-
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
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：US10418145B2
公开(公告)日：2019-09-17
申请号：US14732302
申请日：2015-06-05
Applicant: President and Fellows of Harvard College
Inventor： Joshua Aaron Lessing , Stephen A. Morin , George M. Whitesides
IPC: H01B1/24 , G01L1/22 , H01B1/22 , H01H1/021 , H01H36/00 , H01R13/52 , G01L1/20 , H01R43/00 , B29C39/18 , H01F7/02 , H05K1/02 , B29K305/00 , B29K305/12 , B29K307/04
Abstract: An elastically-deformable, conductive composite using elastomers and conductive fibers and simple fabrication procedures is provided. Conductive elastomeric composites offer low resistance to electrical current and are elastic over large (>25%) extensional strains. They can be easily interfaced/built into structures fabricated from elastomeric polymers.
-
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
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
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：US09506455B2
公开(公告)日：2016-11-29
申请号：US14329506
申请日：2014-07-11
Applicant: President and Fellows of Harvard College
Inventor： Aaron D. Mazzeo , Stephen A. Morin , Robert F. Shepherd , George M. Whitesides , William B. Kalb
CPC classification number: F03G7/06 , B25J9/1075 , B25J9/142 , F15B15/103
Abstract: Some embodiments of the disclosed subject matter includes a laminated robotic actuator. The laminated robotic actuator includes a strain-limiting layer comprising a flexible, non-extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the strain-limiting layer, wherein the inflatable layer is selectively adhered to the strain-limiting layer, and wherein a portion of an un-adhered region between the strain-limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non-extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non-extensible under actuation conditions.
Abstract translation: 所公开的主题的一些实施例包括层叠的机器人致动器。 层压机器人致动器包括应变限制层，其包括片状或薄膜形式的柔性不可延展材料，薄膜或片材形式的柔性可膨胀层与应变限制层 ，其中所述可膨胀层选择性地粘附到所述应变限制层，并且其中所述应变限制层和所述可膨胀层之间的未粘附区域的一部分限定可加压通道，并且至少一个流体入口与 可加压通道。 第一柔性不可伸展材料具有大于第二柔性弹性体材料的刚度的刚度，并且柔性弹性体在致动条件下是不可延展的。
-
Patent Agency Ranking
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
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
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：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：US10233910B2
公开(公告)日：2019-03-19
申请号：US15362334
申请日：2016-11-28
Applicant: President and Fellows of Harvard College
Inventor： Aaron D. Mazzeo , Stephen A. Morin , Robert F. Shepherd , George M. Whitesides , William B. Kalb
Abstract: Some embodiments of the disclosed subject matter includes a laminated robotic actuator. The laminated robotic actuator includes a strain-limiting layer comprising a flexible, non-extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the strain-limiting layer, wherein the inflatable layer is selectively adhered to the strain-limiting layer, and wherein a portion of an un-adhered region between the strain-limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non-extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non-extensible under actuation conditions.
-
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。
-
-
-
-
-
-
-
-
-
Search Results
10
records
(took 0.017 seconds)
