公开(公告)号：EP3392000B1

公开(公告)日：2020-08-19

申请号：EP18171280.3

申请日：2013-03-15

申请人： President and Fellows of Harvard College

发明人： 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分类号： B25J9/10 ,  B25J9/14

公开(公告)号：EP3392000A1

公开(公告)日：2018-10-24

申请号：EP18171280.3

申请日：2013-03-15

申请人： President and Fellows of Harvard College

发明人： 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分类号： B25J9/10 ,  B25J9/14

摘要： 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.

公开(公告)号：EP2877325B1

公开(公告)日：2017-11-08

申请号：EP13745928.5

申请日：2013-07-18

申请人： President and Fellows of Harvard College

发明人： MORIN, Stephen, A. ,  KWOK, Sen, W. ,  SHEPHERD, Robert, F. ,  WHITESIDES, George, M.

IPC分类号： B25J18/06

CPC分类号： B25J18/06 ,  Y10T74/20305

公开(公告)号：EP2764255B1

公开(公告)日：2020-09-09

申请号：EP12864130.5

申请日：2012-10-08

申请人： President and Fellows of Harvard College

发明人： SHEPHERD, Robert, F. ,  NUNES, Rui ,  WHITESIDES, George, M. ,  STOKES, Adam ,  FREAKE, Jacob ,  MORIN, Stephen, A. ,  CADEMARTIRI, Ludovico ,  CHEN, Xin

IPC分类号： B25J9/10 ,  B25J9/14

公开(公告)号：EP2834047A2

公开(公告)日：2015-02-11

申请号：EP13714786.4

申请日：2013-03-15

申请人： President and Fellows of Harvard College

发明人： 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分类号： B25J9/10 ,  B25J9/14

CPC分类号： B25J9/142 ,  A47L9/2836 ,  B25J9/1075 ,  B25J9/1697 ,  Y10S901/22 ,  Y10T74/20305

摘要： 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.

公开(公告)号：EP2764255A2

公开(公告)日：2014-08-13

申请号：EP12864130.5

申请日：2012-10-08

申请人： President and Fellows of Harvard College

发明人： SHEPHERD, Robert, F. ,  NUNES, Rui ,  WHITESIDES, George, M. ,  STOKES, Adam ,  FREAKE, Jacob ,  MORIN, Stephen, A. ,  CADEMARTIRI, Ludovico ,  CHEN, Xin

IPC分类号： F15B15/10

摘要： 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.

公开(公告)号：EP2964427B1

公开(公告)日：2020-11-18

申请号：EP14759711.6

申请日：2014-03-04

申请人： President and Fellows of Harvard College

发明人： KWOK, Sen, W. ,  MORIN, Stephen, A. ,  MOSADEGH, Bobak ,  SO, Ju-Hee ,  SHEPHERD, Robert, F. ,  WHITESIDES, George, M.

IPC分类号： B25J9/08 ,  B25J9/14 ,  B23P19/04 ,  B25J15/12 ,  B62D57/032

公开(公告)号：EP2834047B1

公开(公告)日：2018-05-09

申请号：EP13714786.4

申请日：2013-03-15

申请人： President and Fellows of Harvard College

发明人： 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分类号： B25J9/16 ,  A47L9/28 ,  B25J9/10 ,  B25J9/14

CPC分类号： B25J9/142 ,  A47L9/2836 ,  B25J9/1075 ,  B25J9/1697 ,  Y10S901/22 ,  Y10T74/20305

摘要： 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.

公开(公告)号：EP2964427A1

公开(公告)日：2016-01-13

申请号：EP14759711.6

申请日：2014-03-04

申请人： President and Fellows of Harvard College

发明人： KWOK, Sen, W. ,  MORIN, Stephen, A. ,  MOSADEGH, Bobak ,  SO, Ju-Hee ,  SHEPHERD, Robert, F. ,  WHITESIDES, George, M.

IPC分类号： B25J9/14

摘要： 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.

公开(公告)号：EP2877325A2

公开(公告)日：2015-06-03

申请号：EP13745928.5

申请日：2013-07-18

申请人： President and Fellows of Harvard College

发明人： MORIN, Stephen, A. ,  KWOK, Sen, W. ,  SHEPHERD, Robert, F. ,  WHITESIDES, George, M.

IPC分类号： B25J18/06

CPC分类号： B25J18/06 ,  Y10T74/20305

摘要： 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.

摘要翻译： 公开了用于提供模块化软机器人的装置，系统和方法。 特别地，所公开的模块化软式机器人可以包括具有多个模制的柔性单元的柔性致动器。 每个模制的柔性单元可以包括被配置为提供与另一个模制的柔性单元的物理耦合的机械连接器，并且多个模制的柔性单元被布置成形成嵌入的流体通道。 模块化软机器人还可以包括连接到嵌入式流体通道的入口，其中入口构造成接收加压或减压流体以使柔性致动器的一部分膨胀或放气，从而导致柔性致动器的致动。