Modular fingertip for soft robotic actuator

Abstract

Exemplary embodiments relate to a soft robotic actuator (100) configured to receive a modular fingertip. A fingertip (204) may be disposed at a distal end (110) of the standard actuator. The distal tip of the actuator may be sized and shaped to correspond to the proximal end of the modular fingertip. A backplate (206) may be disposed within a reservoir of the actuator (202) in order to disperse the load of a fastener (208) that can pass through the reservoir and the backplate and be inserted into one or more holes that pass through the actuator material and into the modular fingertips. The apertures may extend only partially through the modular fingertip, but not fully through the modular fingertip, for the purpose of reducing bacterial breeding points. In other embodiments, the fastener may be inserted into the fingertip and secured to the actuator. A sealing bead (210) may be disposed between the distal tip of the actuator and the fingertip.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 428,994, filed on November 30, 2022, entitled “Modular Fingertips for Soft Robotic Actuators,” the entire contents of which are incorporated herein by reference. Background Art

[0003] Robotic grippers are widely used in a variety of applications, such as packaging, manufacturing, food processing and other fields. Historically, many robotic grippers have been made of hard or other non-compliant materials, but in recent years, "soft" elastomeric robotic actuators (or fingers) have become widely available. Soft actuators have advantages over hard actuators because they can conform to the target object being manipulated. This means that a robotic actuator can be used to safely grasp target objects of various shapes, sizes and weights without damaging them - a balance that is difficult to achieve with hard grippers.

[0004] However, there remains the issue that different tasks may require actuators with different geometries or configurations. For example, when grasping a target object from a highly crowded environment, it may be useful to use a robotic finger with a relatively flat end to separate or isolate the target object from its neighbors. On the other hand, a different type of actuator with a high-friction gripping surface may be more suitable for grasping objects in a smooth bag. While it is possible to design soft actuators of different types or configurations, in practice, when switching to a new grasping task, the end user needs to replace the entire actuator. This can be both expensive (because the user needs to maintain many copies of the complete, dedicated actuator) and time-consuming. To avoid these costs, users may tend to rely on a single general-purpose actuator type, but this can make picking up certain types of objects more difficult, potentially causing items to fall and reducing throughput.

[0005] Besides being difficult for end users to achieve, customized soft robotic fingertips are also expensive for manufacturers to produce. Traditionally, soft robotic actuators are formed by pouring material into a mold corresponding to the desired shape of the actuator. Producing custom actuators typically requires a separate, new mold for each actuator configuration, which increases the price and complexity of the manufacturing process. As a result, the development of new tools may be limited to those required by large companies, because if the actuator sales volume is not expected to be very high, it may not be economically feasible to repeatedly create new molds while designing new actuators. As a result, smaller or more specialized operators may be limited in their choice of custom tooling to those developed for their larger competitors. Summary of the Invention

[0006] Exemplary embodiments provide a soft robotic actuator configured to mate with a modular fingertip that provides interchangeability so that it can be quickly and efficiently replaced. Further embodiments relate to methods of deploying and using a system including the actuator and the modular fingertip.

[0007] In one aspect, a soft robotic actuator system includes a soft robotic actuator comprising an elastic material extending from a proximal end to a distal end and generally surrounding a reservoir, the reservoir being configured to receive an inflation fluid, the soft robotic actuator being configured to flex circumferentially when inflation fluid is added to or removed from the reservoir, wherein: the distal end of the actuator is sized and shaped to mate with a proximal end of a modular fingertip, the proximal end of the modular fingertip is configured to be secured to the distal end of the actuator, and the distal end includes one or more holes configured to receive fasteners that mate with the modular fingertip.

[0008] The soft robotic actuator system may further include modular fingertips.

[0009] The soft robotic actuator system may also include where the one or more holes at the distal end do not extend completely through the elastic material of the soft robotic actuator.

[0010] The soft robotic actuator system may further include a backplate configured to secure the proximal end of the modular fingertip to the distal end of the actuator.

[0011] The soft robotic actuator system may further include an entry sealing bead configured to protect an interface between the proximal end of the modular fingertip and the distal end of the actuator.

[0012] The soft robotic actuator system may also include where the modular fingertip is a scraper having a substantially flat surface, the flat surface extending away from the soft robotic actuator along a plane defined by a base of the soft robotic actuator.

[0013] The soft robotic actuator system may further include where the modular fingertip comprises an angled tip that extends away from the soft robotic actuator at an angle relative to a plane defined by a base of the soft robotic actuator.

[0014] The soft robotic actuator system may further include where the modular fingertip includes a surface that is textured to increase friction applied by the modular fingertip compared to a base of the soft robotic actuator.

[0015] The soft robotic actuator system may also include where the modular fingertip comprises a flat extension having a flat surface, the flat surface extending away from the soft robotic actuator along a plane defined by a base of the soft robotic actuator, wherein the flat extension gradually tapers or expands along the length of the flat extension.

[0016] The soft robotic actuator system may also include where the modular fingertip is a first modular fingertip connected to an adjacent second modular fingertip via an inter-fingertip webbing.

[0017] Another embodiment is directed to a method that includes accessing a soft robotic actuator as described above, and securing a modular fingertip to a distal end of the actuator using a fastener.

[0018] Securing the modular fingertip may include inserting an installation tool into the proximal end of the actuator. The installation tool may have a length greater than a length of the actuator, and a width less than a width of the reservoir. Inserting the installation tool into the proximal end of the actuator may include lowering the actuator onto the installation tool.

[0019] The method may further include inserting the backplate into a reservoir of the soft robotic actuator before securing the modular fingertip with the fastener.

[0020] Fasteners may be driven through holes in the back plate that mate with holes in the actuator.

[0021] Securing the modular fingertip to the distal end of the actuator may include inserting a fastener into a hole in the modular fingertip and tightening the fastener.

[0022] The method may further include installing an entry seal between the fastener and the modular fingertip.

[0023] Accessing the actuator may include removing the actuator from the robotic gripper before securing the modular fingertip and / or securing the actuator to the robotic gripper after securing the modular fingertip.

[0024] Those skilled in the art can easily understand other technical features from the following drawings, description and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To facilitate identification of the discussion of any one element or act, the highest digit or digits in a reference number identify the drawing number in which the element is first introduced.

[0026] Figures 1A to 1D Depicted are exemplary soft body actuators and expansion systems according to exemplary embodiments.

[0027] Figure 2is a cross-sectional perspective view of a soft actuator with a modular fingertip installed, according to one embodiment.

[0028] Figures 3A to 3D Depicted are views of an exemplary actuator with a modular fingertip mounted thereon.

[0029] Figures 4A to 4D Depicted are diagrams of exemplary actuators suitable for use in modular fingertips.

[0030] Figures 5A to 5F Various examples of modular fingertips suitable for use with exemplary embodiments are depicted.

[0031] Figure 6 is an exemplary flow chart describing a method for installing a modular fingertip according to an exemplary embodiment. DETAILED DESCRIPTION

[0032] The present invention will now be described more fully with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. However, the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the scope of the invention to those skilled in the art.

[0033] In the accompanying drawings, the same reference numerals always represent the same elements. Reference is now made to the accompanying drawings, in which the same reference numerals are always used to refer to the same elements. In the following description, for the purpose of explanation, many specific details are set forth to provide a thorough understanding thereof. However, these novel embodiments can be practiced without these specific details. In other cases, some well-known structures and devices are shown in block diagram form to facilitate their description. The present invention is intended to cover all modifications, equivalents and alternatives consistent with the claimed subject matter.

[0034] In the drawings and accompanying description, the reference numerals "a," "b," and "c" (and similar reference numerals) are intended to be variables representing any positive integer. Thus, for example, if a=5 in one implementation, the complete component set 122, illustrated as components 122-1 through 122-a, may include components 122-1, 122-2, 122-3, 122-4, and 122-5. Embodiments of the present invention are not limited in this context.

[0035] Background of Soft Robotic Gripper

[0036] Traditional robotic grippers or actuators can be expensive and ineffective in certain environments where the uncertainty and diversity of the weight, size, and shape of the objects being handled have prevented automated solutions from working in the past. This application describes the use of new soft robotic actuators that are adaptive, inexpensive, lightweight, customizable, and easy to use.

[0037] Soft robotic actuators can be made of elastic materials such as rubber, or thin plastic walls arranged in an accordion-like structure that can be expanded, stretched and / or bent under pressure, or other suitable relatively soft materials. For example, these actuators can be manufactured by molding one or more elastic materials into the desired shape. The soft actuator may include a hollow interior that can be filled with a fluid, such as air, water or saline, to pressurize, expand and / or drive the actuator. Upon actuation, the shape or profile of the actuator changes. In the case of an accordion-like actuator (described in more detail below), actuation can cause the actuator to bend or straighten into a predetermined target shape. By partially expanding the actuator, one or more intermediate target shapes between a completely undriven shape and a completely driven shape can be achieved. Alternatively or additionally, the actuator can be driven using a vacuum to expel the expansion fluid from the actuator, thereby changing the degree to which the actuator bends, twists and / or extends.

[0038] Actuation can also allow the actuator to exert force on objects such as those being grasped or pushed. However, unlike traditional hard robotic actuators, soft actuators maintain their adaptive properties when actuated, allowing the soft actuator to partially or completely conform to the shape of the object being grasped. Soft actuators are also able to deflect when colliding with an object, which is particularly important when grasping a specific object from a stack or storage box, as the actuator is likely to collide with adjacent objects in the stack that are not the grasp target or the side walls of the storage box. In addition, because the material deforms easily, the amount of force applied can be dispersed over a larger surface area in a controlled manner. In this way, soft robotic actuators can grasp objects without damaging them.

[0039] Furthermore, soft robotic actuators allow for a variety of motion forms or combinations of motions (including bending, twisting, extension, and contraction) that are difficult to achieve with traditional hard robotic actuators.

[0040] Figures 1A to 1D An exemplary soft robotic actuator is depicted. More specifically, Figure 1A A side view of a portion of the soft robotic actuator 100 is depicted. Figure 1B Depicts Figure 1A Top view of the portion shown. Figure 1CDepicted is a side view of a portion of a soft robotic actuator 100 including a pump that can be manipulated by a user. Figure 1D Depicts Figure 1C An alternative embodiment of the portion depicted in .

[0041] The actuator 100 may be a soft robotic actuator, such as Figure 1A As depicted, it is inflatable by an inflation fluid such as air, water, or saline. The inflation fluid may be provided via an inflation device 120 through a fluid connection such as flexible tubing 118.

[0042] The actuator 100 can be in an uninflated state, in which a limited amount of inflation fluid is present in the actuator 100 at a pressure substantially the same as the ambient pressure. The actuator 100 can also be in a fully inflated state, in which a predetermined amount of inflation fluid is present in the actuator 100 (the predetermined amount corresponding to a predetermined maximum force that the actuator 100 can exert, or a predetermined maximum pressure that the inflation fluid exerts on the actuator 100). The actuator 100 can also be in a full vacuum state, in which all fluid is expelled from the actuator 100, or in a partial vacuum state, in which some fluid is present in the actuator 100 but at a pressure less than the ambient pressure. Furthermore, the actuator 100 can be in a partially inflated state, in which the actuator 100 contains less inflation fluid than the predetermined amount in the fully inflated state, but still more than when no inflation fluid or a minimal amount of inflation fluid is present.

[0043] In the expanded state, the actuator 100 may exhibit a tendency to bend about a central axis, such as Figure 1A For ease of discussion, several directions are defined herein. The axial direction passes through the central axis about which the actuator 100 bends, as shown in FIG. Figure 1B The radial direction extends in a direction perpendicular to the axial direction, in the direction of the radius of the partial circle formed by the expanded actuator 100. The circumferential direction extends along the circumference of the expanded actuator 100.

[0044] In the expanded state, the actuator 100 can exert a force in a radial direction along the inner peripheral edge of the actuator 100. For example, the inner side of the distal tip of the actuator 100 exerts a force inwardly toward the central axis, which can be leveraged to allow the actuator 100 to grasp an object (potentially in conjunction with one or more additional actuators 100). Due to the materials used and the general construction of the actuator 100, the soft robotic actuator 100 can remain relatively conformal when expanded.

[0045] In the neutral state, the base 102 of the actuator 100 can be substantially straight. In this case, the base 102 defines a plane that can extend from the actuator along the length and / or width of the base.

[0046] The actuator 100 can be made of one or more elastomeric materials, thereby allowing for a relatively soft or conformable configuration. Depending on the application, the elastomeric material can be selected from a group of food-safe, biocompatible, or medically safe, FDA-approved materials. The actuator 100 can be manufactured in a facility that is Good Manufacturing Process ("GMP")-capable.

[0047] The actuator 100 can include a base 102 that is generally flat (although various modifications or additional features can be added to the base 102 to enhance the gripping and / or bending performance of the actuator). The base 102 can form a gripping surface for gripping a target object. In some embodiments, the base can be a different material or thickness than the rest of the actuator 100 and / or can include features such as slats extending in an axial direction. The material properties or additional features can program into the base 102 a bending resistance that causes the actuator 100 to bend preferentially in a circumferential direction (which can be different from the bending resistance of the rest of the actuator 100). In some embodiments, the actuator 100 can exhibit a generally linear bending profile, wherein the actuator 100 responds to increasing or decreasing pressure by changing its curvature by approximately the same amount over a relatively wide range of pressure values ​​(e.g., 0 psi to 15 psi). In other embodiments, the strain may be programmed to vary in a predetermined and predictable manner over certain portions of the actuator's operating range and / or may cause the actuator 100 to twist or curl in any of the axial, circumferential, and / or radial directions.

[0048] The actuator 100 may include one or more accordion extensions 104. The accordion extensions 104 allow the actuator 100 to bend or flex when expanded and help define the shape of the actuator 100 when in the expanded state. The accordion extensions 104 include a series of ridges 106 and grooves 108. The size of the accordion extensions 104 and the placement of the ridges 106 and grooves 108 can be varied to achieve different shapes or extension profiles.

[0049] although Figures 1A to 1DWhile the exemplary actuator of FIG. 1 is depicted as having a "C" or oval shape when deployed, one of ordinary skill in the art will recognize that the invention is not limited thereto. By varying the shape of the body of the actuator 100 or the size, position, or configuration of the accordion-style extension 104, different sizes, shapes, and configurations can be achieved. Furthermore, varying the amount of inflation fluid provided to the actuator 100 allows the actuator 100 to assume one or more intermediate sizes or shapes between the uninflated state and the inflated state. Thus, a single actuator 100 can be scalable in size and shape by varying the amount of inflation, and the actuator can be further scalable in size and shape by replacing one actuator 100 with another actuator 100 having a different size, shape, or configuration.

[0050] The actuator 100 extends from a proximal end 112 to a distal end 110. The proximal end 112 is connected to an interface 114. The interface 114 allows the actuator 100 to be releasably coupled to other parts of the actuator 100. The interface 114 can be made of a safe material suitable for use in medical or food applications, such as polyethylene, polypropylene, polycarbonate, polyetheretherketone, acrylonitrile-butadiene-styrene copolymer (ABS), or acetal homopolymer. The interface 114 can be releasably coupled to one or both of the actuator 100 and the flexible tube 118. The interface 114 can have a port for connecting to the actuator 100. Different interfaces 114 can have actuator ports of different sizes, numbers, or configurations to accommodate larger or smaller actuators, different numbers of actuators, or actuators of different configurations.

[0051] The actuator 100 can be inflated with an inflation fluid supplied from an inflation device 120 via a fluid connection such as a flexible tube 118. The interface 114 can include or be attached to a valve 116 to allow fluid to enter the actuator 100 but prevent fluid from leaving the actuator (unless the valve is opened). The flexible tube 118 can also or alternatively be attached to an expander valve 124 at the inflation device 120 for regulating the supply of inflation fluid at the location of the inflation device 120.

[0052] The flexible tube 118 may also include an actuator adapter connection interface 122 for releasably connecting to the interface 114 at one end and to the expansion device 120 at the other end. By separating the two parts of the actuator adapter connection interface 122, different expansion devices 120 may be connected to different interfaces 114 and / or actuators 100.

[0053] The inflation fluid may be, for example, air or saline. If the inflation fluid is air, the inflation device 120 may include a manually operated balloon or bellows for supplying ambient air. If the inflation fluid is saline, the inflation device 120 may include a syringe or other suitable fluid delivery system. Alternatively or additionally, the inflation device 120 may include a compressor or pump for supplying the inflation fluid.

[0054] The expansion device 120 may include a fluid supply 126 for supplying the expansion fluid. For example, the fluid supply 126 may be a reservoir for storing compressed air, liquefied or compressed carbon dioxide, liquefied or compressed nitrogen, or saline, or may be a vent for supplying ambient air to the flexible tube 118.

[0055] The expansion device 120 also includes a fluid delivery device 128, such as a pump or a compressor, for supplying inflation fluid from the fluid supply 126 to the actuator 100 through the flexible tube 118. The fluid delivery device 128 can be capable of supplying fluid to the actuator 100 or withdrawing fluid from the actuator 100. The fluid delivery device 128 can be electrically powered. To supply power, the expansion device 120 can include a power source 130, such as a battery or an interface for connecting to an electrical outlet.

[0056] The power source 130 may also provide power to a control device 132. The control device 132 may allow a user to control the expansion or deflation of the actuator, for example, via one or more actuation buttons 134 (or alternative devices, such as switches). The control device 132 may include a controller 136 for sending control signals to the fluid delivery device 128 to cause the fluid delivery device 128 to supply inflation fluid to the actuator 100 or withdraw inflation fluid from the actuator 100. The controller 136 may be programmed with suitable logic or instructions encoded on a non-transitory computer-readable medium for executing the procedures described herein.

[0057] Actuators and modular fingertips

[0058] Exemplary embodiments relate to specialized soft robotic actuators and modular fingertips that can be attached thereto. Using these modular fingertips and the connection mechanisms described below, actuators can be configured to have different capabilities and functions without the need to deploy a completely new specialized actuator for each different task.

[0059] Figure 2 is a close-up of the distal end 110 of such an actuator 202 to which the modular fingertip 204 has been attached. The distal end 110 of the actuator 202 and the proximal end of the modular fingertip 204 are configured in corresponding shapes. For example, in Figure 2, the distal end 110 is flat (compared to, for example, the actuator 100) to accommodate the flat proximal end of the modular fingertip 204. While the depicted embodiment mates two flat surfaces together, one of ordinary skill will appreciate that other configurations are possible.

[0060] Modular fingertips 204 can be formed from elastic or non-elastic materials. For example, modular fingertips 204 can be made from silicone rubber. In some embodiments, modular fingertips 204 can be made from food-grade materials, such as Delrin or other hard plastics.

[0061] To secure the modular fingertip 204 to the actuator 202, a backing plate 206 can be inserted into the reservoir of the actuator 202 and positioned on the inside of the distal end 110. In this example, the backing plate 206 is a flat plate sized and shaped to fit securely within the distal end 110 of the actuator 202. The backing plate 206 includes one or more through-holes to accommodate blind screws 208, which can be inserted from the interior of the actuator 202, through the reservoir and backing plate 206, and then through corresponding holes in the actuator 202 and into the modular fingertip 204. In this manner, the modular fingertip 204 can be secured to the actuator 202. The backing plate can have a surface that extends to fill all available space on the interior bottom of the distal end 110 of the actuator 202 to better distribute the load from the blind screws 208 and reduce wear on the actuator 202.

[0062] The blind hole screw 208 can be secured through the back plate 206 using a special tool (e.g., an extra-long Allen wrench). To tighten the blind hole screw 208, the actuator 202 can be lowered onto the installation tool so that the installation tool is inserted into the reservoir of the actuator 202. The installation tool can be brought into contact with the blind hole screw 208 and rotated until the blind hole screw 208 is secured through the back plate 206, the actuator 202, and the modular fingertips 204.

[0063] In some applications (e.g., food processing and similar settings), it is important to reduce or eliminate bacteria harborage points. The interface between the actuator 202 and the modular fingertip 204 may be a particularly vulnerable point for the ingress of bacteria or other materials. Therefore, in some embodiments, the actuator 202 and / or the modular fingertip 204 may be provided with an entry sealing bead 210. For example, the periphery of the distal end 110 of the actuator 202 includes a bead, rib, edge, or compressible area that forms a seal that prevents target materials from entering the interface between the actuator 202 and the modular fingertip 204 when the blind screw 208 is used to tighten the actuator 202 against the modular fingertip 204. In some embodiments, a separate sealing device, such as an o-ring, gasket, or similar mechanism, may be provided at this interface.

[0064] As another defense against bacterial intrusion, the hole for the blind screw 208 can extend through the back plate 206 and the actuator 202, and then partially through the modular fingertip 204, rather than completely through the modular fingertip 204. Thus, there are no openings on the outward-facing portion of the modular fingertip 204 that could harbor bacteria or allow other substances to enter.

[0065] In an alternative embodiment, the blind screw 208 can be inserted in reverse, from the outside of the actuator 202 / modular fingertip 204 system into the backplate 206 inside the actuator 202. This has the advantage of simpler and faster installation / removal, as the installation tool does not need to be inserted into the reservoir of the actuator 202. However, this may also introduce an opening that can be invaded by bacteria or other substances. Therefore, a sealing surface can be added to the blind screw 208 in a manner similar to the inlet sealing bead 210. The style or type of blind screw 208 can also be selected to reduce the number of hard edges or sharp corners on the blind screw 208.

[0066] For reference, Figures 3A to 3D To show a perspective view of the actuator 202 with the modular fingertip 204 attached: Figure 3A is the bottom view, Figure 3B is a side cross-sectional view, Figure 3C is a side view, Figure 3D This is a top view.

[0067] Similarly, Figures 4A to 4D 2 is a view of the actuator 202 without the modular fingertip 204 attached: Figure 4A For perspective drawing, Figure 4B is the rear view, Figure 4C is a side cross-sectional view, Figure 4D This is a top view.

[0068] Figures 5A to 5F Some examples of modular fingertips suitable for exemplary embodiments in different applications are depicted.

[0069] Figure 5A Two examples of angled tips 502 are depicted: a short tip (left) and a long tip (right). Each of the angled tips includes an extension that extends away from the distal end 110 of the actuator 202 along a plane defined by the base of the soft robotic actuator (e.g., serving as an extension of the base). The angled tips extend away from the soft robotic actuator at an angle relative to the plane. Figure 5A The tip is depicted extending away from the plane at a 90 degree angle, although other embodiments may utilize a 45 degree angle, a 30 degree angle, or any other angle suitable for the application.

[0070] Such a tip provides an improved gripping surface for picking up slippery objects such as raw chicken. If the extension is long enough (e.g., at least 10% of the length of the base 102 of the actuator 202, preferably at least 20% of the length of the base 102, and more preferably at least 25% of the length of the base 102), the tip can also be used as a scraper 504 for picking up food products and other items.

[0071] Figure 5B Two examples of bumps with similar functionality to the angled tip 502 are depicted. In the left figure, a soft (elastic) bump 506 is attached to the actuator 202 that can provide increased friction or gripping capabilities for slippery and / or deformable items such as plastic bags. The bump 506 can extend a relatively short distance (e.g., 10% or less of the length of the base 102). In some embodiments, the base of the bump 506 (on the same side as the base 102) can be slightly concave and / or textured to increase the friction applied by the modular fingertip compared to the base of the soft robotic actuator or an untextured surface.

[0072] In the right figure, the rigid friction increasing tip 508 generally corresponds to the shape of the bump 506, although the friction increasing tip 508 can be longer than the bump 506. The friction increasing tip 508 can be formed from a rigid material such as a hard plastic. The friction increasing tip 508 can include a friction surface 510 (for example, the surface is textured to increase the friction applied by the modular fingertip compared to the base or untextured surface of the soft robotic actuator). The friction surface 510 can be recessed by being set back from the plane of the base 102 toward the interior of the actuator 202. On the periphery of the friction increasing tip 508, a flange 512 can extend from the friction surface 510 to the plane of the base 102. The same shape can be applied to the soft bump 506.

[0073] Figure 5C Depicted are three examples of finger extensions 514. Finger extensions 514 represent relatively long and narrow modular tips suitable for insertion into narrow spaces—for example, the space between cylindrical grasping objects such as hot dogs, rolls, cucumbers, and the like.

[0074] Finger extensions 514 can be flat, extending in the plane of base 102. Finger extensions 514 can be relatively thin (e.g., at most 25% of the depth of the base of finger extensions 514, preferably at most 15% of the depth, and more preferably at most 10% of the depth). Finger extensions 514 can have a length that depends on the application, but are preferably relatively long (e.g., at least 10% of the length of base 102 of actuator 202, preferably at least 20% of the length of base 102, and more preferably at least 25% of the length of base 102).

[0075] Finger extension 514 may have the same width along its entire length, or the width may vary, as shown in the center and right figures.

[0076] In the middle figure, the finger-like extension 514 includes a flat surface extending away from the soft robotic actuator along a plane defined by the base of the soft robotic actuator, wherein the extension tapers along its length. In particular, the finger-like extension 514 includes a first region nearest the distal end 110 of the actuator 202, the width of which is approximately the same as the width of the base of the finger-like extension 514. In a second intermediate region, the width tapers (in this case, the outer edges flare inward at approximately a 45-degree angle, although other angles may be used depending on the application). In a third region at the distal end of the finger-like extension 514, the width is relatively narrow (e.g., less than 100% of the width in the first region, preferably at most 50% of the width, and more preferably at most 25% of the width).

[0077] In the figure on the right, the finger-like extension 514 includes a flat surface extending away from the soft robotic actuator along a plane defined by the base of the soft robotic actuator, wherein the extension expands along its length. In particular, the finger-like extension 514 includes a first region closest to the distal end 110 of the actuator 202, wherein the width of the first region is approximately the same as the width of the base of the finger-like extension 514 (or, in some embodiments, the region can be narrower than the base). In a second distal region, the width expands (in this case, the outer edges flare outward at approximately a 90-degree angle, although other angles can be used depending on the application). The width in the second region can be relatively wide (e.g., greater than 100% of the width in the first region, preferably at least 110% of the width of the first region, and more preferably at least 125% of the width of the first region).

[0078] exist Figure 5D In another embodiment shown, multiple actuators 202 can be connected by a single modular fingertip 204. In this example, three actuators 202 are connected to the finger webbing 516. Such an embodiment can be used to distribute the force applied by the actuator tip (e.g., when picking up delicate items such as bread). Figure 5D The example shown includes a webbing tip 518 suitable for scooping items, while Figure 5E and Figure 5F The example shown includes a slanted tip suitable for picking up items such as sauce bags.

[0079] As shown in these figures, webbing extension 520 represents the area of ​​modular fingertip 204 that extends from base 102 and is similar in structure to that of base 102. Figure 5C The webbing extension 520 extends to the webbing tip 518, which is located at the Figure 5D At an angle of approximately 90 degrees, Figure 5E and Figure 5F At an angle of approximately 45 degrees.

[0080] In some embodiments, as Figure 5D As shown, the actuators 202 are separated, thereby creating gaps between the bases of the finger webbing 516. Thus, the webbing connectors 522 can be positioned between the webbing extensions 520. Figure 5E and Figure 5F In the illustrated embodiment, the actuators 202 may be relatively closely spaced, and therefore, webbing extensions 520 may not be used (or may be minimized).

[0081] Figure 6 is a flow chart describing a method for deploying an actuator 202 having a modular fingertip 204 .

[0082] At block 602, an existing actuator can be removed from the robotic gripper. The existing actuator can be a conventional hard-bodied actuator or a soft-bodied actuator, or can be an actuator 202 such as described above. Because the proximal end 112 of the actuator 202 described herein can be identical to the proximal end 112 of a conventional soft-bodied robotic actuator, the exemplary actuator 202 can replace a conventional actuator on a one-to-one basis without modifying the existing gripper. The existing actuator can be removed in any manner that is suitable for the style of actuator currently deployed on the gripper (e.g., by detaching the actuator base from the gripper via a release or locking mechanism).

[0083] In block 604, the modular fingertip can be placed at the distal end of the actuator. The actuator tip and the modular fingertip have corresponding shapes and sizes and can thus be aligned based on their similarity. The gripping surface of the modular fingertip can be aligned with the inner portion of the actuator (including one side of the base).

[0084] In block 606, a backplate can be inserted into the actuator (if the actuator does not include an integrated backplate, an integrated backplate can be used in some embodiments). The backplate can be inserted through the proximal end of the actuator and maneuvered into the distal end (e.g., using the installation tool described above). The backplate can be pushed into the distal end and aligned with the flat surface of the actuator on the inside of the bottom of the reservoir.

[0085] In block 608, the blind hole screws can be inserted into the reservoir using an installation tool in the same manner as the back plate. The blind hole screws can be pushed into the openings in the back plate.

[0086] The blind screw may be tightened to drive it through the back plate, the material of the actuator, and into the modular fingertip in block 610. The blind screw and / or the corresponding hole in the modular fingertip may be sized so that it can only be driven partially into the modular fingertip without extending completely through the fingertip.

[0087] In some embodiments, two or more blind hole screws may be used, in which case the steps in blocks 608 and 610 may be repeated.

[0088] The now assembled actuator can be mounted to the holder in block 612. The actuator can be mounted using any suitable mechanism, such as by attaching a hub to the proximal end 112 of the actuator, using a quick-change or compression-type connection mechanism, or the like.

[0089] Figure 6 The flowchart of FIG. 1 describes a method for deploying an actuator having modular fingertips that are connected through the interior of the actuator. One of ordinary skill in the art will recognize how to modify the process for other configurations, such as where blind screws are installed from the outside through the modular fingertips.

[0090] Some embodiments may be described using the expression "one embodiment" or "an embodiment" and their derivatives. These terms mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearance of the phrase "in one embodiment" in different places in the specification does not necessarily refer to the same embodiment. Furthermore, unless otherwise noted, the features described above are considered to be applicable to be used together in any combination. Thus, any features discussed separately may be used in combination with each other unless it is noted that the features are incompatible with each other.

[0091] Generally, the symbols and terms used herein may be used to describe the content described in detail herein in the form of program processes executed on a computer or computer network. These program descriptions and representations are used by those skilled in the art to most effectively convey the essence of their work to others skilled in the art.

[0092] A process in this context, and generally, is considered to be a self-consistent sequence of operations leading to a desired result. These operations require physical manipulation of physical quantities. Typically, although not necessarily, these quantities take the form of electrical, magnetic, or optical signals capable of being stored, transferred, combined, compared, and otherwise manipulated. Primarily for convenience in general expression, these signals are often referred to as bits, values, elements, symbols, characters, terms, numbers, or the like. It should be noted, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely labels applied to those quantities for convenience of description.

[0093] Certain embodiments may be described using the terms "coupled" and "connected," and their derivatives. These terms are not necessarily intended to be synonymous with each other. For example, some embodiments may be described using the terms "connected" and / or "coupled" to indicate that two or more elements are in direct physical or electrical contact with each other. However, the term "coupled" may also mean that two or more elements are not in direct contact with each other, but still cooperate or interact with each other.

[0094] Various embodiments also relate to apparatus or systems for performing these operations. The apparatus may be specially constructed for the desired purpose, or it may comprise a general-purpose computer selectively activated or reconfigured by a computer program stored in the computer. The processes presented herein are not inherently related to a particular computer or other apparatus. Various general-purpose machines may be employed to execute programs written in accordance with the teachings herein, or more specialized equipment may be readily constructed to perform the desired steps and methods. The structures required for these various machines will become clear from the following description.

[0095] It should be emphasized that the abstract of the present disclosure is provided to enable the reader to quickly understand the essence of the disclosure. This abstract is submitted with the understanding that it shall not be used to interpret or limit the scope or meaning of the claims. In addition, in the foregoing detailed description, it can be seen that various features are combined in a single embodiment for the purpose of simplifying the disclosure. The method of the present disclosure should not be understood to indicate that the claimed embodiment includes more features than explicitly listed in the claims. On the contrary, as reflected in the following claims, the subject matter of the present invention is that it may be less than all the features of a single disclosed embodiment. Therefore, the following claims are hereby incorporated into the detailed description, with each claim independently serving as a separate embodiment. In the appended claims, the terms "include" and "in which" are used as the common English equivalents of the corresponding terms "comprise" and "wherein", respectively. In addition, the terms "first", "second", "third", etc. are used only as labels and are not intended to require the quantity of the objects they modify.

[0096] What has been described above includes some examples of the disclosed structures. It is, of course, impossible to describe all possible combinations of components and / or permutations of methods, but those skilled in the art will recognize that numerous further combinations and variations are possible. Therefore, the present invention is intended to encompass all such modifications, variations, and alterations coming within the spirit and scope of the appended claims.

Claims

1. A soft robotic actuator system comprising: A soft robotic actuator comprising an elastic material extending from a proximal end to a distal end and generally surrounding a reservoir, the reservoir being configured to receive an inflation fluid, the soft robotic actuator being configured to flex in a circumferential direction when the inflation fluid is added to or removed from the reservoir, wherein: The distal end of the actuator is sized and shaped to mate with a proximal end of a modular fingertip, the proximal end of the modular fingertip being configured to be secured to the distal end of the actuator, and The distal end includes one or more apertures configured to receive fasteners that mate with the modular fingertips.

2. The soft robotic actuator system of claim 1 further comprising the modular fingertip.

3. The soft robotic actuator system according to claim 2, wherein: The modular fingertip is a scraper having a generally flat surface that extends away from the soft robotic actuator along a plane defined by a base of the soft robotic actuator.

4. The soft robotic actuator system according to claim 2, wherein: The modular fingertip includes an angled tip that extends away from the soft robotic actuator at an angle relative to a plane defined by a base of the soft robotic actuator.

5. The soft robotic actuator system according to claim 2, wherein: The modular fingertip includes a surface that is textured to increase the friction applied by the modular fingertip compared to a base of the soft robotic actuator.

6. The soft robotic actuator system according to claim 2, wherein: The modular fingertip includes a flat extension having a flat surface extending away from the soft robotic actuator along a plane defined by a base of the soft robotic actuator, wherein the flat extension tapers or expands along a length of the flat extension.

7. The soft robotic actuator system according to claim 2, wherein: The modular fingertip is a first modular fingertip connected to an adjacent second modular fingertip via inter-fingertip webbing.

8. The soft robotic actuator system according to claim 1, wherein: The one or more holes at the distal end do not extend completely through the elastic material of the soft robotic actuator.

9. The soft robotic actuator system of claim 1 , further comprising a backplate configured to secure the proximal end of the modular fingertip to the distal end of the actuator.

10. The soft robotic actuator system of claim 1, further comprising an entry sealing bead configured to protect an interface between the proximal end of the modular fingertip and the distal end of the actuator.

11. A method comprising: accessing the soft robotic actuator according to claim 1; as well as The modular fingertip is secured to the distal end of the actuator using a fastener.

12. The method according to claim 11, wherein Fixing the modular fingertips includes: An installation tool is inserted into the proximal end of the actuator.

13. The method according to claim 12, wherein: The length of the installation tool is greater than the length of the actuator, and the width of the installation tool is less than the width of the reservoir.

14. The method according to claim 12, wherein: Inserting the installation tool into the proximal end of the actuator includes: The actuator is lowered onto the installation tool.

15. The method according to claim 11, further comprising: Prior to securing the modular fingertip with the fastener, a backplate is inserted into the reservoir of the soft robotic actuator.

16. The method according to claim 15, wherein The fasteners are driven through holes in the back plate that mate with holes in the actuator.

17. The method according to claim 11, wherein Securing the modular fingertip to the distal end of the actuator comprises: The fasteners are inserted into the holes in the modular fingertips and tightened.

18. The method according to claim 17, further comprising: An entry seal is installed between the fastener and the modular fingertip.

19. The method according to claim 11, wherein Accessing the actuator includes: Prior to securing the modular fingertip, the actuator is removed from the robotic gripper.

20. The method of claim 11, further comprising: After securing the modular fingertip, the actuator is secured to a robotic gripper.

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