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:: Tue May 04 00:00:00 EDT 2021

Research Org.:: STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT The present invention was made with United States government support under Grant No. W911NF-11-1-0094 and W911NF-09-1-0476 awarded by Defense Advanced Research Projects Agency (DARPA); under Grant No. DE-FG02- 00ER45852 awarded by the Department of Energy; and under Grant Nos. DMR-1005022, PHY-0646094, and DMR- 0820484 awarded by National Science Foundation (NSF). The United States government has certain rights in this invention.

Sponsoring Org.:: USDOE; USDOD Defense Advanced Research Projects Agency (DARPA); National Science Foundation (NSF)

OSTI Identifier:: 1823917

Patent Number(s):: 10994413

Application Number:: 15/990,268

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
B25J15/12 - with flexible finger members
B25J18/06 - flexible
B25J9/1075 - {with muscles or tendons}
B25J9/142 - {comprising inflatable bodies}
B25J9/1697 - {Vision controlled systems}

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

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; DMR-0820484; DMR-1005022; PHY-0646094; W911NF-09-1-0476; W911NF-11-1-0094

Resource Type:: Patent

Resource Relation:: Patent File Date: 05/25/2018

Country of Publication:: United States

Language:: English

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., 2021. 
        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/1823917.

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@article{osti_1823917,

  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         = {Tue May 04 00:00:00 EDT 2021},

  month        = {Tue May 04 00:00:00 EDT 2021}

}

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Similar Records

Title: Flexible robotic actuators

Abstract

Citation Formats

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

Fluidic device patent, August 2006

Flexible actuator patent, August 2004

Pneumatic actuator patent, February 2008

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

Method and Device for Manipulating an Object patent-application, August 2010

Modular robotic crawler patent, October 2013

Ornamental Table with Central Illuminated Receptacle patent, June 1959

Object Gripping System. Object Gripping Method, Storage Medium and Robot System patent-application, March 2012

Flexible hydraulic muscle patent, November 2009

Flexible Actuator patent, January 1973

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

Actuatable toy containing deformable bladder patent-application, December 2005

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

Material Handling Apparatus and the Like patent, September 1967

Elastically deformable fluid actuator patent, December 1990

Actuator patent, January 1973

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

Operating mechanism patent, January 2001

Pump-integrated flexible actuator patent, April 2004

Actuator modules patent, February 2008

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

Robotic fluid-actuated muscle analogue patent, June 1991

Inflatable gripping or support device patent, November 1998

Methods and Apparatus for Shape Control patent-application, October 2014

Gripping Device patent, August 1971

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

Actuator with flexible cylinders patent, January 1995

Automatic swimming pool cleaning device patent, October 2000

Fluid controlled biased bending neck patent, May 1991

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

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

Flexible Beam Structures patent, November 1966

Flexible agricultural automation patent, December 2003

Inflatable ram patent, July 1982

Outdoor home cleaning robot patent-application, April 2010

Gripping actuator with independently flexible cylinders patent, October 1992

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

Actuators for simulating muscle activity in robotics patent, December 1997

Fluid-operated manipulator patent, October 2014

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

Walking expansion actuator patent, July 1994

Vacuum Conduit Pick-Up Device patent, October 1975

Grappling device patent, March 1989

Pressure actuated gripping apparatus and method patent, October 1996

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

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

Fluidic device
patent, August 2006

Flexible actuator
patent, August 2004

Pneumatic actuator
patent, February 2008

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

Method and Device for Manipulating an Object
patent-application, August 2010

Modular robotic crawler
patent, October 2013

Ornamental Table with Central Illuminated Receptacle
patent, June 1959

Object Gripping System. Object Gripping Method, Storage Medium and Robot System
patent-application, March 2012

Flexible hydraulic muscle
patent, November 2009

Flexible Actuator
patent, January 1973

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

Actuatable toy containing deformable bladder
patent-application, December 2005

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

Material Handling Apparatus and the Like
patent, September 1967

Elastically deformable fluid actuator
patent, December 1990

Actuator
patent, January 1973

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

Operating mechanism
patent, January 2001

Pump-integrated flexible actuator
patent, April 2004

Actuator modules
patent, February 2008

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

Robotic fluid-actuated muscle analogue
patent, June 1991

Inflatable gripping or support device
patent, November 1998

Methods and Apparatus for Shape Control
patent-application, October 2014

Gripping Device
patent, August 1971

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

Actuator with flexible cylinders
patent, January 1995

Automatic swimming pool cleaning device
patent, October 2000

Fluid controlled biased bending neck
patent, May 1991

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

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

Flexible Beam Structures
patent, November 1966

Flexible agricultural automation
patent, December 2003

Inflatable ram
patent, July 1982

Outdoor home cleaning robot
patent-application, April 2010

Gripping actuator with independently flexible cylinders
patent, October 1992

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

Actuators for simulating muscle activity in robotics
patent, December 1997

Fluid-operated manipulator
patent, October 2014

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

Walking expansion actuator
patent, July 1994

Vacuum Conduit Pick-Up Device
patent, October 1975

Grappling device
patent, March 1989

Pressure actuated gripping apparatus and method
patent, October 1996

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