公开(公告)号：US09962832B2

公开(公告)日：2018-05-08

申请号：US14768389

申请日：2014-03-04

Applicant: President and Fellows of Harvard College

Inventor： Sen Wai Kwok ,  Stephen A. Morin ,  Bobak Mosadegh ,  Ju-Hee So ,  Robert F. Shepherd ,  George M. Whitesides

IPC: B25J15/06 ,  B25J9/14 ,  B25J9/08 ,  B25J15/12 ,  B62D57/032 ,  B23P19/04 ,  B25J15/00 ,  A63H3/46

CPC classification number: B25J9/14 ,  A63H3/46 ,  B23P19/04 ,  B25J9/08 ,  B25J9/142 ,  B25J15/0023 ,  B25J15/0608 ,  B25J15/12 ,  B62D57/032 ,  Y10S901/27 ,  Y10S901/37 ,  Y10S901/39

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.

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：US10406698B2

公开(公告)日：2019-09-10

申请号：US14421429

申请日：2013-07-18

Applicant: President and Fellows of Harvard College

Inventor： Stephen A. Morin ,  Sen Wai Kwok ,  Robert F. Shepherd ,  George M. Whitesides

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.

公开(公告)号：US20150217459A1

公开(公告)日：2015-08-06

申请号：US14421429

申请日：2013-07-18

Applicant: President and Fellows of Harvard College

Inventor： Stephen A. Morin ,  Sen Wai Kwok ,  Robert F. Shepherd ,  George M. Whitesides

IPC: B25J18/06

CPC classification number: B25J18/06 ,  Y10T74/20305

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.

Abstract translation: 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。 模块式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的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。