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1. 发明申请

US20190193283A1 MODULAR ROBOTIC SYSTEMS 审中-公开
公开(公告)号：US20190193283A1
公开(公告)日：2019-06-27
申请号：US16215695
申请日：2018-12-11
申请人： Soft Robotics, Inc.
发明人： Joshua Aaron Lessing , Kevin Alcedo , Ryan Richard Knopf , Daniel Vincent Harburg
IPC分类号： B25J15/00 , B25J15/12 , B25J15/10 , B25J9/14
CPC分类号： B25J15/0023 , B25J9/142 , B25J15/0061 , B25J15/10 , B25J15/12
摘要： Exemplary embodiments provide modular robotic systems that allow one or more operation parameters of a robotic actuator, or group of actuators, to be dynamically configured or reconfigured. The operation parameters may be, for example, the X, Y, and/or Z position of the actuator or group of actuators with respect to other actuators, the arrangement of the actuator(s) into an array or matrix, the rotation or pitch of an actuator, the distance between actuators, the grip strength or grip surface of an actuator, etc. Accordingly, the same robotic manipulator(s) may be used for multiple purposes in multiple different contexts, manipulators can be swapped out on-the-fly, and robotic systems may be dynamically reconfigured to perform new tasks.

2. 发明授权

US09981377B2 Flexible robotic actuators 有权
公开(公告)号：US09981377B2
公开(公告)日：2018-05-29
申请号：US14480106
申请日：2014-09-08
申请人： President and Fellows of Harvard College
发明人： Stephen A. Morin , Robert F. Shepherd , Adam Stokes , Filip Ilievski , Ramses V. Martinez , Jamie L. Branch , Carina R. Fish , Lihua Jin , Rui M. D. Nunes , Zhigang Suo , George M. Whitesides
IPC分类号： B25J9/14 , B25J9/10 , A47L9/28 , B25J9/16
CPC分类号： B25J9/142 , A47L9/2836 , B25J9/1075 , B25J9/1697 , Y10S901/22 , Y10T74/20305
摘要： 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.

3. 发明授权

US09797415B2 Apparatus, system, and method for providing fabric-elastomer composites as pneumatic actuators 有权
公开(公告)号：US09797415B2
公开(公告)日：2017-10-24
申请号：US14467758
申请日：2014-08-25
申请人： President and Fellows of Harvard College
发明人： Ramses V. Martinez , George M. Whitesides
IPC分类号： F15B15/10 , B25J9/14 , F21V1/12 , F21V17/02
CPC分类号： F15B15/103 , B25J9/142 , F15B2215/305 , F21V1/12 , F21V17/02 , Y10T29/4998
摘要： Soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible are described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into three-dimensional structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while keeping them light in weight.

4. 发明申请

US20170291312A1 Mechanical Adjustable Device 有权
公开(公告)号：US20170291312A1
公开(公告)日：2017-10-12
申请号：US15093039
申请日：2016-04-07
申请人： Ziv-Av Engineering Ltd.
发明人： Amir ZIV-AV
IPC分类号： B25J18/06 , B25J9/14
CPC分类号： B25J18/06 , B25J9/142 , B25J19/0004
摘要： A mechanical adjustable device is provided, which is characterized in that it is adapted to enable changing its spatial shape from a first spatial shape to a second spatial shape, and retaining the mechanical adjustable device in its second shape. Preferably, the mechanical adjustable device comprises: a) a spring; b) a plurality of longitudinally extended ribs/wires characterized in that they are capable of being bent, wherein said plurality of longitudinally extended ribs/wires are circumferentially disposed along an enclosure confined by the spring, adjacent to the inner side of the spring; and c) a flexible sleeve/tube disposed longitudinally along the enclosure confined by the spring.

5. 发明申请

US20170253438A1 ARTICLE HOLDING SYSTEM AND ARTICLE HOLDING DEVICE 有权
公开(公告)号：US20170253438A1
公开(公告)日：2017-09-07
申请号：US15394948
申请日：2016-12-30
申请人： Kabushiki Kaisha Toshiba
发明人： Junya TANAKA , Akihito Ogawa , Hideichi Nakamoto , Atsushi Sugahara , Takafumi Sonoura , Haruna Eto
IPC分类号： B65G47/91 , B25J9/16 , B25J9/00 , B25J15/06
CPC分类号： B65G47/917 , B25J9/0018 , B25J9/142 , B25J9/1612 , B25J15/0616 , B65G47/91 , B65G47/912
摘要： An article holding system according to an embodiment is an article holding system which is provided with a fixed portion, a movable portion, a hollow member located between the fixed portion and the movable portion, a drawing portion to draw in the hollow member, and a fluid control device to supply fluid to an inside of the hollow member, wherein the hollow member deforms in a state that the fluid is supplied by the fluid control device, and the hollow member is drawn out from the drawing portion, to change a distance between the fixed portion and the movable portion.

6. 发明申请

US20170231787A1 ACTUATOR DEVICE, POWER ASSIST ROBOT AND HUMANOID ROBOT 审中-公开
公开(公告)号：US20170231787A1
公开(公告)日：2017-08-17
申请号：US15501646
申请日：2015-08-26
申请人： ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL
发明人： Tomoyuki NODA , Jun MORIMOTO
IPC分类号： A61F2/68 , A61H1/00 , B25J9/10 , F16C1/12 , B25J9/00 , B25J9/14 , A61H3/00 , F15B15/10
CPC分类号： A61F2/68 , A61F2002/74 , A61H1/00 , A61H3/00 , B25J9/0006 , B25J9/104 , B25J9/1045 , B25J9/1075 , B25J9/14 , B25J9/142 , B25J9/144 , B25J13/085 , B25J13/087 , F15B15/06 , F15B15/103 , F15B15/1404 , F16C1/12 , Y10S901/21 , Y10S901/22
摘要： [Object] To provide a hybrid actuator attaining both driving force and responsiveness, capable of reducing inertia of a movable portion.[Solution] A pneumatic air muscle has a cylinder (112) provided in a flexible member (100) forming a pneumatic artificial muscle. At the center of an upper lid element (109) of the cylinder, a through hole is opened, and an inner wire (103) of a Bowden cable passes through this through hole and is coupled by means of a spring (106) to a bottom portion of the cylinder. When the pneumatic artificial muscle contracts, the inner wire (103) and the pneumatic air muscle move together because of the stopper (105), and the contraction force is transmitted. In contrast, when the pneumatic air muscle extends, the stopper (105) is disengaged, while the tension of inner wire (103) is kept by the spring (106) to prevent slacking.

7. 发明授权

US09682473B2 Electric fluidic rotary joint actuator with pump 有权
公开(公告)号：US09682473B2
公开(公告)日：2017-06-20
申请号：US14473431
申请日：2014-08-29
申请人： ABB Technology AG
发明人： Harald Josef Staab , Jeremy Newkirk , Thomas Fuhlbrigge
IPC分类号： B25J9/14
CPC分类号： B25J9/146 , B25J9/142 , Y10S901/22
摘要： There is set forth herein an articulated arm, the articulated arm comprising a first rigid link assembly and a second rigid link assembly. The articulated arm can be configured so that the second rigid link assembly rotates in relation to the first link assembly about a rotary axis. The articulated arm can include an actuator for causing rotary movement of the second rigid link assembly in relation to the first rigid link assembly about the rotary axis. The actuator can include a first fluid chamber, and a second fluid chamber. The articulated arm can include a fluid supply assembly for moving fluid into and out of the first fluid chamber and the second fluid chamber.

8. 发明申请

US20170030381A9 SYSTEMS AND METHODS FOR ACTUATING SOFT ROBOTIC ACTUATORS 有权
标题翻译：用于执行软手动执行机构的系统和方法
公开(公告)号：US20170030381A9
公开(公告)日：2017-02-02
申请号：US14243656
申请日：2014-04-02
申请人： President and Fellows of Harvard College
发明人： Robert F. SHEPHERD , Adam STOKES , Stephen A. MORIN , Ludovico CADEMARTIRI , Jacob FREAKE , Rui NUNES , Xin CHEN , George M. WHITESIDES
IPC分类号： F15B13/04
CPC分类号： F15B13/04 , B25J9/1075 , B25J9/142
摘要： 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.
摘要翻译：提供了一种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室的柔性主体，其中柔性主体的一部分包括弹性可伸展材料，并且柔性体的一部分相对于弹性可伸展材料是应变限制的。机器人装置还可以包括与流体室流体连通的加压入口，以及与加压入口流体连通的加压装置，该加压装置包括反应室，该反应室被配置成容纳产生气体的化学反应，以将加压气体提供给加压入口。

9. 发明申请

US20160121489A1 INTERCONNECTED PHALANGES FOR ROBOTIC GRIPPING 有权
标题翻译：互联电话用于机器人运输
公开(公告)号：US20160121489A1
公开(公告)日：2016-05-05
申请号：US14534049
申请日：2014-11-05
申请人： Toyota Motor Engineering & Manufacturing North America, Inc.
发明人： Douglas A. Moore
IPC分类号： B25J15/00 , B25J15/08
CPC分类号： B25J15/0009 , B25J9/142 , Y10S901/39
摘要： A robotic gripping device allows for pinch and power grasps using interconnected phalanges with configurable connections. A distal phalange is rotatably connected to a proximal phalange. A contact phalange is rotatably connected to the proximal phalange. The contact phalange is rotatably connected to the distal phalange via a contact-distal pivot or rotation connection. In response to sufficient contact between the contact phalange and an object, the contact phalange is configured to rotate in a first direction toward the proximal phalange. The rotation of the contact phalange causes rotation of the distal phalange in a second direction toward the object. The contact-distal connection may be a configurable gear connection for adjusting the movement ratio of the contact and distal phalanges.
摘要翻译：机器人夹持装置允许使用具有可配置连接的互连指骨进行夹紧和电力抓握。远端趾部可旋转地连接到近端趾骨。接触趾部可旋转地连接到近端趾骨。接触爪经由接触 - 远端枢转或旋转连接可旋转地连接到远侧趾骨。响应于接触孔和物体之间的充分接触，接触法兰被配置成沿着第一方向朝着近端趾骨旋转。接触趾骨的旋转引起远端趾骨向朝向物体的第二方向旋转。接触远端连接可以是可配置的齿轮连接，用于调节接触和远端趾骨的移动比。

10. 发明申请

US20160075036A1 SOFT ROBOTIC ACTUATOR ATTACHMENT HUB AND GRASPER ASSEMBLY, REINFORCED ACTUATORS, AND ELECTROADHESIVE ACTUATORS 审中-公开
标题翻译：软手动执行器附件集线器和砂轮组件，加强执行器和电动执行器
公开(公告)号：US20160075036A1
公开(公告)日：2016-03-17
申请号：US14857648
申请日：2015-09-17
申请人： Joshua Aaron Lessing , Ryan Richard Knopf , Carl Everett Vause , Kevin Alcedo
发明人： Joshua Aaron Lessing , Ryan Richard Knopf , Carl Everett Vause , Kevin Alcedo
IPC分类号： B25J15/12 , B25J15/00 , B25J15/06
CPC分类号： B25J15/12 , B25J9/142 , B25J15/0023 , B25J15/0085 , B25J15/04 , B25J15/0608 , B25J15/10 , B25J19/02
摘要： A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body.
摘要翻译：描述了一种用于将包括各种构造的软致动器的不同的夹紧组件联接到机械机器人部件的轮毂组件。进一步描述的是具有各种加强件的柔性致动器。进一步描述的是具有用于改进抓地力的电粘合垫的软致动器和/或用于与夹持物体上的互补表面相互作用的嵌入式电磁铁。还进一步描述的是具有用于减少或消除应变限制层中的弯曲或者用于增强软致动器主体中的折叠槽的加强机构的软致动器。

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