公开(公告)号：US11865702B2

公开(公告)日：2024-01-09

申请号：US17410719

申请日：2021-08-24

Applicant: Worcester Polytechnic Institute

Inventor： Cagdas D. Onal ,  Onder Ondemir ,  Weijia Tao

IPC: B25J15/10 ,  B25J15/12 ,  B25J9/10 ,  B25J9/00

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：US20190126497A1

公开(公告)日：2019-05-02

申请号：US16176138

申请日：2018-10-31

Applicant: Worcester Polytechnic Institute

Inventor： Cagdas D. Onal ,  Onder Ondemir ,  Weijia Tao

IPC: B25J15/12 ,  B25J9/00 ,  B25J9/10 ,  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：US11097430B2

公开(公告)日：2021-08-24

申请号：US16176138

申请日：2018-10-31

Applicant: Worcester Polytechnic Institute

Inventor： Cagdas D. Onal ,  Onder Ondemir ,  Weijia Tao

IPC: B25J15/10 ,  B25J15/12 ,  B25J9/00 ,  B25J9/10

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.