Flexible robotic actuators

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.

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A - human necessities
A01 - agriculture
A21 - baking
A22 - butchering
A23 - foods or foodstuffs
A24 - tobacco
A41 - wearing apparel
A42 - headwear
A43 - footwear
A44 - haberdashery
A45 - hand or travelling articles
A46 - brushware
A47 - furniture
A61 - medical or veterinary science
A62 - life-saving
A63 - sports
A99 - subject matter not otherwise provided for in this section
B - performing operations
B01 - physical or chemical processes or apparatus in general
B02 - crushing, pulverising, or disintegrating
B03 - separation of solid materials using liquids or using pneumatic tables or jigs
B04 - centrifugal apparatus or machines for carrying-out physical or chemical processes
B05 - spraying or atomising in general
B06 - generating or transmitting mechanical vibrations in general
B07 - separating solids from solids
B08 - cleaning
B09 - disposal of solid waste
B21 - mechanical metal-working without essentially removing material
B22 - casting
B23 - machine tools
B24 - grinding
B25 - hand tools
B26 - hand cutting tools
B27 - working or preserving wood or similar material
B28 - working cement, clay, or stone
B29 - working of plastics
B30 - presses
B31 - making articles of paper, cardboard or material worked in a manner analogous to paper
B32 - layered products
B33 - additive manufacturing technology
B41 - printing
B42 - bookbinding
B43 - writing or drawing implements
B44 - decorative arts
B60 - vehicles in general
B61 - railways
B62 - land vehicles for travelling otherwise than on rails
B63 - ships or other waterborne vessels
B64 - aircraft
B65 - conveying
B66 - hoisting
B67 - opening, closing {or cleaning} bottles, jars or similar containers
B68 - saddlery
B81 - microstructural technology
B82 - nanotechnology
B99 - subject matter not otherwise provided for in this section
C - chemistry
C01 - inorganic chemistry
C02 - treatment of water, waste water, sewage, or sludge
C03 - glass
C04 - cements
C05 - fertilisers
C06 - explosives
C07 - organic chemistry
C08 - organic macromolecular compounds
C09 - dyes
C10 - petroleum, gas or coke industries
C11 - animal or vegetable oils, fats, fatty substances or waxes
C12 - biochemistry
C13 - sugar industry
C14 - skins
C21 - metallurgy of iron
C22 - metallurgy
C23 - coating metallic material
C25 - electrolytic or electrophoretic processes
C30 - crystal growth
C40 - combinatorial technology
C99 - subject matter not otherwise provided for in this section
D - textiles
D01 - natural or man-made threads or fibres
D02 - yarns
D03 - weaving
D04 - braiding
D05 - sewing
D06 - treatment of textiles or the like
D07 - ropes
D10 - indexing scheme associated with sublasses of section d, relating to textiles
D21 - paper-making
D99 - subject matter not otherwise provided for in this section
E - fixed constructions
E01 - construction of roads, railways, or bridges
E02 - hydraulic engineering
E03 - water supply
E04 - building
E05 - locks
E06 - doors, windows, shutters, or roller blinds in general
E21 - earth drilling
E99 - subject matter not otherwise provided for in this section
F - mechanical engineering
F01 - machines or engines in general
F02 - combustion engines
F03 - machines or engines for liquids
F04 - positive - displacement machines for liquids
F05 - indexing schemes relating to engines or pumps in various subclasses of classes f01-f04
F15 - fluid-pressure actuators
F16 - engineering elements and units
F17 - storing or distributing gases or liquids
F21 - lighting
F22 - steam generation
F23 - combustion apparatus
F24 - heating
F25 - refrigeration or cooling
F26 - drying
F27 - furnaces
F28 - heat exchange in general
F41 - weapons
F42 - ammunition
F99 - subject matter not otherwise provided for in this section
G - physics
G01 - measuring
G02 - optics
G03 - photography
G04 - horology
G05 - controlling
G06 - computing
G07 - checking-devices
G08 - signalling
G09 - education
G10 - musical instruments
G11 - information storage
G12 - instrument details
G16 - information and communication technology [ict] specially adapted for specific application fields
G21 - nuclear physics
G99 - subject matter not otherwise provided for in this section
H - electricity
H01 - basic electric elements
H02 - generation
H03 - basic electronic circuitry
H04 - electric communication technique
H05 - electric techniques not otherwise provided for
H99 - subject matter not otherwise provided for in this section
Y - new / cross sectional technologies
Y02 - technologies or applications for mitigation or adaptation against climate change
Y04 - information or communication technologies having an impact on other technology areas
Y10 - technical subjects covered by former uspc

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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

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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

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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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Works referenced in this record:

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Linear Expansion and Contraction of Paired Pneumatic Baloon Bending Actuators Toward Telescopic Motion
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Soft Mobile Robots with On-Board Chemical Pressure Generation
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Optimal, Model-Based Design of Soft Robotic Manipulators
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Fluid-Resistive Bending Sensor Compatible with a Flexible Pneumatic Balloon Actuator
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Konishi, Satoshi; Sawano, Satoshi; Kusuda, Shinya
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Design of an artificial muscle continuum robot
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Pneumatic Networks for Soft Robotics that Actuate Rapidly
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Advanced Functional Materials, Vol. 24, Issue 15, p. 2163-2170
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JSEL: Jamming Skin Enabled Locomotion
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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Similar Records

Title: Flexible robotic actuators

Abstract

Citation Formats

Electrolytically Activated Contractile Polymer journal, June 1965

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

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

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

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

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

Design of an artificial muscle continuum robot conference, January 2004

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

JSEL: Jamming Skin Enabled Locomotion conference, October 2009

Camouflage and Display for Soft Machines journal, August 2012

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

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

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

Design of a biomimetic robotic octopus arm journal, March 2009

Electrolytically Activated Contractile Polymer
journal, June 1965

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

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

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

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

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

Design of an artificial muscle continuum robot
conference, January 2004

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

JSEL: Jamming Skin Enabled Locomotion
conference, October 2009

Camouflage and Display for Soft Machines
journal, August 2012

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

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

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

Design of a biomimetic robotic octopus arm
journal, March 2009