Soft robotic actuators utilizing asymmetric surfaces

Abstract

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.

Description

technical field [0001] This article relates to soft actuators in general, and soft manipulators in particular. [0002] related application [0003] This application is related to International Patent Application Publication No. WO2012 / 148472 by Ilievsky et al. The entire disclosure of this reference, as well as the entirety of any other reference listed within the text of this specification, is hereby incorporated by reference in its entirety. Background technique [0004] A "robot" is an automatically controlled, programmable multipurpose manipulator that can function in a fixed position or in motion. Robotics is an extremely important (and increasingly important) field in many fields, from assembly to surgery. Most robotic systems are "hard", i.e. consist of metal structures with conventional bearing-based joints. These structures are often modeled after animal limbs (although structures not found in nature such as wheels and treads are also common in mobile robots)....

AI Technical Summary

Problems solved by technology

However, these structures can only move in limited ways

Also, rigid skeletons may not be suitable for many applications, such as manipulating fragile objects or objects that differ significantly from part to part

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