Flexible robotic actuators

Patent metadata

Field	Value
Publication number	US-9981377-B2
Application number	US-201414480106-A
Country	US
Kind code	B2
Filing date	Sep 8, 2014
Priority date	Mar 26, 2012
Publication date	May 29, 2018
Grant date	May 29, 2018

Abstract

Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.

First claim

The invention claimed is:

1. A soft robot comprising:
a flexible body having a plurality of embedded fluid channels, wherein at least two of the plurality of embedded fluid channels are arranged concentrically around a central axis of the flexible body; and
a pressurizing inlet coupled to the at least two of the plurality of embedded fluid channels, wherein the pressurizing inlet is configured to receive pressurized fluid to inflate a portion of the at least two of the plurality of embedded fluid channels, thereby causing a radial deflection of the flexible body,
wherein the at least two of the plurality of embedded fluid channels are arranged as concentric circles.

2. The soft robot of claim 1 , wherein the flexible body comprises a strain limiting layer, wherein a tensile modulus of the strain limiting layer is higher than a tensile modulus of the flexible body.

3. The soft robot of claim 2 , wherein the strain limiting layer comprises paper.

4. The soft robot of claim 1 , further comprising a soft chamber disposed above and in sealing contact with the flexible body, wherein the soft chamber comprises a fluid reservoir and a fluid inlet.

5. The soft robot of claim 4 , wherein the soft chamber comprises a cap comprising a cover layer and one or more walls, wherein the one or more walls are attached to the flexible body, and a volume between the cap and the flexible body forms the fluid reservoir.

6. The soft robot of claim 5 , wherein the fluid reservoir is configured to deliver fluid via the fluid inlet when the at least two of the plurality of embedded fluid channels are pressurized.

7. The soft robot of claim 5 , wherein the fluid reservoir is configured to receive fluid via the fluid inlet when the at least two of the plurality of embedded fluid channels are depressurized.

8. A method of receiving or delivering a fluid comprising:
providing a soft robot according to claim 4 ;
providing fluid to the soft chamber via the fluid inlet; and
providing pressurized fluid to the pressurizing inlet to pressurize the at least two of the plurality of embedded fluid channels, thereby expelling fluid housed within the soft chamber via the fluid inlet.

9. The method of claim 8 , further comprising removing the pressurized fluid from the pressurizing inlet to depressurize the at least two of the plurality of embedded fluid channels, thereby inhaling fluid into the soft chamber via the fluid inlet.

10. The method of claim 9 , wherein the soft chamber is configured to accommodate a chemical reagent capable of reaction with a reagent to generate a color.

11. The soft robot of claim 1 , wherein the flexible body is molded using an elastomer.

12. A method of actuating a soft robot, the method comprising:
providing a soft robot according to claim 1 ; and
providing pressurized fluid to the pressurizing inlet to pressurize the at least two of the plurality of embedded fluid channels, thereby causing a radial deflection of the soft robot.

13. A method of gripping a non-porous surface comprising:
providing a soft robot according to claim 1 ;
positioning the soft robot against a non-porous surface; and
providing pressurized fluid to the pressurizing inlet to pressurize the at least two of the plurality of embedded fluid channels, thereby collapsing the soft robot against the non-porous surface to form a suction seal.

Assignees

• Harvard College

Inventors

• Morin Stephen A
• Shepherd Robert F
• Stokes Adam
• Ilievski Filip
• Martinez Ramses V
• Branch Jamie L
• Fish Carina R
• Jin Lihua
• Nunes Rui M D
• Suo Zhigang
• Whitesides George M

Classifications

• Y10S901/22

  Fluid motor · CPC title

• Y10T74/20305

  Robotic arm · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J9/142 Primary

  comprising inflatable bodies · CPC title

• B25J9/1075

  with muscles or tendons · CPC title