Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.
B25J 15/12 - Têtes de préhension avec des éléments en forme de doigts avec des éléments en forme de doigts flexibles
F15B 15/10 - Dispositifs actionnés par fluides pour déplacer un organe d'une position à une autreTransmission associée à ces dispositifs caractérisés par la structure de l'ensemble moteur le moteur étant du type à diaphragme
G06F 3/0488 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p. ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p. ex. des gestes en fonction de la pression exercée enregistrée par une tablette numérique utilisant un écran tactile ou une tablette numérique, p. ex. entrée de commandes par des tracés gestuels
Exemplary embodiments pertain to soft robotic actuators (100) configured to receive modular fingertips. The fingertips (204) may be provided at the distal end (110) of a standardized actuator. The actuator's distal tip may be sized and shaped to correspond to a proximal end of the modular fingertip. A backing plate (206) may be provided in a reservoir of the actuator (202) in order to spread the load of a fastener (208) that can be inserted through the reservoir and backing plate and into one or more holes that pass through the material of the actuator and into the modular fingertip. For purposes of reducing bacterial harborage points, the holes may extend only partway through the modular fingertip without extending entirely through it. In other embodiments, the fastener may be inserted into the fingertip and secured to the actuator. A sealing bead (210) may be provided between the distal tip of the actuator and the fingertip.
09 - Appareils et instruments scientifiques et électriques
Produits et services
Industrial robots; computer hardware and recorded and downloadable firmware for operating systems programs, sold as an integral component of industrial robots Laboratory robots; computer hardware and recorded and downloadable firmware for operating systems programs, sold as an integral component of laboratory robots; Downloadable operating software for use in robots for automating picking processes in manufacturing; computer hardware for use in robots and robotics; robotics systems, namely, control boards and circuits for machine vision cameras and robotic grippers; downloadable and recorded software, namely, software for use in operating, controlling and managing workplace automation; downloadable and recorded software that automates workflow, task management, and business processes; downloadable and recorded software that automates manual processes and automates the integration of computer applications, systems, and devices; downloadable and recorded software in the field of robotics, namely, software for managing, operating and controlling robots and robotic systems; downloadable and recorded artificial intelligence software for industrial automation and robot automation; downloadable and recorded three-dimensional machine vision software for industrial automation
09 - Appareils et instruments scientifiques et électriques
Produits et services
Industrial robots; computer hardware and recorded and downloadable firmware for operating systems programs, sold as an integral component of industrial robots Laboratory robots; computer hardware and recorded and downloadable firmware for operating systems programs, sold as an integral component of laboratory robots; Downloadable operating software for use in robots for automating picking processes in manufacturing; computer hardware for use in robots and robotics; robotics systems, namely, control boards and circuits for machine vision cameras and robotic grippers; downloadable and recorded software, namely, software for use in operating, controlling and managing workplace automation; downloadable and recorded software that automates workflow, task management, and business processes; downloadable and recorded software that automates manual processes and automates the integration of computer applications, systems, and devices; downloadable and recorded software in the field of robotics, namely, software for managing, operating and controlling robots and robotic systems; downloadable and recorded artificial intelligence software for industrial automation and robot automation; downloadable and recorded three-dimensional machine vision software for industrial automation
09 - Appareils et instruments scientifiques et électriques
Produits et services
Industrial robots; computer hardware and recorded and downloadable firmware for operating systems programs, sold as an integral component of industrial robots Laboratory robots; computer hardware and recorded and downloadable firmware for operating systems programs, sold as an integral component of laboratory robots; Downloadable operating software for use in robots for automating picking processes in manufacturing; computer hardware for use in robots and robotics; robotics systems, namely, control boards and circuits for machine vision cameras and robotic grippers; downloadable and recorded software, namely, software for use in operating, controlling and managing workplace automation; downloadable and recorded software that automates workflow, task management, and business processes; downloadable and recorded software that automates manual processes and automates the integration of computer applications, systems, and devices; downloadable and recorded software in the field of robotics, namely, software for managing, operating and controlling robots and robotic systems; downloadable and recorded artificial intelligence software for industrial automation and robot automation; downloadable and recorded three-dimensional machine vision software for industrial automation
Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.
F15B 15/10 - Dispositifs actionnés par fluides pour déplacer un organe d'une position à une autreTransmission associée à ces dispositifs caractérisés par la structure de l'ensemble moteur le moteur étant du type à diaphragme
G06F 3/0488 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p. ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p. ex. des gestes en fonction de la pression exercée enregistrée par une tablette numérique utilisant un écran tactile ou une tablette numérique, p. ex. entrée de commandes par des tracés gestuels
09 - Appareils et instruments scientifiques et électriques
Produits et services
Robots and robotic systems, namely, computer systems, software and hardware for use in robots and robotics, including electro-pneumatic control boards and circuits, machine vision cameras, and flexible and transient electronics, namely, electronic hardware and software made of materials that are flexible and designed for short-term use, all having soft and deformable structures; robots and robotic systems, namely, computer systems, software and hardware for use in robots and robotics including soft actuators and sensors, biohybrid devices being devices made of biological and man-made material, biohybrid devices being devices combining the features of a biological creature and a non-biological object, and conformable machines being programmable electronic robotic devices, all having soft and deformable structures; Downloadable and recorded software, namely, software for use in operating, controlling and managing workplace automation; downloadable and recorded software that automates work flow, task management, and business processes; downloadable and recorded software that automates manual processes and automates the integration of computer applications, systems, and devices; downloadable and recorded software in the field of robotics, namely, software for managing, operating and controlling robots and robotic systems.
09 - Appareils et instruments scientifiques et électriques
Produits et services
Robots and robotic systems, namely, computer systems, software and hardware for use in robots and robotics, including electro-pneumatic control boards and circuits, machine vision cameras, and flexible and transient electronics, namely, electronic hardware and software made of materials that are flexible and designed for short-term use, all having soft and deformable structures; robots and robotic systems, namely, computer systems, software and hardware for use in robots and robotics including soft actuators and sensors, biohybrid devices being devices made of biological and man-made material, biohybrid devices being devices combining the features of a biological creature and a non-biological object, and conformable machines being programmable electronic robotic devices, all having soft and deformable structures; Downloadable and recorded software, namely, software for use in operating, controlling and managing workplace automation; downloadable and recorded software that automates work flow, task management, and business processes; downloadable and recorded software that automates manual processes and automates the integration of computer applications, systems, and devices; downloadable and recorded software in the field of robotics, namely, software for managing, operating and controlling robots and robotic systems.
Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.
B25J 9/14 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs à fluide
G06F 3/0488 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p. ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p. ex. des gestes en fonction de la pression exercée enregistrée par une tablette numérique utilisant un écran tactile ou une tablette numérique, p. ex. entrée de commandes par des tracés gestuels
F15B 15/10 - Dispositifs actionnés par fluides pour déplacer un organe d'une position à une autreTransmission associée à ces dispositifs caractérisés par la structure de l'ensemble moteur le moteur étant du type à diaphragme
09 - Appareils et instruments scientifiques et électriques
Produits et services
(1) Robots and robotic systems, namely computer systems, software and hardware for use in robots and robotics, including electro-pneumatic control boards and circuits, machine vision cameras, and flexible and transient electronics, namely electronic hardware and software made of materials that are flexible and designed for short-term use, all having soft and deformable structures; robots and robotic systems, namely computer systems, software and hardware for use in robots and robotics including soft actuators and sensors, biohybrid devices being devices made of biological and man-made material, biohybrid devices being devices combining the features of a biological creature and a non-biological object, and conformable machines being programmable electronic robotic devices, all having soft and deformable structures; Downloadable and recorded software, namely, software for use in operating, controlling and managing workplace automation; downloadable and recorded software that automates work flow, task management, and business processes; downloadable and recorded software that automates manual processes and automates the integration of computer applications, systems, and devices; downloadable and recorded software in the field of robotics, namely, software for managing, operating and controlling robots and robotic systems
09 - Appareils et instruments scientifiques et électriques
Produits et services
(1) Robots and robotic systems, namely computer systems, software and hardware for use in robots and robotics, including electro-pneumatic control boards and circuits, machine vision cameras, and flexible and transient electronics, namely electronic hardware and software made of materials that are flexible and designed for short-term use, all having soft and deformable structures; robots and robotic systems, namely computer systems, software and hardware for use in robots and robotics including soft actuators and sensors, biohybrid devices being devices made of biological and man-made material, biohybrid devices being devices combining the features of a biological creature and a non-biological object, and conformable machines being programmable electronic robotic devices, all having soft and deformable structures; Downloadable and recorded software, namely, software for use in operating, controlling and managing workplace automation; downloadable and recorded software that automates work flow, task management, and business processes; downloadable and recorded software that automates manual processes and automates the integration of computer applications, systems, and devices; downloadable and recorded software in the field of robotics, namely, software for managing, operating and controlling robots and robotic systems
Industrial robots; Component features of industrial robots, namely, flexible clamps for grasping items; Robotic grippers in the nature of flexible clamps for grasping items being parts of industrial robots; Robotic grippers in the nature of flexible clamps for grasping items being structural parts of industrial robots; Flexible biohybrid robotic grippers comprised of biological and man-made materials being parts of industrial robots; Soft, deformable, biohybrid robotic grippers combining the features of a biological creature and a non biological object being parts of industrial robots; Conformable and programmable robotic grippers having soft and deformable structures being parts of industrial robots; Flexible biohybrid robotic grippers comprised of biological and man-made materials sold as component parts of industrial robots; Soft, deformable, biohybrid robotic grippers combining the features of a biological creature and a non-biological object sold as component parts of industrial robots; Conformable and programmable robotic grippers having soft and deformable structures sold as component parts of industrial robots
09 - Appareils et instruments scientifiques et électriques
Produits et services
Robots and robotic systems, namely computer systems, software and hardware for use in robots and robotics, including electro-pneumatic control boards and circuits, machine vision cameras, and flexible and transient electronics, namely electronic hardware and software made of materials that are flexible and designed for short-term use, all having soft and deformable structures; robots and robotic systems, namely computer systems, software and hardware for use in robots and robotics including soft actuators and sensors, biohybrid devices being devices made of biological and man-made material, biohybrid devices being devices combining the features of a biological creature and a non-biological object, and conformable machines being programmable electronic robotic devices, all having soft and deformable structures; software including, software for use in workplace automation; software to automate work flow, task management, and business processes; software to automate manual processes and to automate the integration of computer applications, systems, and devices; software in the field of robotics.
14.
FIELD-ASSEMBLED SOFT GRIPPING FOR INDUSTRIAL AND COLLABORATIVE ROBOTS
A soft robotic gripper having component parts capable of being assembled in the field at the terminus of an industrial robot arm for providing adaptive gripping of a product. A hub includes a pneumatic inlet leading to outlets. Finger mounts with pneumatic passages hold inflatable fingers, and tension fastener(s) secure and compress the finger mounts toward the hub by passing through the pneumatic passages and fastening under tension in a direction of the hub.
B25J 15/12 - Têtes de préhension avec des éléments en forme de doigts avec des éléments en forme de doigts flexibles
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
15.
FIELD- ASSEMBLED SOFT GRIPPING FOR INDUSTRIAL AND COLLABORATIVE ROBOTS
A soft robotic gripper having component parts capable of being assembled in the field at the terminus of an industrial robot arm for providing adaptive gripping of a product. A hub includes a pneumatic inlet leading to outlets. Finger mounts with pneumatic passages hold inflatable fingers, and tension fastener(s) secure and compress the finger mounts toward the hub by passing through the pneumatic passages and fastening under tension in a direction of the hub.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
Exemplary embodiments relate to pressurizable housings (202) for a soft robotic actuator (100). The pressurized housings (202) may be divided into an first space (214) in fluid communication with an internal void of the actuator, and a second space (216) connected to an inlet (210) and an outlet (212). The first space (214) and second space (216) may be separated by a piston (204). By supplying a fluid to the second space (216) via the inlet, the piston is moved into the space previously occupied by the first space (214), which reduces the volume of the first space (214) and increases the pressure in the internal void. This action allows the actuator to be rapidly inflated, and further simplifies the pressurization system and reduces its weight.
Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be connected to a hub through one or more sets of pivots attached to linkages that allow the distances between the pivots to be varied. Compared to conventional EOATs, exemplary embodiments increase the range of motion of the actuators, improve grip posture, boost gripping force, and balance the loads on the actuators.
Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). In particular, exemplary embodiments provide structures allowing a displacement fluid to be discharged from a distal end of a robotic finger. The discharge may be used to displace a target object, such as an object that is adjacent to another blocking object or the side of a container. After the target object is displaced, the EOAT may be better able to maneuver into a gripping posture and may be able to secure a better grasp on the target object.
Exemplary embodiments relate to a fastener (200) suitable for industrial tasks. Some embodiments include a sealing surface (208) sized so that an outer surface of a sealing ring (202) is located at approximately the same diameter as the fastener head, thus reducing ingress risk for foreign contaminants. Further embodiments provide a centering pilot (210) to improve sealing consistency and quality. Some embodiments provide an angled flange (206) on the fastener head to lift tightening tools away from the surface to which the fastener is being applied, and to shed liquids readily. The portion of the head that receives the tightening tools may be relatively small (approximately the same diameter as the fastener's threaded shaft) to reduce the risk of over-torqueing. A bearing surface (212) of the fastener (200) may be located below the sealing ring (towards the threaded shaft (214)) to prevent the fastener from marring the unsealed surface to which the fastener is being applied.
Robotic grippers have been employed to grasp and manipulate target objects. One task posing relatively unique problems is the handling of meat products, which can be difficult to grasp with a conventional gripper due to the surface texture and malleability of the meat, among other factors. This is particularly problematic when the meat product includes a bone, which has different properties from the relatively malleable meat surrounding it. Exemplary embodiments described herein provide robotic grippers having one or more fingers and a layered plate. The layered structure defines grooves sized and configured to lead in and capture the bone structure of the meat product. The grooves provide a backstop for the meat as well as preventing rotation or translation of the bone structure, thus allowing a firm grasp to be secured on the meat product.
Exemplary embodiments relate to unique structures for robotic end-of-arm -tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be configured to move (together or separately) to adjust the spacing between the actuators. Some aspects involve techniques for extending and/or retracting a vacuum cup present on the EOAT. Further embodiments, which may be used separately or in conjunction with the previously-described embodiments, apply a secondary inner grip pad to provide a secondary gripping mode for the EOAT. These embodiments may be particularly advantageous when the actuators are soft robotic actuators and the inner grip pad is a relatively more rigid structure than the actuators.
Robotic grippers have been employed to grasp and manipulate target objects. One task posing relatively unique problems is the handling of meat products, which can be difficult to grasp with a conventional gripper due to the surface texture and malleability of the meat, among other factors. Exemplary embodiments described herein provide robotic grippers having one or more fingers and a plate, the plate optionally providing suction capabilities. The actuators apply a small force to the edges of the grasping target. In suctioned embodiments, an array of suction holes within the plate support the center of the grasping target by applying a light vacuum force at many points along the surface thereof. In non-suctioned embodiments, the actuators grip the edges of the grasping target and the plate makes conformal contact with the grasping target to prevent it from folding or otherwise deforming or disintegrating from the gripping force of the actuators.
Exemplary embodiments describe soft robotic actuators for medical use, such as during surgeries and other medical procedures. According to one embodiment, a soft robotic incision retractor is provided. According to another embodiment, a soft robotic body tissue retractor is provided. The incision retractor and body tissue retractor may be used together, for example by using the incision retractor to hold open an incision while the body tissue retractor manipulates biological matter or an object accessible through the incision. Described embodiments offer the ability to conform to a given space, reduced risk of damage to surrounding structures as compared to traditional retractors, the ability to deliver varying amounts of force, the ability to be made from medically safe materials, and the potential for re-use or disposability.
Various stabilization devices for a robotic end of arm tool, such as a robotic gripper, are described. The stabilization device is provided in a palm area of the end of arm tool and serves as a backstop against which actuators of the end of arm tool can push a compliant or slick target object. The stabilization device may take many any of a variety of shapes, depending on the applications. Based on the shape of the stabilization device and the action of the robotic gripper on the target object, the target object can be moved or rotated in a more stable configuration, thus allowing the actuators to apply less force while still maintaining a firm grasp of the object.
B25J 9/14 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs à fluide
F15B 15/10 - Dispositifs actionnés par fluides pour déplacer un organe d'une position à une autreTransmission associée à ces dispositifs caractérisés par la structure de l'ensemble moteur le moteur étant du type à diaphragme
Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.
B25J 9/14 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs à fluide
B25J 15/12 - Têtes de préhension avec des éléments en forme de doigts avec des éléments en forme de doigts flexibles
G06F 3/0488 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p. ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p. ex. des gestes en fonction de la pression exercée enregistrée par une tablette numérique utilisant un écran tactile ou une tablette numérique, p. ex. entrée de commandes par des tracés gestuels
F15B 15/10 - Dispositifs actionnés par fluides pour déplacer un organe d'une position à une autreTransmission associée à ces dispositifs caractérisés par la structure de l'ensemble moteur le moteur étant du type à diaphragme
26.
SERVO-PNEUMATIC CONTROL SYSTEMS FOR SOFT ROBOTIC ACTUATORS
Exemplary embodiments relate to the use of servo-pneumatic control systems for actuation and de-actuation of soft robotic actuators. Apparatuses and methods are disclosed for using a servo-pneumatic control system in fluid communication with the soft robotic actuator and configured to maintain a closed loop in which at least one of pressure, mass of fluid, or volume of fluid is controlled within the soft robotic actuator. The embodiments may be used to prevent deformation of grasped objects; detect grasping, collision, and releasing objects; and other operations with a rapid servo-pneumatic response.
Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. Systems, methods, apparatuses and computer-readable media instructions are disclosed for interactions with and control of robotic systems, in particular, pick and place systems using soft robotic actuators to grasp, move and release target objects.
B25J 9/14 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs à fluide
B25J 15/12 - Têtes de préhension avec des éléments en forme de doigts avec des éléments en forme de doigts flexibles
G06F 3/0488 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p. ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p. ex. des gestes en fonction de la pression exercée enregistrée par une tablette numérique utilisant un écran tactile ou une tablette numérique, p. ex. entrée de commandes par des tracés gestuels
F15B 15/10 - Dispositifs actionnés par fluides pour déplacer un organe d'une position à une autreTransmission associée à ces dispositifs caractérisés par la structure de l'ensemble moteur le moteur étant du type à diaphragme
Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. Systems, methods, apparatuses and computer-readable media instructions are disclosed for interactions with and control of robotic systems, in particular, pick and place systems using soft robotic actuators to grasp, move and release target objects.
B25J 9/14 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs à fluide
B25J 15/12 - Têtes de préhension avec des éléments en forme de doigts avec des éléments en forme de doigts flexibles
G06F 3/0488 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p. ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p. ex. des gestes en fonction de la pression exercée enregistrée par une tablette numérique utilisant un écran tactile ou une tablette numérique, p. ex. entrée de commandes par des tracés gestuels
F15B 15/10 - Dispositifs actionnés par fluides pour déplacer un organe d'une position à une autreTransmission associée à ces dispositifs caractérisés par la structure de l'ensemble moteur le moteur étant du type à diaphragme
Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. Systems, methods, apparatuses and computer-readable media instructions are disclosed for interactions with and control of robotic systems, in particular, pick and place systems using soft robotic actuators to grasp, move and release target objects.
The present application relates to improvements in support systems (114), (202) for holding one or more robotic actuators (100), particularly soft robotic actuators. Because soft robotic actuators tend to push away from a base to which they are fixed upon inflation, they must be hold to the base securely. However, this may render it more difficult to remove the actuator from the base (e.g., when the actuator fails, when the actuator and/or base must be cleaned or serviced, or when a user wishes to switch out one style or size of actuator for another). Exemplary embodiments herein relate to improved designs for hubs, including interlocking and quick-release mechanisms that allow the actuator to be held firmly to the hub, but also allow the actuator to be quickly and efficiently released, when needed.
Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for packaging target objects using soft robotic actuators, for moving and positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.
Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for fixing target objects and/or receptacles using soft robotic actuators, for positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.
Exemplary embodiments relate to soft robotic gripper systems suited to grasping target objects (210) in cluttered environments. Some embodiments provide extension rods (208), hinges (204, 208), and/or rails (604-1, 604-2) that allow a soft robotic actuator (100) to be extended towards or away from a robotic base and/or other actuators. Accordingly, a gripper including the actuator may be reconfigured into a size and/or shape that allows for improved access to the cluttered environment. Further embodiments relate to soft robotic gripper systems for supporting grasped objects during high acceleration movements using vacuum, gripper, and/or bellows devices. Still further embodiments relate to specialized grippers for manipulating food items.
Exemplary embodiments relate to improvements in soft robotic systems that permit a soft robotic end effector to be a self-contained system, without reliance on a tether to deliver inflation fluid to the actuator(s) of the end effector. According to some embodiments, a robotic system may be provided including a soft actuator and a hub. The body of the hub may include an integrated pressure source configured to supply inflation fluid through the actuator interface to the soft actuator. The pressure source may be, for example, a compressor (such as a twin- head compressor) or a reaction chamber configured to vaporize a fuel to create a high- temperature pressurized gas and deliver the pressurized gas to the actuator One or more accumulators may receive inflation fluid (or a partial vacuum) from the compressor over time, and store the inflation fluid under pressure, thus allowing actuation over a relatively short time period.
Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.
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.
Exemplary embodiments relate to various improvements in soft robotic actuators, and more specifically the integration of stiff or rigid bodies into soft actuators to provide adjustable gripping behaviors. These actuators may be used as robotic end effectors to, for example, automate material handling processes. According to some embodiments, the actuators may be deployed in combination with a static or dynamic rigid structure, such as a rod. The rigid structure may extend beside or within the actuator. Multiple rigid structures may be deployed on the sides of an actuator, or multiple actuators may be deployed on the sides of a rigid structure. In further embodiments, an array or matrix of actuators may be integrated into a rigid structure, providing a low-profile gripper that can be maneuvered into tight spaces.
Exemplary embodiments relate to various improvements in soft robotic actuators, and techniques for manufacturing the improvements. For example, techniques for manufacturing a rigidizing layer for reinforcing a soft robotic actuator is provided. In another embodiment, a soft robotic actuator having integrated sensors is described. A flexible electroadhesive pad for achieving a conformal grip is also described. Still further, exemplary embodiments provide hydraulically-actuated soft robotic grippers, which allows for a reduction in the size of the actuation system and improved underwater operation.
F15B 7/06 - Systèmes de manœuvre utilisant la pression d'un fluide dans lesquels le mouvement produit est lié de façon définie au débit d'une pompe volumétriqueTélémoteurs Parties constitutives
F15B 15/10 - Dispositifs actionnés par fluides pour déplacer un organe d'une position à une autreTransmission associée à ces dispositifs caractérisés par la structure de l'ensemble moteur le moteur étant du type à diaphragme
Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.
F03G 7/06 - Mécanismes produisant une puissance mécanique, non prévus ailleurs ou utilisant une source d'énergie non prévue ailleurs utilisant la dilatation ou la contraction des corps produites par le chauffage, le refroidissement, l'humidification, le séchage ou par des phénomènes similaires
F15B 15/10 - Dispositifs actionnés par fluides pour déplacer un organe d'une position à une autreTransmission associée à ces dispositifs caractérisés par la structure de l'ensemble moteur le moteur étant du type à diaphragme
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
Exemplary embodiments describe soft robotic actuators for medical use, such as during surgeries and other medical procedures. According to one embodiment, a soft robotic incision retractor is provided. According to another embodiment, a soft robotic body tissue retractor is provided. The incision retractor and body tissue retractor may be used together, for example by using the incision retractor to hold open an incision while the body tissue retractor manipulates biological matter or an object accessible through the incision. Described embodiments offer the ability to conform to a given space, reduced risk of damage to surrounding structures as compared to traditional retractors, the ability to deliver varying amounts of force, the ability to be made from medically safe materials, and the potential for re-use or disposability.
A61B 17/02 - Instruments, dispositifs ou procédés chirurgicaux pour maintenir les blessures ouvertes, p. ex. rétracteursÉcarteurs
A61B 17/29 - Pinces pour la chirurgie faiblement invasive
A61B 19/00 - Instruments, outillage ou accessoires pour la chirurgie ou le diagnostic non couverts par l'un des groupes A61B 1/00-A61B 18/00, p.ex. pour stéréotaxie, opération aseptique, traitement de la luxation, protecteurs des bords des blessures(masques de protection du visage A41D 13/11; blouses de chirurgien ou vêtements pour malades A41D 13/12; dispositifs pour retirer, traiter ou transporter les liquides du corps A61M 1/00)
Exemplary embodiments describe soft robotic actuators for medical use, such as during surgeries and other medical procedures. According to one embodiment, a soft robotic incision retractor is provided. According to another embodiment, a soft robotic body tissue retractor is provided. The incision retractor and body tissue refractor may be used together, for example by using the incision retractor to hold open an incision while the body tissue retractor manipulates biological matter or an object accessible through the incision. Described embodiments offer the ability to conform to a given space, reduced risk of damage to surrounding structures as compared to traditional retractors, the ability to deliver varying amounts of force, the ability to be made from medically safe materials, and the potential for re-use or disposability.
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.
A soft material retractor includes at least two soft actuators, each actuator having at least one pressurizable interior space, wherein the actuator has a first flexible resting state and a second stiffer pressurized state; and a flexible sheet spanning the actuators such that the actuators can be spaced apart from each other by a distance selected to displace a volume of material of a body cavity. The retractor can be uses for holding open wounds or incisions, with trochars, or to displace anatomical features such as organs within a body cavity.
A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased. The present invention addresses the needs described above by providing actuators that are configured to perform new fundamental motions through the inclusion of design elements which can be configured, through the manipulation of a relatively short list of parameters, to undergo specific pressure-actuated changes which can be designed using quantitative modeling techniques.
F15B 15/10 - Dispositifs actionnés par fluides pour déplacer un organe d'une position à une autreTransmission associée à ces dispositifs caractérisés par la structure de l'ensemble moteur le moteur étant du type à diaphragme
A composite structural element is described, including: a first laminate layer comprising a plurality of first material layers; a second laminate layer comprising a plurality of second material layers; and an inflatable bladder configured for connection with a fluid inflation or deflation source and disposed in-between the first and second laminate layers.
G11B 5/706 - Supports d'enregistrement caractérisés par l'emploi d'un matériau spécifié comportant une ou plusieurs couches de particules magnétisables mélangées de façon homogène avec un produit de liaison sur une couche de base caractérisés par la composition du matériau magnétique
A compact, portable, easily implemented soft robotic orthopedic stabilization device for adjustably and selectively stabilizing a fractured or otherwise injured limb of a patient while providing convenient access to portions of the limb for treatment thereof.
A soft robotic instrument that is capable of changing its form factor (e.g., expanding and contracting) during use to facilitate minimally invasive surgery. The instrument may be formed wholly or partly of an elastomeric, electrically insulating material for mitigating the risk of injuring tissue and for mitigating the risk of electrical arcing during electrosurgery.
B25J 9/14 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs à fluide
B25J 15/12 - Têtes de préhension avec des éléments en forme de doigts avec des éléments en forme de doigts flexibles
A61B 17/29 - Pinces pour la chirurgie faiblement invasive
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/22 - Instruments pour comprimer les ulcères ou similaires placés sur les organes internes du corpsInstruments pour curer les cavités des organes du corps, p. ex. des osInstruments, dispositifs ou procédés chirurgicaux pour l'élimination ou la destruction invasives des calculs utilisant des vibrations mécaniquesInstruments, dispositifs ou procédés chirurgicaux pour l'élimination non prévue ailleurs des obstructions dans les vaisseaux sanguins
A soft robotic instrument that is capable of changing its form factor (e.g., expanding and contracting) during use to facilitate minimally invasive surgery. The instrument may be formed wholly or partly of an elastomeric, electrically insulating material for mitigating the risk of injuring tissue and for mitigating the risk of electrical arcing during electrosurgery.
A61B 17/22 - Instruments pour comprimer les ulcères ou similaires placés sur les organes internes du corpsInstruments pour curer les cavités des organes du corps, p. ex. des osInstruments, dispositifs ou procédés chirurgicaux pour l'élimination ou la destruction invasives des calculs utilisant des vibrations mécaniquesInstruments, dispositifs ou procédés chirurgicaux pour l'élimination non prévue ailleurs des obstructions dans les vaisseaux sanguins
F21V 14/08 - Commande de la distribution de la lumière émise par réglage d’éléments constitutifs par un mouvement d'écrans
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A soft conformal compression device for treatment of a wound on a patient's limb, the device including a network of pneumatic actuators and a wound dressing. The pneumatic actuators may be activated by applying a source of a gas to an inlet on the device, which may cause the device to curve, bend, or otherwise deform in a predetermined manner to encircle a patient's limb and urge the wound dressing toward the wound.