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    Magnetic assembly of soft robots with hard components
    1.
    发明专利
    Magnetic assembly of soft robots with hard components 未知

    公开(公告)号：AU2014225893A1

    公开(公告)日：2015-09-17

    申请号：AU2014225893

    申请日：2014-03-04

    Applicant: HARVARD COLLEGE

    Inventor： KWOK SEN W ,  MORIN STEPHEN A ,  MOSADEGH BOBAK ,  SO JU-HEE ,  SHEPHERD ROBERT F ,  WHITESIDES GEORGE M

    IPC: B25J9/14

    Abstract: Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks.

    Flexible robotic actuators
    3.
    发明专利
    Flexible robotic actuators 未知

    公开(公告)号：AU2013209422B2

    公开(公告)日：2017-08-17

    申请号：AU2013209422

    申请日：2013-01-22

    Applicant: HARVARD COLLEGE

    Inventor： MAZZEO AARON D ,  MORIN STEPHEN A ,  SHEPHERD ROBERT F ,  WHITESIDES GEORGE M ,  KALB WILLIAM B

    IPC: B25J9/10 ,  B25J9/14

    Abstract: The laminated robotic actuator includes a strain - limiting layer comprising a flexible, non - extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the strain - limiting layer, wherein the inflatable layer is selectively adhered to the strain - limiting layer, and wherein a portion of an un- adhered region between the strain - limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non - extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non - extensible under actuation conditions.

    Systems and methods for providing flexible robotic actuators
    4.
    发明专利
    Systems and methods for providing flexible robotic actuators 未知

    公开(公告)号：AU2017213581B2

    公开(公告)日：2018-12-13

    申请号：AU2017213581

    申请日：2017-08-11

    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

    Abstract: A robotic system comprising a soft robot system comprising a flexible body having a plurality of embedded fluid channels, wherein the plurality of embedded fluid channels is defined by upper, lower and side walls, wherein at least one wall is strain limiting, wherein the soft robot further comprises a pressurizing inlet coupled to the plurality of embedded fluid channels, wherein the pressurizing inlet is configured to receive pressurized fluid to pressurize at least a portion of the plurality of embedded fluid channels to cause a movement of the soft robot; a hard robot coupled to the soft robot, configured to provide locomotion to the robotic system; and a robotic control system coupled to the soft robot and the hard robot, wherein the robotic control system comprises a fluidic system configured to provide the pressurized fluid to the fluid inlet. )(N en en ee C> -e en ---------- en -------------- 4* - ( c uD Vk u to ) en r11 e n ( en 2 cr ---------- '-4 -e u6 Q0 -Kt en o (N e en (N rr

    Flexible robotic actuators
    5.
    发明专利
    Flexible robotic actuators 未知

    公开(公告)号：AU2013209422A1

    公开(公告)日：2014-09-04

    申请号：AU2013209422

    申请日：2013-01-22

    Applicant: HARVARD COLLEGE

    Inventor： MAZZEO AARON D ,  MORIN STEPHEN A ,  SHEPHERD ROBERT F ,  WHITESIDES GEORGE M ,  KALB WILLIAM B

    IPC: B25J9/10 ,  B25J9/14

    Abstract: The laminated robotic actuator includes a strain - limiting layer comprising a flexible, non - extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the strain - limiting layer, wherein the inflatable layer is selectively adhered to the strain - limiting layer, and wherein a portion of an un- adhered region between the strain - limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non - extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non - extensible under actuation conditions.

    Systems and methods for providing flexible robotic actuators
    6.
    发明专利
    Systems and methods for providing flexible robotic actuators 未知

    公开(公告)号：AU2017213581A1

    公开(公告)日：2017-08-31

    申请号：AU2017213581

    申请日：2017-08-11

    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

    Abstract: A robotic system comprising a soft robot system comprising a flexible body having a plurality of embedded fluid channels, wherein the plurality of embedded fluid channels is defined by upper, lower and side walls, wherein at least one wall is strain limiting, wherein the soft robot further comprises a pressurizing inlet coupled to the plurality of embedded fluid channels, wherein the pressurizing inlet is configured to receive pressurized fluid to pressurize at least a portion of the plurality of embedded fluid channels to cause a movement of the soft robot; a hard robot coupled to the soft robot, configured to provide locomotion to the robotic system; and a robotic control system coupled to the soft robot and the hard robot, wherein the robotic control system comprises a fluidic system configured to provide the pressurized fluid to the fluid inlet. )(N en en ee C> -e en ---------- en -------------- 4* - ( c uD Vk u to ) en r11 e n ( en 2 cr ---------- '-4 -e u6 Q0 -Kt en o (N e en (N rr

    Apparatus, systems, and methods for modular soft robots
    7.
    发明专利
    Apparatus, systems, and methods for modular soft robots 未知

    公开(公告)号：AU2013292508A1

    公开(公告)日：2015-02-05

    申请号：AU2013292508

    申请日：2013-07-18

    Applicant: HARVARD COLLEGE

    Inventor： MORIN STEPHEN A ,  KWOK SEN W ,  SHEPHERD ROBERT F ,  WHITESIDES GEORGE M

    IPC: B25J18/06

    Abstract: Apparatus, systems, and methods for providing modular soft robots are disclosed. In particular, the disclosed modular soft robot can include a flexible actuator having a plurality of molded flexible units. Each molded flexible unit can include a mechanical connector configured to provide a physical coupling to another molded flexible unit, and the plurality of molded flexible units are arranged to form an embedded fluidic channel. The modular soft robot can also include an inlet coupled to the embedded fluidic channel, where the inlet is configured to receive pressurized or depressurized fluid to inflate or deflate a portion of the flexible actuator, thereby causing an actuation of the flexible actuator.

    LOW STRAIN PNEUMATIC NETWORKS FOR SOFT ROBOTS
    10.
    发明申请
    LOW STRAIN PNEUMATIC NETWORKS FOR SOFT ROBOTS 审中-公开
    用于软运动的低应变气动网络

    公开(公告)号：WO2015069360A9

    公开(公告)日：2015-06-25

    申请号：PCT/US2014051818

    申请日：2014-08-20

    Applicant: HARVARD COLLEGE

    Inventor： MOSADEGH BOBAK ,  SHEPHERD ROBERT F ,  WHITESIDES GEORGE M

    IPC: B25J9/14

    CPC classification number: B25J15/0023 ,  B25J9/142 ,  B25J15/12 ,  B25J18/06 ,  B29C65/70 ,  B29L2009/00 ,  F15B15/08 ,  F15B15/103

    Abstract: An actuator includes a plurality of chambers comprised of an extensible material, the chambers having interior side walls and exterior walls, wherein at least a portion of the interior side wall is separated from an interior side wall of an adjacent chamber; and a strain limiting base; and a channel that fluidically interconnects the plurality of chambers, wherein the interior walls are configured to be more compliant than the exterior walls.

    Abstract translation: 致动器包括由可伸展材料构成的多个室，所述室具有内侧壁和外壁，其中内侧壁的至少一部分与相邻室的内侧壁分离; 和应变限制基; 以及使所述多个室流体互连的通道，其中所述内壁被配置为比所述外壁更顺从。

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