公开(公告)号：WO2013148340A3

公开(公告)日：2013-12-05

申请号：PCT/US2013032297

申请日：2013-03-15

Applicant: HARVARD COLLEGE

Inventor： 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: B25J9/10 ,  B25J9/14

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. Thanks to the concentrical positioning of a plurality of inflatable channels, the claimed soft robot is capable of providing a radial deflection motion. A method for operating the disclosed robotic systems is also disclosed.

Abstract translation: 公开了用于提供灵活的机器人致动器的系统和方法。 由于多个可充气通道的同心定位，所要求保护的软式机器人能够提供径向偏转运动。 还公开了用于操作所公开的机器人系统的方法。

公开(公告)号：WO2015069360A9

公开(公告)日：2015-06-25

申请号：PCT/US2014051818

申请日：2014-08-20

Applicant: HARVARD COLLEGE

Inventor： MOSADEGH BOBAK ,  SHEPHERD ROBERT F ,  WHITESIDES GEORGE M

IPC: B25J9/14

CPC classification number: B25J15/0023 ,  B25J9/142 ,  B25J15/12 ,  B25J18/06 ,  B29C65/70 ,  B29L2009/00 ,  F15B15/08 ,  F15B15/103

Abstract: An actuator includes a plurality of chambers comprised of an extensible material, the chambers having interior side walls and exterior walls, wherein at least a portion of the interior side wall is separated from an interior side wall of an adjacent chamber; and a strain limiting base; and a channel that fluidically interconnects the plurality of chambers, wherein the interior walls are configured to be more compliant than the exterior walls.

Abstract translation: 致动器包括由可伸展材料构成的多个室，所述室具有内侧壁和外壁，其中内侧壁的至少一部分与相邻室的内侧壁分离; 和应变限制基; 以及使所述多个室流体互连的通道，其中所述内壁被配置为比所述外壁更顺从。

公开(公告)号：WO2015076940A3

公开(公告)日：2015-08-27

申请号：PCT/US2014058739

申请日：2014-10-02

Applicant: HARVARD COLLEGE

Inventor： TAYI ALOK ,  SO JU-HEE ,  WITTBRACHT FRANK ,  NUNES RUI ,  SHEPHERD ROBERT F ,  WHITESIDES GEORGE M

IPC: B29C70/34 ,  B29C70/40 ,  B29C70/86 ,  B32B5/28 ,  B32B37/10

CPC classification number: B32B7/045 ,  B32B1/02 ,  B32B1/08 ,  B32B3/10 ,  B32B5/26 ,  B32B7/08 ,  B32B15/02 ,  B32B29/005 ,  B32B37/10 ,  B32B37/1018 ,  B32B38/1808 ,  B32B2250/44 ,  B32B2260/021 ,  B32B2260/023 ,  B32B2260/028 ,  B32B2260/046 ,  B32B2262/062 ,  B32B2262/103 ,  B32B2262/106 ,  B32B2274/00 ,  B32B2305/07 ,  B32B2305/18 ,  B32B2307/538 ,  B32B2307/542 ,  B32B2535/00

Abstract: Composite materials that are configurable, their preparation, and their uses are described. A composite article includes a plurality of sheets positioned to interleave and partially overlap with each other and held together by interactions between the plurality of sheets and a compressive force across the plurality of sheets, wherein each of the plurality of sheets is infused with an elastomer and forms at least one smooth surface, wherein each of the plurality of sheets is in close contact with adjacent ones of the plurality of sheets, wherein an overlapping area of the plurality of sheets provides resistance to a shear force applied to the composite article.

Abstract translation: 描述了可配置的复合材料，其制备和使用。 复合制品包括多个片材，所述多个片材定位成彼此交错并且部分重叠并且通过所述多个片材之间的相互作用和穿过所述多个片材的压缩力而保持在一起，其中，所述多个片材中的每个片材浸渍有弹性体并且 形成至少一个光滑表面，其中所述多个片材中的每一个与所述多个片材中的相邻片材紧密接触，其中所述多个片材的重叠区域提供对施加到所述复合制品的剪切力的抵抗。

公开(公告)号：WO2013103412A3

公开(公告)日：2013-08-29

申请号：PCT/US2012059226

申请日：2012-10-08

Applicant: HARVARD COLLEGE

Inventor： SHEPHERD ROBERT F ,  NUNES RUI ,  WHITESIDES GEORGE M

IPC: F15B15/10

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.

Abstract translation: 提供了用于提供软机器人的系统和方法。 在一个系统中，机器人装置包括具有流体腔室的柔性主体，其中柔性主体的一部分包括可弹性延展的材料，并且柔性主体的一部分相对于可弹性延展的材料是应变限制的。 机器人装置可进一步包括与流体室流体连通的加压入口和与加压入口流体连通的加压装置，加压装置包括反应室，反应室构造成适应产生气体的化学反应，以提供加压气体给 加压入口。

公开(公告)号：WO2015105556A3

公开(公告)日：2015-11-05

申请号：PCT/US2014061387

申请日：2014-10-20

Applicant: HARVARD COLLEGE

Inventor： SHEPHERD ROBERT F ,  WHITESIDES GEORGE M ,  MOSADEGH BOBAK

IPC: A61B1/32

CPC classification number: A61B17/0218 ,  A61B1/00082 ,  A61B1/3132 ,  A61B1/32 ,  A61B2017/00557 ,  A61B2017/00831 ,  A61B2017/0225

Abstract: A surgical device for displacement of organs within a body cavity for providing at least visual access to a selected site includes an expandable bladder, wherein the elasticity of the bladder varies across the surface of the bladder, said variation in elasticity selected to provide a predetermined, non-spherical shape when expanded; and a valve on the proximal end on the inflatable bladder for introduction of a pressurizing gas into the soft bladder.

Abstract translation: 用于移动体腔内器官的外科手术装置，用于至少提供对选定部位的视觉进入，包括可膨胀囊，其中，膀胱的弹性在膀胱的表面上变化，所述弹性变化被选择为提供预定的， 膨胀时非球形; 以及位于可膨胀气囊上的近端上的阀，用于将加压气体引入软气囊中。

公开(公告)号：WO2016053430A3

公开(公告)日：2016-07-07

申请号：PCT/US2015038492

申请日：2015-06-30

Applicant: HARVARD COLLEGE

Inventor： TOLLEY MICHAEL T ,  SHEPHERD ROBERT F ,  MOSADEGH BOBAK ,  WOOD ROBERT J ,  WHITESIDES GEORGE M

IPC: B25J19/00 ,  B25J15/12 ,  B25J19/02 ,  B62D57/02 ,  F15B15/00

CPC classification number: B62D57/02 ,  B25J9/142 ,  B25J18/06 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/22 ,  Y10S901/27

Abstract: A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65 meter long soft body with modified Pneumatic network actuators capable of operating at the elevated pressures (up to 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. The soft robot is safe to handle, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile.

Abstract translation: 描述了一种气动的，完全无捆绑的移动软机器人。 使用由有机硅弹性体，聚芳酰胺织物和中空玻璃微球组成的复合材料来制造足够大的软机器人，以携带自主操作所需的微型空气压缩机，电池，阀门和控制器。 开发了制造技术以模拟一个0.65米长的软体，其具有改进的气动网络致动器，其能够在致动机器人的腿并保持高达8kg的有效载荷所需的高压（高达138kPa）下操作。 柔软的机器人可以安全地处理，其硅树脂对各种不利的环境条件（包括雪，水面水，直接（尽管有限的）暴露于火焰中，以及被汽车运行的破碎力都具有弹性。

公开(公告)号：WO2014015146A3

公开(公告)日：2014-04-10

申请号：PCT/US2013051092

申请日：2013-07-18

Applicant: HARVARD COLLEGE

Inventor： MORIN STEPHEN A ,  KWOK SEN W ,  SHEPHERD ROBERT F ,  WHITESIDES GEORGE M

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设备，系统和方法。 特别地，所公开的模块化软机器人可以包括具有多个模制柔性单元的柔性致动器。 每个模制柔性单元可以包括机械连接器，该机械连接器被配置为提供到另一个模制柔性单元的物理连接，并且多个模制柔性单元被布置成形成嵌入流体通道。 模块化软机器人还可以包括耦合到嵌入流体通道的入口，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收缩，从而引起柔性致动器的致动。