Flexible robotic actuators

Title: Flexible robotic actuators

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.

Inventors:: 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.

Issue Date:: 2018-05-29

Research Org.:: President and Fellows of Harvard College, Cambridge, MA (United States)

Sponsoring Org.:: USDOE

OSTI Identifier:: 1455184

Patent Number(s):: 9,981,377

Application Number:: 14/480,106

Assignee:: President and Fellows of Harvard College (Cambridge, MA)

DOE Contract Number:: FG02-00ER45852

Resource Type:: Patent

Resource Relation:: Patent File Date: 2014 Sep 08

Country of Publication:: United States

Language:: English

Subject:: 42 ENGINEERING

Citation Formats


                    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, and Whitesides, George M. Flexible robotic actuators.  United States: N. p., 2018. 
        Web.

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                    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. Flexible robotic actuators.  United States.

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                    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, and Whitesides, George M. Tue .  
        "Flexible robotic actuators".  United States.  https://www.osti.gov/servlets/purl/1455184.

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@article{osti_1455184,

  title        = {Flexible robotic actuators},

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

  abstractNote = {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.},

  doi          = {},

  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {2018},

  month        = {5}

}

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A flexible device insertion tool including an elongated stiffener with one or more suction ports, and a vacuum connector for interfacing the stiffener to a vacuum source, for attaching the flexible device such as a flexible neural probe to the stiffener during insertion by a suction force exerted through the suction ports to, and to release the flexible device by removing the suction force.
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Soft actuators and soft actuating devices

Patent Yang, Dian; Whitesides, George M.

A soft buckling linear actuator is described, including: a plurality of substantially parallel bucklable, elastic structural components each having its longest dimension along a first axis; and a plurality of secondary structural components each disposed between and bridging two adjacent bucklable, elastic structural components; wherein every two adjacent bucklable, elastic structural components and the secondary structural components in-between define a layer comprising a plurality of cells each capable of being connected with a fluid inflation or deflation source; the secondary structural components from two adjacent layers are not aligned along a second axis perpendicular to the first axis; and themore »« less
Full Text Available
Soft actuators and soft actuating devices

Patent Yang, Dian; Whitesides, George M.

A soft buckling linear actuator is described, including: a plurality of substantially parallel bucklable, elastic structural components each having its longest dimension along a first axis; and a plurality of secondary structural components each disposed between and bridging two adjacent bucklable, elastic structural components; wherein every two adjacent bucklable, elastic structural components and the secondary structural components in-between define a layer comprising a plurality of cells each capable of being connected with a fluid inflation or deflation source; the secondary structural components from two adjacent layers are not aligned along a second axis perpendicular to the first axis; and themore »« less
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Actuation fluid adapter for hydraulically-actuated electronically-controlled fuel injector and engine using same

Patent Keyster, Eric S [Peoria, IL]; Merchant, Jack A [Peoria, IL]

A fuel injector adapter consists of a block defining a pressure communication passage therethrough and an actuation fluid passage. The actuation fluid passage includes three separate branches that open through an outer surface of the block at three separate locations.
Full Text Available
Tandem robot control system and method for controlling mobile robots in tandem

Patent Hayward, David R [Albuquerque, NM]; Buttz, James H [Albuquerque, NM]; Shirey, David L [Albuquerque, NM]

A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.
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Title: Flexible robotic actuators

Abstract

Citation Formats

Ornamental Table with Illuminated Receptacle patent, June 1659

Flexible Beam Structures patent, November 1966

Material Handling Apparatus and the Like patent, September 1967

Gripping Device patent, August 1971

Flexible Actuator patent, January 1973

Non-axial lead electrical component prepper-taper apparatus patent, October 1976

Inflatable ram patent, July 1982

High pressure fluid-driven tension actuators and method for constructing them patent, June 1988

Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements patent, November 1988

Grappling device patent, March 1989

Fluid pressure operated push beam and apparatus comprising one or more of such push beams patent, May 1990

Elastically deformable fluid actuator patent, December 1990

Fluid controlled biased bending neck patent, May 1991

Robotic fluid-actuated muscle analogue patent, June 1991

Flexible robotic links and manipulator trunks made thereform patent, January 1992

Gripping actuator with independently flexible cylinders patent, October 1992

Tentacle-like manipulators with adjustable tension lines patent, June 1994

Walking expansion actuator patent, July 1994

Actuator with flexible cylinders patent, January 1995

Pressure actuated gripping apparatus and method patent, October 1996

Method of controlling curvature of a medical device patent, April 1997

Actuators for simulating muscle activity in robotics patent, December 1997

Inflatable gripping or support device patent, November 1998

Automatic swimming pool cleaning device patent, October 2000

Operating mechanism patent, January 2001

Flexible agricultural automation patent, December 2003

Pump-integrated flexible actuator patent, April 2004

Flexible actuator patent, August 2004

Fluidic device patent, August 2006

Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same patent, August 2007

Actuator modules patent, February 2008

Pneumatic actuator patent, February 2008

Flexible hydraulic muscle patent, November 2009

Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism patent, February 2010

Inflatable gas cell structure deploying method patent-application, December 2003

Robotic device which moves by alternately connecting each of its ends to docking stations patent-application, March 2004

Valve actuation in combustion engines with artificial muscles patent-application, June 2004

Actuatable toy containing deformable bladder patent-application, December 2005

Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same patent-application, February 2006

Outdoor home cleaning robot patent-application, April 2010

Actuator Powered Deformable Soft-Bodied Autonomous Platforms patent-application, October 2010

Low-mass muscle actuators using electroactive polymers (EAP) conference, July 1998

Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation book, January 2014

Micro artificial muscle fiber using NiTi spring for soft robotics conference, October 2009

Fluid-Resistive Bending Sensor Compatible with a Flexible Pneumatic Balloon Actuator journal, June 2008

Reversible Dilation and Contraction by Changing the State of Ionization of High-Polymer Acid Networks journal, April 1950

Soft robot actuators using energy-efficient valves controlled by electropermanent magnets conference, September 2011

Camouflage and Display for Soft Machines journal, August 2012

Soft Mobile Robots with On-Board Chemical Pressure Generation book, August 2016

Design of an artificial muscle continuum robot conference, January 2004

JSEL: Jamming Skin Enabled Locomotion conference, October 2009

Geometrically exact dynamic models for soft robotic manipulators conference, October 2007

Universal robotic gripper based on the jamming of granular material journal, October 2010

Linear Expansion and Contraction of Paired Pneumatic Baloon Bending Actuators Toward Telescopic Motion conference, January 2009

Electrolytically Activated Contractile Polymer journal, June 1965

Pneumatic Networks for Soft Robotics that Actuate Rapidly journal, January 2014

Timing and Behavioral Efficiency in Controlling a Soft Body: A Case Study in Octopus Reaching Behavior conference, September 2011

Soft and Wet Materials: Polymer Gels journal, August 1998

Motion design of a starfish-shaped gel robot made of electro-active polymer gel journal, August 2002

Elastic materials producing compliant robots journal, July 1996

Ornamental Table with Illuminated Receptacle
patent, June 1659

Flexible Beam Structures
patent, November 1966

Material Handling Apparatus and the Like
patent, September 1967

Gripping Device
patent, August 1971

Flexible Actuator
patent, January 1973

Non-axial lead electrical component prepper-taper apparatus
patent, October 1976

Inflatable ram
patent, July 1982

High pressure fluid-driven tension actuators and method for constructing them
patent, June 1988

Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements
patent, November 1988

Grappling device
patent, March 1989

Fluid pressure operated push beam and apparatus comprising one or more of such push beams
patent, May 1990

Elastically deformable fluid actuator
patent, December 1990

Fluid controlled biased bending neck
patent, May 1991

Robotic fluid-actuated muscle analogue
patent, June 1991

Flexible robotic links and manipulator trunks made thereform
patent, January 1992

Gripping actuator with independently flexible cylinders
patent, October 1992

Tentacle-like manipulators with adjustable tension lines
patent, June 1994

Walking expansion actuator
patent, July 1994

Actuator with flexible cylinders
patent, January 1995

Pressure actuated gripping apparatus and method
patent, October 1996

Method of controlling curvature of a medical device
patent, April 1997

Actuators for simulating muscle activity in robotics
patent, December 1997

Inflatable gripping or support device
patent, November 1998

Automatic swimming pool cleaning device
patent, October 2000

Operating mechanism
patent, January 2001

Flexible agricultural automation
patent, December 2003

Pump-integrated flexible actuator
patent, April 2004

Flexible actuator
patent, August 2004

Fluidic device
patent, August 2006

Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same
patent, August 2007

Actuator modules
patent, February 2008

Pneumatic actuator
patent, February 2008

Flexible hydraulic muscle
patent, November 2009

Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism
patent, February 2010

Inflatable gas cell structure deploying method
patent-application, December 2003

Robotic device which moves by alternately connecting each of its ends to docking stations
patent-application, March 2004

Valve actuation in combustion engines with artificial muscles
patent-application, June 2004

Actuatable toy containing deformable bladder
patent-application, December 2005

Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same
patent-application, February 2006

Outdoor home cleaning robot
patent-application, April 2010

Actuator Powered Deformable Soft-Bodied Autonomous Platforms
patent-application, October 2010

Low-mass muscle actuators using electroactive polymers (EAP)
conference, July 1998

Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation
book, January 2014

Micro artificial muscle fiber using NiTi spring for soft robotics
conference, October 2009

Fluid-Resistive Bending Sensor Compatible with a Flexible Pneumatic Balloon Actuator
journal, June 2008

Reversible Dilation and Contraction by Changing the State of Ionization of High-Polymer Acid Networks
journal, April 1950

Soft robot actuators using energy-efficient valves controlled by electropermanent magnets
conference, September 2011

Camouflage and Display for Soft Machines
journal, August 2012

Soft Mobile Robots with On-Board Chemical Pressure Generation
book, August 2016

Design of an artificial muscle continuum robot
conference, January 2004

JSEL: Jamming Skin Enabled Locomotion
conference, October 2009

Geometrically exact dynamic models for soft robotic manipulators
conference, October 2007

Universal robotic gripper based on the jamming of granular material
journal, October 2010

Linear Expansion and Contraction of Paired Pneumatic Baloon Bending Actuators Toward Telescopic Motion
conference, January 2009

Electrolytically Activated Contractile Polymer
journal, June 1965

Pneumatic Networks for Soft Robotics that Actuate Rapidly
journal, January 2014

Timing and Behavioral Efficiency in Controlling a Soft Body: A Case Study in Octopus Reaching Behavior
conference, September 2011

Soft and Wet Materials: Polymer Gels
journal, August 1998

Motion design of a starfish-shaped gel robot made of electro-active polymer gel
journal, August 2002

Elastic materials producing compliant robots
journal, July 1996