in an oxidative decomposition reaction.

7. The robotic device of claim 6 , wherein the pressurizing device further comprises an oxidizer in contact with the gas-producing reagent.

8. The robotic device of claim 1 , wherein the pressurizing device comprises a microcompressor.

9. A method of actuating a robotic device, comprising:
providing a robotic device according to claim 1 ; and
providing the pressurized fluid from the untethered pressurizing device to the fluid chamber in the flexible body to cause the flexible body to bend around the strain limiting layer.

10. A soft robotic system comprising:
a flexible body having a pneumatic actuator and an explosive actuator, wherein the pneumatic actuator is configured to deform upon receipt of pressurized gas, and wherein the explosive actuator is configured to receive a fuel;
a pressurizing inlet in fluid communication with the pneumatic actuator and a pressurizing gas source; and
an ignition trigger configured to trigger a combustion of the fuel in the explosive actuator, thereby providing explosive gas to the explosive actuator,
wherein the explosive actuator comprises a bellows structure.

11. The soft robotic system of claim 10 , further comprising a fuel tank to provide the fuel to the explosive actuator.

12. The soft robotic system of claim 10 , further comprising a tank for carrying an oxygen source, wherein the tank is configured to provide oxygen to the explosive actuator.

13. The soft robotic system of claim 12 , wherein the tank further comprises a catalyst for decomposing the oxygen source into oxygen.

14. The soft robotic system of claim 10 , further comprising a pressurizing device for providing the pressurized gas to the pneumatic actuator.

15. The soft robotic system of claim 14 , wherein the pressurizing device comprises a microcompressor.

16. A soft robotic system comprising:
a flexible body having a pneumatic actuator and an explosive actuator, wherein the pneumatic actuator is configured to deform upon receipt of pressurized gas, and wherein the explosive actuator is configured to receive a fuel;
a pressurizing inlet in fluid communication with the pneumatic actuator and a pressurizing gas source; and
an ignition trigger configured to trigger a combustion of the fuel in the explosive actuator, thereby providing explosive gas to the explosive actuator,
wherein the pneumatic actuator is configured to orient the explosive actuator upon receipt of the pressurized gas, and wherein the explosive actuator is configured to provide a jumping motion to the soft robotic system in the orientation provided by the pneumatic actuator, upon the combustion of the fuel.

Assignees

• Harvard College

Inventors

• Shepherd Robert F
• Stokes Adam
• Morin Stephen A
• Cademartiri Ludovico
• Freake Jacob
• Nunes Rui
• Chen Xin
• Whitesides George M

Classifications

• F15B15/103

  using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators · CPC title

• B25J9/142

  comprising inflatable bodies · CPC title

• B25J9/1075 Primary

  with muscles or tendons · CPC title

• F15B13/04 Primary

  for use with a single servomotor · CPC title