Flexible grabbing and picking-up device capable of being provided with working space again

Abstract

An apparatus, the apparatus comprising: a finger body comprising one or more finger cavities disposed along a length of the finger body, the length of the finger body in a default shape setting a first axis, the finger body may bend away from the first axis in response to a change in finger fluid pressure within the one or more finger cavities; and a valve portion coupled to the finger body at one or more points along a length of the finger body, the valve portion having one or more valve portion cavities disposed on the valve portion, wherein the flap may actively deform and / or passively deform in response to bending of the finger body and / or a change in flap fluid pressure within the one or more flap cavities.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority to Singapore Patent Application No. 10202250024F filed on May 27, 2022, the entire contents of which are hereby incorporated by reference into this document. Technical Field

[0002] The present application relates to an end effector for a robotic system. Background Art

[0003] The consumer goods, logistics and food industries have benefited greatly from robotic automation to meet growing and highly dynamic demands. However, despite advances in the field of robotics, the gripping capabilities of conventional grippers are still largely limited to handling objects of predetermined size or fixed geometry or size, and are restricted to performing highly specific gripping tasks. For example, conventional flexible end effectors have difficulty handling batches of multiple objects, each of which is much smaller than the overall size of the batch of objects, such as grains or beads. Conventional end effectors that can handle larger objects such as bottles have difficulty handling thinner and smaller objects such as cotton gauze strips or needles. This means that the automation of a production line may require multiple robotic arms, each equipped with a different conventional end effector, which increases costs. The alternative of using only one robotic arm may require multiple equipment downtimes to allow the operator to replace the end effector between different processing tasks. It can be understood that this alternative can have a negative impact on production efficiency. Summary of the invention

[0004] On the one hand, the present device includes: a finger body, which includes one or more finger cavities arranged along the length of the finger body, the length of the finger body in a default shape sets a first axis, and the finger body can bend away from the first axis in response to changes in finger fluid pressure in the one or more finger cavities; and a flap, which is coupled to the finger body at one or more points along the length of the finger body, and the flap has one or more flap cavities arranged on the flap, wherein the flap can actively and / or passively deform in response to bending of the finger body and / or changes in flap fluid pressure in the one or more flap cavities.

[0005] On the other hand, the grabber includes: a palm portion with a central axis set; and a plurality of devices, each of the plurality of devices being according to any of the devices described above, wherein each of the plurality of devices is coupled to the palm portion through a corresponding coupling member, independently of any other device of the plurality of devices, and wherein the corresponding finger bodies of the plurality of devices jointly set a working opening, and wherein the plurality of devices and the palm portion jointly set a working space cavity.

[0006] According to another aspect, the gripper system comprises: a control circuit; and a gripper according to any of the grippers described above, the gripper being operably coupled to the control circuit, wherein the control circuit is configured to control each of the following items independently of any other item in the group consisting of the following items: the finger fluid pressure, the petal fluid pressure, and the palm fluid pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Various embodiments of the present application are described with reference to the following drawings to help understanding:

[0008] Figure 1 is a perspective view of a device for a flexible gripper capable of resetting a working space according to an embodiment of the present application;

[0009] Figure 2 yes Figure 1 a perspective cross-sectional view of the device shown;

[0010] Figure 3 yes Figure 1 an exploded view of a partial section of the device shown;

[0011] Figure 4A yes Figure 1 A cross-sectional side view of the device from perspective AA, and Figure 4B is a diagram showing the outline of the device, Figure 4A Side view of

[0012] FIG5 schematically illustrates several example arrangements of multiple wavy portions on a petal portion;

[0013] Figure 6 It has three units Figure 1 An exploded perspective view of an embodiment of a flexible gripper of the apparatus shown that can reconfigure the workspace;

[0014] Fig. 7A and Figure 7B yes Figure 6 A perspective view of a flexible gripper with a reconfigurable workspace;

[0015] Fig. 8A yes Fig. 7A A top view of the gripper shown, and Figure 8Bis a schematic diagram showing a portion of a grabber according to another embodiment of the present application;

[0016] Fig. 9A is in power grasping mode, Fig. 7A A top view of the gripper shown, and Fig. 9B is in pinch grasping mode, Fig. 7A A top view of the grabber shown;

[0017] Fig.10 is in scoop mode, Fig. 7A a perspective view of the grabber shown;

[0018] Fig.11 is a perspective view of another embodiment of a grabber having wings;

[0019] Fig.12 is a top view of the gripper without expanding the wave group;

[0020] Fig.13 is a top view of the gripper with the wave group expanded;

[0021] Fig.14 yes Fig. 8A A partial cross-sectional side view of the grabber from the perspective of BB is shown;

[0022] Fig.15 yes Fig.14 A top view of the grabber shown;

[0023] Fig.16 It is in the pinch mode. Fig. 7A a perspective view of the grabber shown;

[0024] Fig.17 yes Fig.16 A top view of the grabber shown;

[0025] 18A to 18C is a schematic diagram showing the ability of the same gripper to grasp thinner and / or smaller objects of different sizes;

[0026] Fig.19 is a schematic diagram of an electro-pneumatic actuation circuit according to an embodiment of the present system;

[0027] FIG. 20A to FIG. 20L Demonstrates the ability of the same gripper to switch between two or more operating modes and perform different processing tasks;

[0028] Fig.21A and Fig.21B Demonstrating the ability of the same gripper to switch between two or more modes of operation to grasp different objects of various shapes and sizes;

[0029] Fig. 22 is a diagram showing the different workspace volumes that can be achieved using the same gripper in different operating modes. DETAILED DESCRIPTION

[0030] The following detailed description is made with reference to the accompanying drawings, in which details and embodiments of the present application are shown for illustration. Features described in the context of one embodiment may be correspondingly applicable to the same or similar features in other embodiments, even if not explicitly described in these other embodiments. Supplementation and / or combination and / or substitution of features described in the context of one embodiment may be correspondingly applicable to the same or similar features in other embodiments.

[0031] In the context of various embodiments, the articles “a,” “an,” and “the” used with respect to a feature or element include reference to one or more features or elements.

[0032] In the context of various embodiments, the term "about" or "approximately" as applied to numerical values ​​encompasses both the exact value and a reasonable difference within, for example, 10%, of the specified value as commonly understood in the relevant technical field.

[0033] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0034] As used herein, "comprising" means including, but not limited to, the contents following the word "comprising". Thus, the use of the term "comprising" indicates that the listed elements are required or mandatory, but other elements are optional and may or may not be present. As used herein, "consisting of" means including and limited to the contents between the phrases "consisting of". Thus, the use of the phrase "consisting of" indicates that the listed elements are required or mandatory and that no other elements are present.

[0035] Terms such as "first" and "second" are used in the description and claims merely for the purposes of brevity and clarity and do not necessarily imply a priority or order unless explicitly stated.

[0036] Figure 1FIG. 5 shows a device 100 of a reconfigurable workspace soft (RWS) gripper 50 (hereinafter referred to as a "gripper") according to an embodiment of the present application. The device 100 may include a finger body 110 that sets a first axis 72 and a petal 120 coupled to the finger body 110, the petal 120 setting a lateral axis 74, wherein the lateral axis 74 is transverse to or perpendicular to the first axis 72. In some embodiments, the first axis 72 and the lateral axis 74 may jointly set a finger plane 75. In other embodiments, the planar form of the petal 120 may set the finger plane 75.

[0037] According to various embodiments, the finger body 110 may be formed with a wedge-shaped structure 121, which defines one or more finger cavities 111 inside the finger body 110. In some examples, the cross-sectional shape of the plurality of finger cavities 111 is preferably an ellipse having a plurality of cavity walls spaced apart from each other along the first axis 72. The cross-section of the finger cavity 111 may not be limited to an ellipse. In various embodiments, the shape and size of each finger cavity 111, as well as the number of finger cavities 111 of each finger body 110, may be deformed and set according to the needs of the device 100. Non-limiting exemplary finger cavities 111 may be shaped based on different geometric shapes, such as but not limited to ellipses, triangles, polygons, etc. In some embodiments, the finger body 110 may be wrapped by an elastic skin 112 or a deformable skin that seals the plurality of finger cavities 111. Preferably, the one or more finger cavities 111 may be in fluid communication with each other, and further in fluid communication with the fluid inlet 113. The fluid inlet 113 may be in fluid communication with the fluid pressure controller 60 so that the pressure (finger fluid pressure) in the plurality of finger cavities 111 may be varied or changed.

[0038] In some embodiments, the finger body 110 may include a nail portion 130 or fingertip portion resiliently coupled to the finger body 110 such that the nail portion 130 may be resiliently displaced relative to the finger body 110 along the first axis 72 (operating with the nail portion displacing along the direction 85). For example, the nail portion 130 may be resiliently coupled to the finger body 110, wherein the nail portion 130 may be resiliently displaced relative to the finger body 110 along the first axis 72. The nail portion 130 may also be telescopically coupled or slidably coupled to the finger body 110 via a channel 131 formed in the finger body 110. In one example, an elastic member 132, such as a compressible foam, may be disposed between the nail portion 130 and the finger body 110 such that the nail portion 130 is biased away from the finger body 110 while allowing the nail portion 130 to be resiliently displaced toward or inwardly from the finger body 110. A limit stop 133 may be provided by the nail flange 133 and a corresponding narrowing of the channel 131 , thereby preventing the nail 130 from sliding out of the channel 131 .

[0039] Further reference is made to the accompanying drawings, which illustrate embodiments of the flap 120. The flap 120 may have a substantially flat (two-dimensional) or planar default shape defining a first surface 123a and a second surface 123b (substantially opposite the first surface 123a). Alternatively, the flap 120 may have a three-dimensional (3D) default shape or a more complex default shape having one or more curved portions. The flap 120 may be coupled to the finger body 110 at the first surface 123a, with one or more flap cavities 126 being provided on the second surface 123b. The flap 120 is preferably an elastic member. To aid understanding, the flap 120 will be described according to an example having a substantially triangular planar default form, but as described above, the default shape of the flap 120 may vary. The flap 120 may include a plurality of opposing side portions 122 and a flap cusp 124 provided between the plurality of opposing side portions 122. Preferably, the flap 120 is coupled to the finger body 110 via at least the flap tip 124, so that displacement of the finger body 110 causes a corresponding displacement of the flap tip 124, in other words, the flap tip 124 moves synchronously with the finger body 110 or at least a portion of the finger body 110. In other embodiments, there may be multiple coupling points between the flap 120 and the finger body 110. Preferably, in various embodiments where the finger body 110 is bendable to provide an outer convex surface and a substantially opposite inner concave surface (e.g., Figure 4BSchematically shown), the flap 120 is coupled to the outer convex surface of the finger body 110. Preferably, the flap tip 124 of the flap 120 is coupled to the finger body 110 at the free end adjacent to the device 100 (close to the channel 131), and the other part of the flap 120 is coupled to the engagement end 114 of the device 100. When the finger body 110 is bent or not bent (whether by actuation or elastic bias to bend), the overall shape of the flap 120 undergoes corresponding deformation and / or corresponding displacement (relative to the palm). In coordination with the deformation and / or displacement caused by coupling to the finger body 110, the flap 120 is provided with one or more groups of wavy portions, which can controllably contribute to the deformation and / or displacement of the flap 120 generated. For the purposes of this application, "actively deformable" means that the first element can be deformed by the first element being actuated (e.g., by a change in fluid pressure) to change the three-dimensional shape, and "passively deformable" means that the first element can be deformed by the second element being actuated (e.g., by a change in fluid pressure). The term "passively deformable" may also include deformation due to elastic "spring back" effects, shape memory effects, etc., without active transmission of one or more actuation forces.

[0040] According to various embodiments, the petal 120 may include a group of undulating portions 125 having one or more elastic pockets 126 (e.g., multiple petal cavities) distributed, arranged, or colinear along the undulating portion axis 78. The multiple petal cavities 126 may be arranged on one or more surfaces of the petal 120. In some embodiments, the petal 120 is provided with an arcuate or complex three-dimensional (3D) default shape, and the multiple petal cavities 126 may be differently arranged on any one or more surfaces of the petal 120. The multiple petal cavities 126 may be shaped and sized in a variety of ways and are not limited to the examples shown in the accompanying drawings. In some embodiments, the undulating portion axis 78 may be substantially parallel to the lateral axis 74. In some embodiments, the undulating portion axis 78 may not be parallel to the first axis 72. In various other embodiments, the petal 120 may include one or more groups of undulating portions 125, wherein the petal curvature is biased in different ways along the undulating portion axes 78 in different orientations. As Figure 5A As shown, the wave axis 78 may be angularly displaced relative to the lateral axis 74 . Figure 5B An example is shown having multiple sets of undulations where the undulation axis 78 is substantially parallel to the lateral axis 74 . Figure 5CAn example with an arcuate wave axis 78 is shown. In some embodiments, a group of multiple waves 125 or a group of multiple elastic pockets 126 can be provided on the surface of the petal 120 that faces away from the finger body 110. Preferably, the multiple elastic pockets 126 are aligned from one side 122a to the other side 122b along the width of the petal 120. Each elastic pocket 126 may include a corresponding petal cavity 128 also arranged along the lateral axis 74 (or along another axis as described above). In some embodiments, the multiple petal cavities 128 of the petal 120 can be in fluid communication with each other. A fluid inlet 129 can be provided in fluid communication with the multiple petal cavities 128. The fluid inlet 129 can be in fluid communication with the fluid pressure controller 60 so that the pressure within the multiple petal cavities 128 can be varied or changed.

[0041] It is understood that there may be multiple sets of petal cavities 128, and therefore, there may be corresponding multiple fluid inlets 129. For example, the petal cavities 128a of adjacent sides 126a may be in fluid communication with each other and with corresponding fluid inlets 129. The petal cavities 128a provided on one side 122a do not necessarily have to be in fluid communication with the petal cavities 128b on the adjacent side 122b. It is understood that multiple sets of petal cavities 128 may be provided accordingly.

[0042] Reference again FIG. 4A to FIG. 4B , which illustrates the actuation or displacement of the finger body 110 away from the finger plane 75 in response to a change in the finger fluid pressure within the plurality of finger cavities 111. In some embodiments, as the finger fluid pressure within the plurality of finger cavities 111 decreases (negative changes), such as by providing a negative pressure within the plurality of finger cavities 111, the plurality of cavity walls of the plurality of finger cavities 111 are squeezed / moved toward each other, which causes the finger body 110 to shift away from the finger plane 75 and toward the workspace cavity 52 along the direction 82. In some examples, the finger body 110 can be moved about the lateral axis 74 ( Figure 2) bends and displaces away from the finger plane 75. Similarly, as the finger fluid pressure within the plurality of finger cavities 111 increases (positive change), such as by providing a positive pressure within the plurality of finger cavities 111, the plurality of cavity walls displace away from each other, which causes the finger body 110 to displace along the direction 82 toward the finger plane 75 and away from the workspace cavity 52. ​​The flap 120 can deform in response to bending of the finger body 110 and / or changes in the flap fluid pressure within one or more flap cavities 126. The flap 120 can deform between any two of a plurality of shapes. Preferably, the flap 120 can deform by simultaneous bending of the flap 120 relative to the first axis 72 and a change in the lateral curvature 87 of the flap 120. Alternatively, the applied negative pressure can be removed, which allows the "built-in" elasticity of the wedge-shaped structure 121 to "spring back" to its default setting. Preferably, the petal 120 can be deformed toward a default shape under the elastic bias of the finger body 110 and / or the petal 120. Therefore, in response to changes in fluid pressure within the plurality of finger cavities 111, the device 100a / 100b can be displaced toward or away from the workspace cavity 52, which thus implements a partial gripping function of the gripper 50.

[0043] Furthermore, displacement of the finger body 110 away from the finger plane 75 causes simultaneous deformation and / or displacement of the petal portion 120 toward or away from the workspace cavity 52. ​​This may be accomplished by one or more couplings between the finger body 110 and the petal portion 120. In response to displacement of the finger body 110 away from the first plane 75, the cusp portion 124 of the petal portion 120 may flex or bend about the lateral axis 74 to form a cusp curvature.

[0044] One or more apparatuses 100 may be used to form various types of end effectors. Figure 6 , Fig. 7A and Figure 7B A gripper 50 is shown of a three-unit device 100 coupled to a palm 200 via respective finger bodies 110. The gripper 50 can be used to handle various types of objects 80, wherein the gripper can be reconfigured in real time by changing its shape and / or by changing the surfaces it uses to contact one or more objects 80.

[0045] The gripper system 40 may include a gripper 50; a fluid pressure controller 60 for providing fluid pressure to one or more devices 100; and a controller 70 in signal communication with the fluid pressure controller 60. The controller 70 may be configured to control the fluid pressure controller 60 to change the pressure provided to the device 100 or to change the pressure of multiple chambers within the device 100. In some examples, the fluid pressure controller 60 may include a positive pressure pump and a vacuum pump. Preferably, the fluid is a gas such as air. The fluid pressure controller 60 and the controller 70 may be collectively described as forming part of a control circuit 90.

[0046] In various embodiments, multiple devices 100 can be coupled to the palm 200 so that each of the multiple devices 100 has a different orientation from each other. The finger body 110 can be coupled to the palm 200 via a connector 230. Each finger body 110 can be coupled to the palm 200 via a corresponding connector 230, which in turn can be displaced relative to the center of the palm via a pneumatic actuator.

[0047] Multiple devices 100 can collectively set a working opening 51, which sets the limit of the maximum cross-section of an object 80 that can be grasped by the gripper system 40. The working opening 51 can be described as the largest opening that can be formed by multiple devices 100 that are most distant from each other. In addition, multiple devices 100 and the palm 200 can set a workspace cavity 52, wherein during the grasping operation, the object 80 or at least a portion of the object 80 can be located in the workspace cavity 52. ​​The "workspace cavity" is the cavity around the gripper that the gripper component occupies / spans when actuated. It will be understood by those skilled in the art that "opening" and "workspace cavity" are two different things. The former is an area (defined in units of, for example, "square meters" or its diameter is defined in units of "meters"), and the latter is a volume (in units of "cubic meters"). Traditionally, the workspace is defined as the range of locations that a robot can reach to interact with its physical environment. In the present application, the gripper 50 is a flexible gripper, and the interaction with the object 80 may include passive and active deformation of the gripper 50 , including deformation of the plurality of devices 100 .

[0048] In some embodiments, the palm portion 200 may define a central axis 71 passing through the center of the working port 51. A plurality of devices 100 may be arranged in a radially symmetrical manner about the central axis 71 of the palm portion 200, such as Fig. 8A As shown. The present grabber 50 is not limited to a radially symmetrical arrangement. Figure 8BIn another non-limiting example schematically shown in an exploded view of , a plurality of apparatuses 100 are coupled to a support (not shown to avoid confusion) such that each set of two or more apparatuses 100 is preferably pre-oriented to process an object 80. Figure 8B In the example of , the gripper 50 is composed of two or more pairs of devices 100 distributed in a mirror-symmetrical manner about the symmetry axis 79. Depending on the specific application, the gripper can be characterized by having multiple symmetry axes. In other words, multiple selected devices among the multiple devices can be arranged in a mirror-symmetrical manner about the symmetry axis. In this example, this arrangement can be beneficial for processing softer and longer foods (such as object 80). In some other examples, different numbers of devices 100 can be coupled in groups and pre-oriented to facilitate integration with the production line.

[0049] The palm 200 may be attached to a base 300 that serves as an interface for connection to an actuator, such as a robotic arm. Thus, the gripper 50 may be an end effector of a robotic arm configured to displace an object 80. The plurality of devices 100 may be moved / displaced toward the center of the workspace cavity 52 of the gripper 50, similar to a plurality of human fingers, to perform a grasping action to grasp the object 80. Alternatively, the plurality of devices 100 may be moved / displaced away from the center of the workspace cavity 52 to release the object 80.

[0050] In some embodiments, each device 100 can be independently controlled, or in other words, each device 100 can be displaced differently so that multiple devices 100 are oriented and positioned in an optimal orientation for picking up an object 80. For example, the individual finger bodies 110 of multiple devices of a gripper 50 can collectively define a working port, while the multiple devices and the palm collectively define a workspace cavity. For example, two of the multiple devices 100 can be displaced or bent toward the center of the workspace cavity 52 to varying degrees, while the remaining devices 100 can remain stationary. In other embodiments, each device 100 can be similarly displaced, such as bent to a similar degree, so that the object is substantially co-linear with the center of the workspace cavity 52. ​​In some embodiments, each device 100 can be displaced so that multiple forces on the object 80 are evenly or evenly distributed. In other embodiments, each device 100 can be displaced so that multiple forces on the object 80 are unevenly distributed to avoid applying excessive forces on fragile portions of the object.

[0051] Further references Fig. 8A , Figure 8B , Fig. 9A and Fig. 9B , illustrating various actuations or deformations and / or displacements of the petal 120 away from the finger plane 75 . Fig. 8A The default shape of the petal portion 120 is schematically shown. Fig. 9A The scoop shape of the flap 120 is shown. In some examples, the flap 120 can be deformed to tend toward the scoop shape in response to bending of the finger body 110 and expansion of one or more flap cavities 126 under positive fluid pressure. As shown, the flap 120 in the scoop shape forms a cavity in which the finger body 110 is disposed. This deformation and other deformations and / or displacements of the multiple flaps (devices) are preferably responsive to changes in fluid pressure (flap fluid pressure and / or finger fluid pressure) within the multiple flap cavities 128 and / or the multiple finger cavities 110. In some embodiments, as the flap fluid pressure within the multiple flap cavities 128 decreases, such as by providing a negative pressure within the multiple flap cavities 128, the multiple elastic pockets 126 of the group of undulating portions 125 are squeezed toward each other, which changes the respective width of each flap cavity (e.g., elastic pocket) 126, which causes the multiple side portions 122 of the flap 120 to shift away from the finger plane 75 and away from the workspace cavity 52 along the direction 82. For example, as Fig. 9B As shown, the flap 120 may tend to deform into a tubular shape in response to the contraction of one or more flap cavities 126 under negative fluid pressure. As schematically shown, the tubular flap 120 is bent away from the finger body 110. It will be understood that the terms "tubular" and "bend" can be used interchangeably herein. In actual implementation, the bent shape of the flap 120 does not have to be tubular or cylindrical. In some examples, the flap 120 or multiple side portions 122 can be bent or bent about the first axis 72, away from the finger plane 75. Preferably, in response to the reduction of fluid pressure in the multiple flap cavities 128, each side portion 122 is bent relative to the first axis 72 to form a corresponding lateral curvature 87. The deformation of the flap 120 may be different in different embodiments and may be complex. On the one hand, the flap 120 can be described as being deformable by displacing at least one side portion 122. Preferably, at least one side portion 122 can be displaced toward a first direction in response to a negative change in finger fluid pressure, and can be displaced toward a second direction in response to a negative change in petal fluid pressure. The first direction and the second direction can be understood to be in different directions to a certain extent. The term can also be understood as a relative term, such as relative to the finger body 110.

[0052] Therefore, in response to an increase in fluid pressure within the multiple flap cavities 128, the multiple side portions 122 can be displaced in a first direction toward the working space cavity 52 and away from the finger plane 75, and in response to a decrease in fluid pressure within the multiple flap cavities 128, the multiple side portions 122 can be displaced in a second direction away from the working space cavity 52 and away from the finger plane 75, wherein the second direction is opposite to the first direction.

[0053] In embodiments where there are two side portions 122a / 122b on opposite faces of the petal 120, each lateral curvature 87 can be substantially symmetrical about the second finger plane 76, wherein the second finger plane 76 is transverse or perpendicular to the finger plane 75. In this arrangement, the side portions 122a / 122b can be positioned behind the finger body 110 and thus do not interfere with the grasping operation of the finger body 110 sufficient to operate. Thus, when the plurality of petals 120 are under negative pressure, the side portions 122a / 122b flex themselves and completely "tuck" behind the finger body 110, thereby providing unimpeded access to the load in the strong grasping mode.

[0054] Similarly, as the fluid pressure within the plurality of petal cavities 128 increases, e.g., to provide a positive pressure within the plurality of petal cavities 128, the plurality of resilient pockets 126 of the group of undulating portions 125 are displaced away from each other, which causes the plurality of side portions 122 of the petal 120 to be displaced away from the finger plane 75 and toward the workspace cavity 52 in the direction 82. Thus, in response to changes in the fluid pressure within the plurality of petal cavities 128, the petals 120c / 120d may be displaced toward or away from the workspace cavity 52.

[0055] It will be appreciated that in embodiments where each side portion 122 is disposed adjacent to a corresponding set of petal cavities 128, the fluid pressure within each set of cavities can be independently varied or controlled. Thus, each side portion 122 can be independently displaced relative to the finger plane 75, and thus the corresponding lateral curvature 87 can be independently formed.

[0056] Fig.10 and Fig.11 An embodiment of the gripper 50 during a gripping operation is shown. In this embodiment, the gripper 50 includes three devices 100a / l00b / 100c symmetrically arranged about the central axis of the palm 200. During the gripping operation, each finger body 110a / l10b / l10c is actuated by changing the pressure in multiple cavities of each finger body 110a / l10b / l10c, thereby causing each device 100a / l00b / 100c to shift from the corresponding finger plane along the direction 82a / 82b toward the working space cavity 52. ​​As each finger body 110a / l10b / l10c is displaced, the respective cusps of the petals 120a / 120b / 120c form corresponding cusp curvatures, such as Fig.10As shown, a closed cavity 54 or at least a partially closed cavity 54 is formed between the palm 200 and the plurality of devices 100a / 100b / 100c. Preferably, the plurality of petals 120 are arranged so that the plurality of petals 120 do not overlap with adjacent petals. Optionally, depending on the intended application, the plurality of petals 120 can be arranged or shaped so that the plurality of petals 120 overlap with adjacent petals to a relatively small extent. Unlike the conventional concept that overlap is necessary for handling smaller and looser objects, the present grabber advantageously presents effectiveness for grabbing smaller and looser objects without overlapping the plurality of petals 120. For example, the closed cavity 54 can be used to scoop or grab smaller objects such as rice grains, granular objects, etc., whose individual size is smaller than the smallest working opening 51 of the grabber 50. In some embodiments, the cusp 124 may include at least one wing 127a / 127b that extends or protrudes laterally from the surface of the cusp 120, for example, the at least one wing 127a / 127b extends or protrudes laterally from the cusp 124. Preferably, the wing 127a / 127b (collectively referred to as "wing" 127) is provided on opposite sides of the cusp 120 along the lateral axis 74. The wing 127 may not be thicker than the cusp 120. Preferably, the wing 127 is thinner than the cusp 120 and does not actively deform itself independently of the cusp 120 provided with the wing 127. When adjacent cusps 120 are brought together, the wing 127a / 127b may overlap slightly between multiple cusps 120. It can be observed that random wrinkles or arcuate bends can be formed when the cusp 120 is deformed. When the edges of two adjacent petals abut, there may be one or more gaps between the edges of the plurality of petals 120. The overlapping flaps 127 provide a good seal or closure so that random gaps are better "plugged". It has been shown in experiments that this effectively increases the volume of the closed cavity 54, so that a plurality of smaller objects with a larger volume can be grabbed or scooped at one time. The plurality of flaps further prevent the plurality of smaller objects from slipping through any potential gaps that may exist between the plurality of petals. When the plurality of petals are flexed, the plurality of flaps serve to cover or "plug" any gaps that may appear between the plurality of petals 120.

[0057] Further references Fig.12 and Fig.13 , which is shown in Fig.10 and Fig.11 A top view of the plurality of petals 120 during the "scooping mode" operation. Fig.12As shown, by controlling the pressure within the plurality of petal cavities 128, the side portions 122a / 122b of each petal 120 are maintained substantially planar. For example, the lateral curvature 87 formed is defined along the wave axis 78, wherein the wave axis 78 is defined by a line of the plurality of petal cavities 126. Thus, the three devices 100 collectively define the closed cavity 54. Fig.13 In other embodiments shown, the sides 122 of the petals 20 are displaced or curved in the direction 83 toward the workspace cavity 52. ​​This places the corresponding lateral curvature 87 and the petal tip curvature formed by each petal 120 on the same side of each finger plane, which forms an enclosed cavity 54 similar to a Reuleaux triangle. This beneficially increases the enclosed cavity 54 for scooping operations.

[0058] The working opening 51 of the gripper has a significant impact on the range of load sizes that the gripper can reliably grip. In the gripper 50 disclosed herein, control of the working opening is achieved through a novel multi-material palm 200. Fig.14 and Fig.15 In various embodiments, the palm 200 may be made of a plurality of materials and provided with at least one palm cavity 220 formed inside the palm 200, the at least one palm cavity 220 being in fluid communication with the fluid inlet 222. The palm 200 may be provided with a coupling or connection portion 210 corresponding to each device 100. In addition, the connection portion 210 may include a recess 210 or a protrusion formed on the surface of the connection portion 210. The recess 210 reduces the rigidity of the corresponding connection portion 210, thereby acting as an elastic joint of the palm 200. This enables each connection portion 210 to bend relative to the palm 200. The palm 200 deforms as the palm fluid pressure within the palm cavity 220 increases or decreases, thereby causing the respective orientation of each device 100 to shift relative to the central axis 71, or in other words, causing the respective respective orientations of the device 100 relative to the palm 200 to change. For example, the palm cavity 220 can be operated by palm fluid pressure, wherein multiple devices 100 can be displaced toward or away from each other in response to radial displacement of the corresponding coupling members relative to the central axis. In other words, multiple devices 100 are radially displaced in response to changes in palm fluid pressure. The working port and / or the working space cavity can change in response to deformation of any one or more of the multiple devices. This beneficially increases the working port 51a / 51b and the working space cavity 52 without actuating multiple devices 100, which provides additional degrees of freedom for each device 100.

[0059] In some embodiments, a palm 200 comprising a cavity having a relatively rigid core, a plurality of thin and expandable undulations on a top surface, and a plurality of inextensible finger connectors on a plurality of faces may be flexible or resilient. The rigid core and the plurality of rigid undulations, under the action of increased pressure (positive pressure) and decreased pressure (negative pressure), respectively, cause uneven expansion and contraction of the palm 200, thereby causing changes in the orientation of the plurality of devices 100 and changes in the regulation of the working openings. Having a rigid core alleviates a number of problems associated with a completely flexible palm, such as lower fluid pressure / energy for expanding the plurality of undulations and making the opening regulation less efficient. Beneficially, the rigid core is less susceptible to vibration during rapid grasping and manipulation tasks.

[0060] Fig.16 and Fig.17 The gripper 50 is shown grasping a thinner object 80. When grasping the object 80, the nail portion 130 compresses the object, and the nail portion 130 can be elastically displaced relative to the finger body 110 in the direction 85, so that even when the orientation of the nail portion 130 or the finger body 110 changes, the nail portion 130 can automatically retract and adjust its corresponding protrusion from the finger body 110 to be flush with the surface. Once the multiple nail portions are moved away from the object 80, the elastic member 132 pushes the nail portion 130 back to the fully extended state. The cusp position can change with the curvature of the finger during the bending of the finger, which beneficially enables the grasping of thinner or smaller objects with uneven geometry or with a small surface area, which otherwise requires precise positioning control if the grasping is implemented using a fixed rigid nail portion.

[0061] 18A to 18C Different methods of using the gripper 50 to pick up thinner objects of different sizes are shown. Fig.18A , in step (I), for a device having a size (D ap ) of similar size (D card ~D ap,0 ), multiple gripper nails (or one gripper nail) are in contact with the base edge of the thinner object. Then, in step (II), by increasing the finger pressure or P finger Set to P1 to actuate the fingers. The edges of the thinner object prevent the fingers from bending significantly, so during finger actuation, the fingertip height / protrusion does not change significantly, which results in a secure grip. Finally, in step (III), the thinner object is lifted from the surface.

[0062] Reference now Fig.18B , in order to use multiple rigid nails to grasp the size of the working opening (Dap ) of thinner objects (D card ≠D ap,0 ), in step (I), a plurality of gripper nails are in contact with a flat surface. In step (II), by finger P2 is set to actuate the fingers so that the fingertip spacing can be adjusted to the size of the thin object. This results in free bending of the fingers, which is achieved by the height offset (h offset ) changes the fingertip height. In step (III), the height offset (h offset ) Move the gripper to ensure that the plurality of fingertips are in the correct position. In step (IV), once the plurality of fingertips are in place, P finger That is, it is set to P3 to pick up the thin object, and in step (V), the thin object is lifted off the flat surface. In the case of a fixed nail, the height offset (h offset ) must be precisely controlled so that the multiple nail portions do not collide with a flat surface, causing the fingertip position to change unexpectedly, or causing the multiple fingers to lock when actuated.

[0063] refer to Fig. 18C , in order to use the passively retractable nail to grasp a fingernail with a size smaller or larger than the working opening of the grasper (D ap ) of thinner objects (D card ≠D ap,0 ), in step (I), before the plurality of fingers are actuated, the plurality of gripper nails are preloaded, which retracts the plurality of nails. In step (II), by finger P2 is set to actuate multiple fingers, and when multiple fingers are bent, the nail automatically extends. This causes the fingertip to remain flush with the flat surface. Once the nail contacts the object, the finger bending is locked. In step (III), the object is lifted off the flat surface. Therefore, multiple compliant nails allow accurate pinching and picking without strict position control.

[0064] In some embodiments, to enable rapid reconfiguration of the gripper 50 for a different gripping mode or for gripping a different object, a pneumatic pressure source is used. Fig.19An electro-pneumatic actuation circuit according to an embodiment of a control circuit 90 is shown. A vacuum pump P1 and an air compressor P2 are used as negative pressure sources and positive pressure sources, respectively. Electro-pneumatic regulators R1 to R5 regulate the positive and negative pressures applied to the palm and multiple fingers. All regulators are driven by 24V and controlled by analog voltages between 0V and 5V provided by a robotic arm I / O controller. For bidirectional actuation of the palm and multiple flaps, selector valves S1 and S2 are used to switch between regulated positive pressure, regulated negative pressure, and exhaust. Solenoid valve V1 enables or disables finger vacuum actuation. All valves are triggered by the 24V digital output of the robotic arm I / O controller. Therefore, independent actuation and pressure control of multiple devices 100 including a finger body 110, a flap 120, and a palm 200 are achieved.

[0065] In various embodiments, the gripper 50 can include multiple individually actuatable or independently actuatable components, such as a palm and one or more fingers. Each finger can also include an independently actuatable finger body and a petal. In other words, the control circuit 90 is configured to control each of the following items independently of any other item in the group consisting of the following items: finger fluid pressure, petal fluid pressure, and palm fluid pressure, wherein the finger fluid pressure refers to the fluid pressure provided to the multiple finger cavities 110, the petal fluid pressure refers to the fluid pressure provided to the multiple petal cavities 126, and the palm fluid pressure refers to the fluid pressure provided to the palm cavity 220. By controlling each actuatable component, the gripper can be provided with multiple control degrees of freedom and can therefore be adjusted or reset for different purposes or goals.

[0066] In some embodiments, the gripper 50 can be actuated using a fluid such as air, which results in a change in fluid pressure within one or more cavities formed in the gripper. The pneumatic nature of the actuator allows for a fast response time and provides a balance between speed and strength of the gripping force. Additionally, the gripper can be made of different materials, wherein the different rigidities of the materials are utilized to achieve actuation.

[0067] For the sake of clarity, the term "reduction of fluid pressure" may be understood to include the use of, for example, a vacuum pump to form a negative pressure relative to the surroundings. In addition, the term "increase of fluid pressure" may be understood to include the use of, for example, a pressure pump to form a positive pressure relative to the surroundings. The term "fluid" may be understood to include at least one of the following: a gas, a liquid, or a combination thereof.

[0068] FIG. 20A to FIG. 20L The various actuation modes and the corresponding gripping workspaces are shown. Fig. 20AOverlay images showing different finger flexion states, state W0 is an unactuated finger, while states W1 and W2 show two finger flexion states. The inset highlights the multiple oval cavities (W2). Fig. 20B Isometric and top views of the gripper workspace are shown in force grip mode, with each finger appearing as a pronounced cylindrical bending actuator. Fig. 20B Only a plurality of finger portions 110 are shown, and the petal portion and the nail portion are omitted for clarity. Fig. 20C Spherical or cylindrical gripping modes for larger loads are shown: In (I), vacuum is applied to the petals to curl them behind the fingers. This allows the fingers to close in and ensure a strong grip around loads of larger size. In (II), the fingers are actuated using vacuum and the gripper moves upward. In (III), a bottom view of the gripped load shows that the petals curl back in a way that allows the finger actuator to reliably grip the load. In this example, the load is a tea box weighing 380 grams.

[0069] refer to Fig.20D , where (I) shows a superimposed bottom view of the curvature of multiple petals at -80 kPa, unactuated and at 60 kPa, respectively. (II) is a top view showing an actuated gripper with multiple petals flexing under vacuum, and (III) is a top view of an actuated gripper with multiple petals under positive pressure, which reduces multiple gaps between multiple fingers for reliable scooping. Fig.20E Isometric and top views of the workspace of multiple fingers in combination with multiple petals are shown without a nail (the workspace associated with the multiple fingers is represented in a darker grayscale, and the workspace associated with the multiple petals is highlighted in a lighter grayscale). Fig.20F Scooping modes are shown: in (I), vacuum is applied to the multiple petals to increase the rigidity of the multiple fingers along the lateral axis, which allows the multiple petals to penetrate into the granular object (uncooked white rice). In (II), once the grabber has traveled to the desired penetration depth, the multiple petals are actuated using a 60 kPa positive pressure to achieve forward bending of the petals while the multiple fingers are bent simultaneously. In (III), the rice grains are collected in the resulting closed cavity and lifted.

[0070] Figure 20G Passive compliant actuation of the nail is shown as the finger bends against a flat surface, which results in proper retraction of the nail and continued contact with the flat surface. Fig. 20H An isometric view and a top view of the reconfigured working space of the gripper are shown, with the working space of multiple nails highlighted in different grayscales. Fig.20I, a precision grasping pattern for a low profile form factor object is shown: In (I), the fingertips are in contact with the flat surface. In (II), the fingertips (i.e., nails) adjust in length as the fingers bend. This allows for good contact of the fingertips with the load (8 mm diameter suture button) even though there may be small errors in the alignment of the end effector or uneven bending of the fingers. In (III), the nails grasp the button due to the improved contact and the gripper moves upward.

[0071] Fig. 20J The change in palm opening D under applied pressure is shown from 41 mm at -80 kPa to 139 mm at 28 kPa. Figure 20K An isometric and top view of the workspace associated with the multiple fingers is shown, showing how the workspace is altered by the palm. The change (increase in workspace allowing previously bent multiple fingers to pick in a larger cavity) is highlighted in lighter grey. Figure 20L Variable mouth gripping modes are shown: In (I), the unactuated gripper mouth is about 62 mm, which is small for a glass beaker. In (II), the palm is actuated with 28 kPa to increase the mouth to 126 mm, which provides enough area for the gripper to approach the beaker. In (III), the actuation pressure is removed from the palm to allow multiple fingers to contact the beaker, while at the same time, a vacuum is applied to the multiple fingers to enhance contact and lift the beaker.

[0072] Fig.21A and Fig.21B A plurality of objects are shown being gripped by the gripper 50 and gripper system 40 of the present application. Fig. 22 Also included is a comparison of the workspace volume in which the RWS gripper is able to operate between four modes or operations, namely, power mode (power grip mode), pinch mode, wide-range mode, and scoop mode. The workspace volume ('RWS') of the gripper in a default mode or unactuated state is also drawn for reference. From the above, it can be seen that the device, the gripper and / or the gripper system are capable of switching (changing) between different operating modes in real time, for example, switching between any two operating modes in a plurality of operating modes. The term "real time" as used herein refers to events that occur simultaneously with (or at least partially overlap in time with) the ongoing operation of the gripper 50 or the gripper system 40. In other words, downtime for replacing the end effector to perform different tasks is no longer necessary.

[0073] Alternatively described, various embodiments of the present device include: a finger body, the finger body including one or more finger cavities arranged along the length of the finger body, the length of the finger body in a default shape setting a first axis, the finger body can bend away from the first axis in response to changes in finger fluid pressure within the one or more finger cavities; and a flap, the flap is coupled to the finger body at one or more points along the length of the finger body, the flap having one or more flap cavities provided on the flap, wherein the flap can be actively deformed and / or passively deformed in response to bending of the finger body and / or changes in flap fluid pressure within the one or more flap cavities.

[0074] According to the device described above, the petal portion can be deformed between any two shapes of a plurality of shapes. Preferably, the petal portion can be deformed by simultaneously bending the petal portion relative to the first axis and changing the lateral curvature of the petal portion.

[0075] Preferably, the one or more petal cavities comprise a plurality of petal cavities distributed along one or more wave axes, and wherein the lateral curvature is set along the one or more wave axes. Preferably, at least one of the one or more wave axes is not parallel to the first axis.

[0076] Preferably, wherein the flap comprises at least one side, and wherein the flap is deformable by displacing the at least one side. Preferably, the at least one side is displaceable in a first direction in response to a negative change in the finger fluid pressure, and wherein the at least one side is displaceable in a second direction in response to a negative change in the flap fluid pressure, the second direction being opposite to the first direction.

[0077] Preferably, the flap can be deformed toward a scoop shape in response to bending of the finger body and expansion of the one or more flap cavities under positive fluid pressure of the flap, and the flap in the scoop shape forms a cavity, and the finger body is arranged in the cavity. Preferably, the flap can be deformed toward a tubular shape in response to contraction of the one or more flap cavities under negative fluid pressure, and the flap in the tubular shape is bent away from the finger body. Preferably, the flap can be deformed toward a default shape under the elastic bias of the finger body and / or the flap.

[0078] Preferably, the flap defines a first surface and a second surface opposite the first surface, and wherein the flap is coupled to the finger body at the first surface, and wherein the one or more flap cavities are provided on the second surface. Preferably, the device comprises a nail portion resiliently coupled to the finger body, wherein the nail portion is resiliently displaceable relative to the finger body along the first axis. Preferably, the device comprises a wing extending laterally from a surface of the flap.

[0079] According to various embodiments, the grabber includes: a palm portion with a set central axis; and a plurality of devices, each of the plurality of devices being any device as described above, wherein each of the plurality of devices is coupled to the palm portion through a corresponding coupling member independently of any other device of the plurality of devices, and wherein the corresponding finger bodies of the plurality of devices jointly set a working opening, and wherein the plurality of devices and the palm portion jointly set a working space cavity.

[0080] The gripper as described above, wherein any one or both of the working port and the working space cavity can be changed in response to deformation of any one or more of the plurality of devices. Preferably, the device further comprises a palm cavity operable by palm fluid pressure, wherein the plurality of devices can be displaced toward or away from each other in response to radial displacement of the corresponding coupling members relative to the central axis, the radial displacement being responsive to changes in the palm fluid pressure.

[0081] Preferably, the plurality of devices are distributed in a radially symmetrical manner about the central axis. Preferably, a plurality of selected devices among the plurality of devices are distributed in a mirror-symmetrical manner about the axis of symmetry. Preferably, the grabber can be changed between any two modes of a plurality of operating modes, and wherein the plurality of operating modes include: a default mode, a pinching mode, a strong mode, a wide-distance mode, and a scooping mode. Preferably, the grabber can be arranged to form an at least partially enclosed cavity between the palm and the plurality of devices.

[0082] According to various embodiments, the gripper system includes: a control circuit; and according to any gripper described above, the gripper is operably coupled to the control circuit, wherein the control circuit is configured to control each of the following items independently of any other item in the group consisting of the following items: the finger fluid pressure, the petal fluid pressure and the palm fluid pressure.

[0083] In industrial environments, reliable robotic cargo handling relies heavily on the development of multifunctional grippers with comprehensive and adaptive capabilities. Compared to conventional rigid grippers, the grippers proposed in this article can be combined with functional superelastic materials and the flexible actuators described to achieve safe and reliable gripping of a wider range of geometries. As described above, various embodiments of the grippers and devices are capable of achieving multiple operating modes through shape transformation. Without the need for downtime for physical replacement of components, the grippers and devices can be reset in real time to switch between different operating modes, to change the working port, and / or to change the workspace volume. Beneficially, the actuators can be controlled to perform shape transformations by a computing device executing instructions stored on a computer-readable medium. Due to the real-time resettability, any of the various embodiments of the gripper can be used for different loads and different tasks.

Claims

1. A device, comprising: a finger body including one or more finger cavities disposed along a length of the finger body, the length of the finger body in a default shape defining a first axis, the finger body being responsive to changes in finger fluid pressure within the one or more finger cavities to flex away from the first axis; as well as a petal portion coupled to the finger body at one or more points along the length of the finger body, the petal portion having one or more petal cavities disposed thereon, The petals may be actively and / or passively deformable in response to bending of the finger body and / or changes in petal fluid pressure within the one or more petal cavities. 2 . The device of claim 1 , wherein the petals are deformable between any two of a plurality of shapes.

3. The apparatus of claim 1 or 2, wherein the petals are deformable by simultaneous bending of the petals relative to the first axis and a change in the lateral curvature of the petals.

4. The apparatus of claim 3, wherein the one or more petal cavities comprise a plurality of petal cavities distributed along one or more wave axes, and wherein the lateral curvature is set along the one or more wave axes.

5. The apparatus of claim 4, wherein at least one of the one or more wave axes is non-parallel to the first axis.

6. The device according to any one of claims 1 to 5, wherein the petal comprises at least one side portion, and wherein the petal is deformable by displacing the at least one side portion.

7. An apparatus according to claim 6, wherein the at least one side portion can be displaced toward a first direction in response to a negative change in the finger fluid pressure, and wherein the at least one side portion can be displaced toward a second direction in response to a negative change in the flap fluid pressure, the second direction being opposite to the first direction.

8. An apparatus according to any one of claims 1 to 7, wherein the flap can be deformed toward a scoop shape in response to the bending of the finger body and the expansion of the one or more flap cavities under the positive fluid pressure of the flap, the flap in the scoop shape forming a cavity, and the finger body is arranged in the cavity.

9. The device according to any one of claims 1 to 8, wherein the petal can be deformed toward a tubular shape in response to contraction of the one or more petal cavities under negative fluid pressure, and the petal in the tubular shape is flexed away from the finger body.

10. An apparatus according to any one of claims 1 to 9, wherein the petal is deformable towards a default shape under a resilient bias of the finger body and / or the petal.

11. The apparatus according to any one of claims 1 to 10, wherein the flap defines a first surface and a second surface opposite to the first surface, and wherein the flap is coupled to the finger body at the first surface, and wherein the one or more flap cavities are provided on the second surface.

12. The apparatus according to any one of claims 1 to 11, further comprising a nail portion resiliently coupled to the finger body, wherein the nail portion is resiliently displaceable relative to the finger body along the first axis.

13. The device of any one of claims 1 to 12, further comprising a flap extending laterally from one face of the petal.

14. A grabber, comprising: A palm portion, wherein the palm portion defines a central axis; as well as A plurality of devices, each of the plurality of devices comprising: a finger body including one or more finger cavities disposed along a length of the finger body, the length of the finger body in a default shape defining a first axis, the finger body being responsive to changes in finger fluid pressure within the one or more finger cavities to flex away from the first axis; as well as a petal portion coupled to the finger body at one or more points along the length of the finger body, the petal portion having one or more petal cavities disposed thereon, wherein the petals are deformable in response to bending of the finger body and / or changes in petal fluid pressure within the one or more petal cavities, wherein each device of the plurality of devices is coupled to the palm portion via a respective coupling independently of any other device of the plurality of devices, and wherein the corresponding finger bodies of the plurality of devices jointly define a working port, And wherein the plurality of devices and the palm jointly define a workspace cavity.

15. The gripper of claim 14, wherein any one or both of the working port and the working space cavity can be changed in response to deformation of any one or more of the plurality of devices.

16. The gripper of claim 14 or 15, further comprising a palm cavity operable by palm fluid pressure, wherein the plurality of devices can be displaced toward or away from each other in response to radial displacement of corresponding coupling members relative to the central axis, the radial displacement changing in response to the palm fluid pressure.

17. The gripper according to any one of claims 14 to 16, wherein the plurality of devices are distributed in a radially symmetrical manner about the central axis.

18. A gripper according to any one of claims 14 to 16, wherein a plurality of selected ones of the plurality of devices are distributed in a mirror-symmetrical manner about an axis of symmetry.

19. A gripper according to any one of claims 14 to 18, wherein the gripper can be changed between any two of a plurality of operating modes, and wherein the plurality of operating modes comprises: Default mode, pinch mode, strong mode, wide mode and scoop mode.

20. The gripper of claim 19, wherein the gripper is configured to form an at least partially enclosed cavity between the palm and the plurality of devices.

21. A grabber system, the grabber system comprising: Control circuit; as well as A picker, the picker being operably coupled to the control circuit, the picker comprising: a palm portion defining a central axis; and A plurality of devices, each of the plurality of devices comprising: a finger body including one or more finger cavities disposed along a length of the finger body, the length of the finger body in a default shape defining a first axis, the finger body being responsive to changes in finger fluid pressure within the one or more finger cavities to flex away from the first axis; and a petal portion coupled to the finger body at one or more points along the length of the finger body, the petal portion having one or more petal cavities disposed thereon, wherein the petals are deformable in response to bending of the finger body and / or changes in petal fluid pressure within the one or more petal cavities, wherein each device of the plurality of devices is coupled to the palm portion via a respective coupling independently of any other device of the plurality of devices, and wherein the corresponding finger bodies of the plurality of devices jointly define a working port, And wherein the plurality of devices and the palm jointly define a workspace cavity, And wherein the control circuit is arranged to control each of the following items independently of any other items in the group consisting of: the finger fluid pressure, the petal fluid pressure and the palm fluid pressure.

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