公开(公告)号：WO2017192829A1

公开(公告)日：2017-11-09

申请号：PCT/US2017/031024

申请日：2017-05-04

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： PIRASMEPULKUL, Saraj ,  CARACAPPA, Alexander ,  LUXSUWONG, Peerapat ,  ONAL, Cagdas D. ,  MICHALSON, William ,  KHUU, Tri ,  LUO, Ming

IPC: B25J13/08

Abstract: A toroidal actuator is responsive to a teleoperator for providing haptic feedback responsive to a curvature or articulated movement applied to a gripped object. The toroidal actuator surrounds an operator member such as a finger, and is responsive to pneumatic pressure for increasing telepresence force defined by resistance encounter against a teleoperated robotic claw. As the teleoperated claw grips an object, increased pneumatic pressure in the toroidal actuator tends to elongate the toroidal shape in a linear manner and oppose a curvature force applied by an inserted operator finger. Resistive force is based on soft sensing of the gripped object, thus the toroidal actuator applies an increasing resistive force to curvature as the robotic claw closes around a gripped object by solenoid regulated air pressure. A typical assembly includes at least 3 toroidal actuators for two digits and a thumb of an operator.

Abstract translation: 响应于远程操作器的环形致动器用于响应于施加到抓握物体的曲率或关节运动来提供触觉反馈。 环形致动器围绕诸如手指的操作员部件，并且响应于气动压力以增加由抵抗远程操作的机器人爪的阻力所限定的临场感力。 当远程操作的爪抓住物体时，环形致动器中的增加的气压倾向于以线性方式延长环形形状并且抵抗由插入的操作者手指施加的弯曲力。 抵抗力是基于对被夹物体的软感测，因此当螺线管调节的气压使机器人爪围绕被夹物体闭合时，环形致动器对曲率施加增大的阻力。 一个典型的组装包括至少3个两位数的环形致动器和一个操作员的拇指。

公开(公告)号：WO2019089709A1

公开(公告)日：2019-05-09

申请号：PCT/US2018/058378

申请日：2018-10-31

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： ONAL, Cagdas D. ,  ONDEMIR, Onder ,  TAO, Weijia

IPC: B25J15/12 ,  B25J18/06

CPC classification number: B25J15/12 ,  B25J9/0015 ,  B25J9/104 ,  B25J9/1075 ,  B25J15/10

Abstract: A soft bodied robotic member has the appearance of a finger and has a deformable rubber elongated body surrounding an array of rigid ribs interconnected by a perpendicular constraint. The plates form a series of parallel protrusions extending from opposed sides of the body and have a serrated, sawtooth or wavelike appearance. A tether runs through each row of protrusions and draws the corresponding protrusions together in a compressive manner to bend or dispose the finger toward the compressed side. Gaps between the protrusion allow movement of the protrusion towards adjacent protrusions to dispose the body in an arcuate shape. The constraint is a planar sheet that bends with the arc along its width, but resists lateral twisting, thus limiting movement outside a plane defined by the arc and the tether. Multiple finger members may be placed in close geometric proximity for gripping a common object.

公开(公告)号：WO2016164936A1

公开(公告)日：2016-10-13

申请号：PCT/US2016/027256

申请日：2016-04-13

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： ONAL, Cagdas D. ,  CHEN, Fuchen ,  TAO, Weijia

IPC: B25J11/00 ,  B25J5/00

CPC classification number: B25J19/007 ,  B62D57/032 ,  Y10S901/01

Abstract: A robotic configuration employs a system of low-cost, relatively lightweight beams and linkages fabricated from a planer material from a series of cuts and folds. The beams are folded along crease lines to form a 3-dimensional structure from a 2-dimeansionsl substrate such as a polyester or other semi-rigid sheet. Tabs and appendages, or keys, cut into the planar material engage slots or apertures cut into adjacent members to define linkages. The linkages include tabs that are insertable in a one-way manner, such that removal is prevented but articulate and rotational movement is permitted by the resilient and flexible nature of the planar sheet material. An arrangement of beams and linkages are cut and formed based on a pattern imposed on a single planar sheet. The beam and linkage arrangement defines a robotic configuration for transport and other actions from an actuation source such as a motor.

Abstract translation: 机器人配置采用由一系列切割和折叠的平面材料制成的低成本，相对较轻的梁和连杆的系统。 梁沿着折线折叠，以从2-二甲基硅烷基材料如聚酯或其它半刚性片材形成三维结构。 切割成平面材料的标签和附件或键将与切割成相邻构件的狭缝或孔相接合以限定连接。 连杆包括可以以单向方式插入的突出部，从而防止了移除，而是通过平面片材的弹性和柔性来允许旋转运动。 基于施加在单个平面片上的图案切割并形成梁和连杆的布置。 梁和连杆装置限定了用于运输和其它动作的机器人配置，诸如马达等动作源。