公开(公告)号：US09981377B2

公开(公告)日：2018-05-29

申请号：US14480106

申请日：2014-09-08

Applicant: President and Fellows of Harvard College

Inventor： Stephen A. Morin ,  Robert F. Shepherd ,  Adam Stokes ,  Filip Ilievski ,  Ramses V. Martinez ,  Jamie L. Branch ,  Carina R. Fish ,  Lihua Jin ,  Rui M. D. Nunes ,  Zhigang Suo ,  George M. Whitesides

IPC: B25J9/14 ,  B25J9/10 ,  A47L9/28 ,  B25J9/16

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. 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：US10994413B2

公开(公告)日：2021-05-04

申请号：US15990268

申请日：2018-05-25

Applicant: President and Fellows of Harvard College

Inventor： Stephen A. Morin ,  Robert F. Shepherd ,  Adam Stokes ,  Filip Ilievski ,  Ramses V. Martinez ,  Jamie L. Branch ,  Carina R. Fish ,  Lihua Jin ,  Rui M. D. Nunes ,  Zhigang Suo ,  George M. Whitesides

IPC: B25J9/14 ,  B25J9/10 ,  B25J9/16 ,  A47L9/28

Abstract: 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：US10465723B2

公开(公告)日：2019-11-05

申请号：US15289436

申请日：2016-10-10

Applicant: President and Fellows of Harvard College

Inventor： Filip Ilievski ,  Xin Chen ,  Aaron D. Mazzeo ,  George M. Whitesides ,  Robert F. Shepherd ,  Ramses V. Martinez ,  Won Jae Choi ,  Sen Wai Kwok ,  Stephen A. Morin ,  Adam Stokes ,  Zhihong Nie

IPC: F15B15/10 ,  B25J9/10 ,  B25J9/14 ,  B25J11/00 ,  F15B7/06

Abstract: A soft robotic device includes a flexible body having a width, a length and a thickness, wherein the thickness is at least 1 mm, the flexible body having at least one channel disposed within the flexible body, the channel defined by upper, lower and side walls, wherein at least one wall is strain limiting; and a pressurizing inlet in fluid communication with the at least one channel, the at least one channel positioned and arranged such that the wall opposite the strain limiting wall preferentially expands when the soft robotic device is pressurized through the inlet.

公开(公告)号：US09945397B2

公开(公告)日：2018-04-17

申请号：US14243656

申请日：2014-04-02

Applicant: President and Fellows of Harvard College

Inventor： Robert F. Shepherd ,  Adam Stokes ,  Stephen A. Morin ,  Ludovico Cademartiri ,  Jacob Freake ,  Rui Nunes ,  Xin Chen ,  George M. Whitesides

IPC: F01B29/08 ,  F15B13/04 ,  B25J9/10 ,  B25J9/14

CPC classification number: F15B13/04 ,  B25J9/1075 ,  B25J9/142

Abstract: 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：US09719534B2

公开(公告)日：2017-08-01

申请号：US14752558

申请日：2015-06-26

Applicant: President and Fellows of Harvard College

Inventor： Yanina Shevchenko ,  George M. Whitesides ,  Adam Stokes ,  Gabrielle Compton

IPC: B62D57/032 ,  F15B15/10

CPC classification number: F15B15/103 ,  B62D57/032 ,  F15B2215/305

Abstract: A modular pneumatic robotic actuator, including a first elongated hollow structure and a second elongated hollow structure connected to each other at a moveable joint; an inflatable bladder comprised of an elastomeric material disposed at the joint and immobilized between the first and second hollow structures, wherein the inflatable bladder inflates preferentially away from the joint; and a restraining membrane comprised of an elastomeric material disposed over the bladder and connecting the first and second hollow structures, wherein the restraining membrane is relaxed when the bladder is deflated.

公开(公告)号：US10260533B2

公开(公告)日：2019-04-16

申请号：US15665583

申请日：2017-08-01

Applicant: President and Fellows of Harvard College

Inventor： Yanina Shevchenko ,  George M. Whitesides ,  Adam Stokes ,  Gabrielle Compton ,  Alex Nemiroski

IPC: F15B15/10 ,  B62D57/032

Abstract: A modular pneumatic robotic actuator, including a first elongated hollow structure and a second elongated hollow structure connected to each other at a moveable joint; an inflatable bladder comprised of an elastomeric material disposed at the said joint and immobilized between the first and second hollow structures, wherein the said inflatable bladder inflates preferentially away from the joint; and a restraining membrane comprised of an elastomeric material disposed over the bladder and connecting the first and second hollow structures, wherein the said restraining membrane is relaxed when the bladder is deflated.