公开(公告)号：WO2013148340A3

公开(公告)日：2013-12-05

申请号：PCT/US2013032297

申请日：2013-03-15

Applicant: HARVARD COLLEGE

Inventor： 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

IPC: B25J9/10 ,  B25J9/14

CPC classification number: B25J9/142 ,  A47L9/2836 ,  B25J9/1075 ,  B25J9/1697 ,  Y10S901/22 ,  Y10T74/20305

Abstract: Systems and methods for providing flexible robotic actuators are disclosed. Thanks to the concentrical positioning of a plurality of inflatable channels, the claimed soft robot is capable of providing a radial deflection motion. A method for operating the disclosed robotic systems is also disclosed.

Abstract translation: 公开了用于提供灵活的机器人致动器的系统和方法。 由于多个可充气通道的同心定位，所要求保护的软式机器人能够提供径向偏转运动。 还公开了用于操作所公开的机器人系统的方法。

公开(公告)号：WO2013130760A3

公开(公告)日：2013-11-14

申请号：PCT/US2013028250

申请日：2013-02-28

Applicant: HARVARD COLLEGE

Inventor： MARTINEZ RAMSES V ,  WHITESIDES GEORGE M

IPC: F15B15/10

CPC classification number: F15B15/103 ,  B25J9/142 ,  F15B2215/305 ,  F21V1/12 ,  F21V17/02 ,  Y10T29/4998

Abstract: Soft pneumatic actuators based on composites consisting of elastomers (130) with embedded sheet or fiber structures, e.g., paper or fabric, (149) that are flexible but not extensible are described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into three-dimensional structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while keeping them light in weight.

Abstract translation: 描述了基于由具有柔性但不可伸长的嵌入片或纤维结构的弹性体（130），例如纸或织物（149）组成的软气动执行器。 在气动膨胀时，这些致动器基于其复合结构可触及的运动而各向异性地移动。 它们便宜，制造简单，重量轻，易于起动。 这种结构类型是通用的：相同的设计原理导致执行器响应于各种运动（弯曲，延伸，收缩，扭转等）的加压。 当用于将各向异性引入弹性体时，纸可以容易地折叠成按折纸原理的三维结构; 这些折叠的结构增加了弹性致动器的刚性和各向异性，同时保持其重量轻。