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.:: Harvard Univ., Cambridge, MA (United States)

Sponsoring Org.:: USDOE

OSTI Identifier:: 1455184

Patent Number(s):: 9981377

Application Number:: 14/480,106

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

Patent Classifications (CPCs):: A - HUMAN NECESSITIES A47 - FURNITURE A47L - DOMESTIC WASHING OR CLEANING

B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS

Show more

A - HUMAN NECESSITIES A47 - FURNITURE A47L - DOMESTIC WASHING OR CLEANING
A47L9/2836 - {characterised by the parts which are controlled}

B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
B25J9/1697 - {Vision controlled systems}
B25J9/1075 - {with muscles or tendons}

Y - NEW / CROSS SECTIONAL TECHNOLOGIES Y10 - TECHNICAL SUBJECTS COVERED BY FORMER USPC Y10S - TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
Y10S901/22 - Fluid motor

B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
B25J9/142 - {comprising inflatable bodies}

Y - NEW / CROSS SECTIONAL TECHNOLOGIES Y10 - TECHNICAL SUBJECTS COVERED BY FORMER USPC Y10T - TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
Y10T74/20305 - Robotic arm

Show less

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.

Copy to clipboard


                    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.

Copy to clipboard


                    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.

Copy to clipboard


                    
@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}

}

Copy to clipboard

Patent:

View Patent

Save / Share:

Export Metadata

Save to My Library

Works referenced in this record:

Electrolytically Activated Contractile Polymer
journal, June 1965

Hamlen, R. P.; Kent, C. E.; Shafer, S. N.
Nature, Vol. 206, Issue 4989, p. 1149-1150
https://doi.org/10.1038/2061149b0

Actuatable toy containing deformable bladder
patent-application, December 2005

Panec, Don J.; Stillinger, Scott; LaRonge, Ron
US Patent Document 11/105308; 20050282462
URL: http://appft.uspto.gov/netacgi/nph-Parser?Sect1=PTO1&Sect2=HITOFF&d=PG01&p=1&u=%2Fnetahtml%2FPTO%2Fsrchnum.html&r=1&f=G&l=50&s1=%2220050282462%22.PGNR.&OS=DN/20050282462&RS=DN/20050282462

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

Trimmer, Barry
US Patent Document 12/747839; 20100258362
URL: http://appft.uspto.gov/netacgi/nph-Parser?Sect1=PTO1&Sect2=HITOFF&d=PG01&p=1&u=%2Fnetahtml%2FPTO%2Fsrchnum.html&r=1&f=G&l=50&s1=%2220100258362%22.PGNR.&OS=DN/20100258362&RS=DN/20100258362

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

Kuhn, W.; Hargitay, B.; Katchalsky, A.
Nature, Vol. 165, Issue 4196, p. 514-516
https://doi.org/10.1038/165514a0

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

Kim, Sangbae; Hawkes, Elliot; Choy, Kyujin
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
https://doi.org/10.1109/IROS.2009.5354178

Grappling device
patent, March 1989

Craig, Preston; Fisher, Jeffrey
US Patent Document 4,815,782
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F4815782

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

Fujiwara, N.; Sawano, S.; Konishi, S.
2009 IEEE 22nd International Conference on Micro Electro Mechanical Systems
https://doi.org/10.1109/MEMSYS.2009.4805412

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

Paynter, Henry
US Patent Document 4,751,869
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F4751869

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

Ono, Atsushi; Yokoyama, Kazuo
US Patent Document 7,258,379
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F7258379

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

Onal, Cagdas D.; Chen, Xin; Whitesides, George M.
Robotics Research, p. 525-540
https://doi.org/10.1007/978-3-319-29363-9_30

Optimal, Model-Based Design of Soft Robotic Manipulators
journal, August 2008

Trivedi, Deepak; Dienno, Dustin; Rahn, Christopher D.
Journal of Mechanical Design, Vol. 130, Issue 9
https://doi.org/10.1115/1.2943300

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

Konishi, Satoshi; Sawano, Satoshi; Kusuda, Shinya
Journal of Robotics and Mechatronics, Vol. 20, Issue 3, p. 436-440
https://doi.org/10.20965/jrm.2008.p0436

Gripping actuator with independently flexible cylinders
patent, October 1992

Suzumori, Kohichi
US Patent Document 5,156,081
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F5156081

Flexible agricultural automation
patent, December 2003

Hanley, Brian
US Patent Document 6,671,582
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F6671582

Inflatable ram
patent, July 1982

Edwards, Thomas
US Patent Document 4,337,921
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F4337921

Elastically deformable fluid actuator
patent, December 1990

Suzumori, Koichi; Matsumaru, Takafumi; Iikura, Shoichi
US Patent Document 4,976,191
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F4976191

Actuator with flexible cylinders
patent, January 1995

Suzumori, Kohichi
US Patent Document 5,385,080
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F5385080

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

Lee, Haojun
US Patent Document 5,619,993
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F5619993

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

Otake, Mihoko; Kagami, Yoshiharu; Inaba, Masayuki
Robotics and Autonomous Systems, Vol. 40, Issue 2-3, p. 185-191
https://doi.org/10.1016/S0921-8890(02)00243-9

Ornamental Table with Illuminated Receptacle
patent, June 1659

Wass, Yvonne; Wass, Ernest
US Patent Document 2,891,139
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F2891139

Actuator modules
patent, February 2008

Ishibashi, Masayoshi; Kato, Midori
US Patent Document 7,327,067
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F7327067

Pneumatic actuator
patent, February 2008

Kerekes, Laszlo; Moor, Tina
US Patent Document 7,331,273
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F7331273

Robotic fluid-actuated muscle analogue
patent, June 1991

Caines, R. Scott
US Patent Document 5,021,064
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F5021064

Flexible Beam Structures
patent, November 1966

Saito, Norio
US Patent Document 3,284,964
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F3284964

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

Zemek, Albert; Holmes, Robert; Merithew, David
US Patent Document 3,987,528
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F3987528

Operating mechanism
patent, January 2001

Schulz, Stefan
US Patent Document 6,178,872
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F6178872

Flexible hydraulic muscle
patent, November 2009

Ragner, Gary
US Patent Document 7,617,762
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F7617762

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

Simburger, Edward J.
US Patent Document 10/166881; 20030226355
URL: http://appft.uspto.gov/netacgi/nph-Parser?Sect1=PTO1&Sect2=HITOFF&d=PG01&p=1&u=%2Fnetahtml%2FPTO%2Fsrchnum.html&r=1&f=G&l=50&s1=%2220030226355%22.PGNR.&OS=DN/20030226355&RS=DN/20030226355

Elastic materials producing compliant robots
journal, July 1996

Suzumori, Koichi
Robotics and Autonomous Systems, Vol. 18, Issue 1-2, p. 135-140
https://doi.org/10.1016/0921-8890(95)00078-X

Flexible Actuator
patent, January 1973

Ewing, Donald D.
US Patent Document 3,713,685
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F3713685

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

Trivedi, Deepak; Lotfi, Amir; Rahn, Christopher D.
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
https://doi.org/10.1109/IROS.2007.4399446

Design of an artificial muscle continuum robot
conference, January 2004

Pritts, M. B.; Rahn, C. D.
IEEE International Conference on Robotics and Automation, 2004
https://doi.org/10.1109/ROBOT.2004.1302467

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

Immega, Guy
US Patent Document 5,317,952
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F5317952

Material Handling Apparatus and the Like
patent, September 1967

Baer, J. I.
US Patent Document 3,343,864
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F3343864

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

Mosadegh, Bobak; Polygerinos, Panagiotis; Keplinger, Christoph
Advanced Functional Materials, Vol. 24, Issue 15, p. 2163-2170
https://doi.org/10.1002/adfm.201303288

JSEL: Jamming Skin Enabled Locomotion
conference, October 2009

Steltz, E.; Mozeika, A.; Rodenberg, N.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
https://doi.org/10.1109/IROS.2009.5354790

Fluid controlled biased bending neck
patent, May 1991

Danna, Dominick; Krauter, Allan; Lia, Raymond
US Patent Document 5,018,506
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F5018506

Pressure actuated gripping apparatus and method
patent, October 1996

Haugs, Audun
US Patent Document 5,568,957
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F5568957

Walking expansion actuator
patent, July 1994

Culp, Gordon
US Patent Document 5,327,038
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F5327038

Camouflage and Display for Soft Machines
journal, August 2012

Morin, S. A.; Shepherd, R. F.; Kwok, S. W.
Science, Vol. 337, Issue 6096, p. 828-832
https://doi.org/10.1126/science.1222149

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

Paynter, Henry
US Patent Document 4,784,042
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F4784042

Actuators for simulating muscle activity in robotics
patent, December 1997

Nappi, Bruce; O'Brien, Donald
US Patent Document 5,697,285
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F5697285

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

Bubic, Frank
US Patent Document 5,080,000
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F5080000

Inflatable gripping or support device
patent, November 1998

Haugs, Audun
US Patent Document 5,833,291
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F5833291

Automatic swimming pool cleaning device
patent, October 2000

Prowse, Gary
US Patent Document 6,125,492
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F6125492

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

Correll, Nikolaus; Önal, Çağdaş D.; Liang, Haiyi
Experimental Robotics, p. 227-240
https://doi.org/10.1007/978-3-642-28572-1_16

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

Brown, E.; Rodenberg, N.; Amend, J.
Proceedings of the National Academy of Sciences, Vol. 107, Issue 44, p. 18809-18814
https://doi.org/10.1073/pnas.1003250107

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

Nakajima, Kohei; Li, Tao; Pfeifer, Rolf
International Conference on Morphological Computation
https://doi.org/10.5167/uzh-55626

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

Kluge, Torsten
US Patent Document 10/687346; 20040118366
URL: http://appft.uspto.gov/netacgi/nph-Parser?Sect1=PTO1&Sect2=HITOFF&d=PG01&p=1&u=%2Fnetahtml%2FPTO%2Fsrchnum.html&r=1&f=G&l=50&s1=%2220040118366%22.PGNR.&OS=DN/20040118366&RS=DN/20040118366

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

Ono, Atsushi; Yokoyama, Kazuo
US Patent Document 11/199089; 20060028041
URL: http://appft.uspto.gov/netacgi/nph-Parser?Sect1=PTO1&Sect2=HITOFF&d=PG01&p=1&u=%2Fnetahtml%2FPTO%2Fsrchnum.html&r=1&f=G&l=50&s1=%2220060028041%22.PGNR.&OS=DN/20060028041&RS=DN/20060028041

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

Yokoyama, Kazuo; Ono, Atsushi; Asai, Katsuhiko
US Patent Document 7,654,595
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F7654595

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

Bar-Cohen, Yoseph; Xue, T.; Shahinpoor, Mohsen
5th Annual International Symposium on Smart Structures and Materials
https://doi.org/10.1117/12.316866

Outdoor home cleaning robot
patent-application, April 2010

Hernandez, Eusebio Guillermo; Colucci, Michael Christopher
US Patent Document 12/289350; 20100106298
URL: http://appft.uspto.gov/netacgi/nph-Parser?Sect1=PTO1&Sect2=HITOFF&d=PG01&p=1&u=%2Fnetahtml%2FPTO%2Fsrchnum.html&r=1&f=G&l=50&s1=%2220100106298%22.PGNR.&OS=DN/20100106298&RS=DN/20100106298

Gripping Device
patent, August 1971

Orndorff, Roy L.
US Patent Document 3,601,442
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F3601442

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

Bloemendal, Berend; Bromhaar, Marinus
US Patent Document 4,928,926
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F4928926

Fluidic device
patent, August 2006

Schulz, Stefan
US Patent Document 7,086,322
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F7086322

Pump-integrated flexible actuator
patent, April 2004

Seto, Takeshi; Takagi, Kunihiko
US Patent Document 6,718,766
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F6718766

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

Topping, Michael John
US Patent Document 10/250810; 20040050247
URL: http://appft.uspto.gov/netacgi/nph-Parser?Sect1=PTO1&Sect2=HITOFF&d=PG01&p=1&u=%2Fnetahtml%2FPTO%2Fsrchnum.html&r=1&f=G&l=50&s1=%2220040050247%22.PGNR.&OS=DN/20040050247&RS=DN/20040050247

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

Marchese, Andrew D.; Onal, Cagdas D.; Rus, Daniela
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
https://doi.org/10.1109/IROS.2011.6095064

Design of a biomimetic robotic octopus arm
journal, March 2009

Laschi, C.; Mazzolai, B.; Mattoli, V.
Bioinspiration & Biomimetics, Vol. 4, Issue 1
https://doi.org/10.1088/1748-3182/4/1/015006

Flexible actuator
patent, August 2004

Seto, Takeshi; Takagi, Kunihiko
US Patent Document 6,772,673
URL: http://patft.uspto.gov/netacgi/nph-Parser?Sect2=PTO1&Sect2=HITOFF&p=1&u=%2Fnetahtml%2FPTO%2Fsearch-bool.html&r=1&f=G&l=50&d=PALL&RefSrch=yes&Query=PN%2F6772673

Similar Records in DOE Patents and OSTI.GOV collections:

Vacuum-actuated percutaneous insertion/implantation tool for flexible neural probes and interfaces

Patent Sheth, Heeral; Bennett, William J.; Pannu, Satinderpall S.; ...

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.
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
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
Full Text Available
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
Apparatus and method for modifying the operation of a robotic vehicle in a real environment, to emulate the operation of the robotic vehicle operating in a mixed reality environment

Patent Garretson, Justin R [Albuquerque, NM]; Parker, Eric P [Albuquerque, NM]; Gladwell, T Scott [Albuquerque, NM]; ...

Apparatus and methods for modifying the operation of a robotic vehicle in a real environment to emulate the operation of the robotic vehicle in a mixed reality environment include a vehicle sensing system having a communications module attached to the robotic vehicle for communicating operating parameters related to the robotic vehicle in a real environment to a simulation controller for simulating the operation of the robotic vehicle in a mixed (live, virtual and constructive) environment wherein the affects of virtual and constructive entities on the operation of the robotic vehicle (and vice versa) are simulated. These effects are communicated tomore »« less
Full Text Available

Similar Records

Title: Flexible robotic actuators

Abstract

Citation Formats

Electrolytically Activated Contractile Polymer journal, June 1965

Actuatable toy containing deformable bladder patent-application, December 2005

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

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

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

Grappling device patent, March 1989

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

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

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

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

Optimal, Model-Based Design of Soft Robotic Manipulators journal, August 2008

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

Gripping actuator with independently flexible cylinders patent, October 1992

Flexible agricultural automation patent, December 2003

Inflatable ram patent, July 1982

Elastically deformable fluid actuator patent, December 1990

Actuator with flexible cylinders patent, January 1995

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

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

Ornamental Table with Illuminated Receptacle patent, June 1659

Actuator modules patent, February 2008

Pneumatic actuator patent, February 2008

Robotic fluid-actuated muscle analogue patent, June 1991

Flexible Beam Structures patent, November 1966

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

Operating mechanism patent, January 2001

Flexible hydraulic muscle patent, November 2009

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

Elastic materials producing compliant robots journal, July 1996

Flexible Actuator patent, January 1973

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

Design of an artificial muscle continuum robot conference, January 2004

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

Material Handling Apparatus and the Like patent, September 1967

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

JSEL: Jamming Skin Enabled Locomotion conference, October 2009

Fluid controlled biased bending neck patent, May 1991

Pressure actuated gripping apparatus and method patent, October 1996

Walking expansion actuator patent, July 1994

Camouflage and Display for Soft Machines journal, August 2012

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

Actuators for simulating muscle activity in robotics patent, December 1997

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

Inflatable gripping or support device patent, November 1998

Automatic swimming pool cleaning device patent, October 2000

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

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

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

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

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

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

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

Outdoor home cleaning robot patent-application, April 2010

Gripping Device patent, August 1971

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

Fluidic device patent, August 2006

Pump-integrated flexible actuator patent, April 2004

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

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

Design of a biomimetic robotic octopus arm journal, March 2009

Flexible actuator patent, August 2004

Electrolytically Activated Contractile Polymer
journal, June 1965

Actuatable toy containing deformable bladder
patent-application, December 2005

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

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

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

Grappling device
patent, March 1989

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

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

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

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

Optimal, Model-Based Design of Soft Robotic Manipulators
journal, August 2008

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

Gripping actuator with independently flexible cylinders
patent, October 1992

Flexible agricultural automation
patent, December 2003

Inflatable ram
patent, July 1982

Elastically deformable fluid actuator
patent, December 1990

Actuator with flexible cylinders
patent, January 1995

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

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

Ornamental Table with Illuminated Receptacle
patent, June 1659

Actuator modules
patent, February 2008

Pneumatic actuator
patent, February 2008

Robotic fluid-actuated muscle analogue
patent, June 1991

Flexible Beam Structures
patent, November 1966

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

Operating mechanism
patent, January 2001

Flexible hydraulic muscle
patent, November 2009

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

Elastic materials producing compliant robots
journal, July 1996

Flexible Actuator
patent, January 1973

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

Design of an artificial muscle continuum robot
conference, January 2004

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

Material Handling Apparatus and the Like
patent, September 1967

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

JSEL: Jamming Skin Enabled Locomotion
conference, October 2009

Fluid controlled biased bending neck
patent, May 1991

Pressure actuated gripping apparatus and method
patent, October 1996

Walking expansion actuator
patent, July 1994

Camouflage and Display for Soft Machines
journal, August 2012

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

Actuators for simulating muscle activity in robotics
patent, December 1997

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

Inflatable gripping or support device
patent, November 1998

Automatic swimming pool cleaning device
patent, October 2000

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

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

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

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

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

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

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

Outdoor home cleaning robot
patent-application, April 2010

Gripping Device
patent, August 1971

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

Fluidic device
patent, August 2006

Pump-integrated flexible actuator
patent, April 2004

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

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

Design of a biomimetic robotic octopus arm
journal, March 2009

Flexible actuator
patent, August 2004