Soft gripper and pneumatic system for controlling same

Abstract

In some embodiments, a soft gripper and a pneumatic system for controlling the same are provided. In one embodiment, a soft gripper includes a body including a suction cup portion and a neck portion; the neck portion comprises a neck chamber and the suction cup portion comprises a suction cup chamber, the neck chamber and the suction cup chamber together form a main chamber, the main chamber is configured to be in gas communication with a first pneumatic source and to receive a squeezing material, and wherein the neck portion comprises at least one auxiliary chamber which is configured to be in gas communication with a second pneumatic source and to receive the squeezing material. The at least one auxiliary chamber is disposed about the neck chamber and is configured to be in gas communication with a second pneumatic source. Other example embodiments are described herein. In some embodiments, the provided soft gripper enables seamless deformation between a gripper suction configuration and a gripper squeezing configuration, thereby enhancing gripping capability and versatility.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to U.S. Provisional Application Serial No. 63 / 608,831, filed December 12, 2023. All contents of the foregoing application are hereby incorporated herein by reference in their entirety for all purposes. Technical Field

[0003] This application relates to robotic devices, and more particularly to soft grippers and pneumatic systems for controlling them. Background Technology

[0004] Significant progress has been made in the field of robotics in recent years, particularly in soft robotics. Soft robotics focuses on developing flexible and adaptable robotic systems that mimic the dexterity and versatility of biological organisms.

[0005] Soft grippers are widely used in logistics and manufacturing to manipulate objects of varying shapes and sizes. However, existing soft grippers typically have limitations in their ability to handle objects of different sizes. For example, suction grippers can only attach objects with a contact surface smaller than the working surface of the suction cup, while squeeze grippers cannot grasp objects larger than the gripper's squeeze cavity. There is an urgent need to develop grippers with enhanced gripping capabilities, as they can handle objects of different shapes, sizes, and materials. Utility Model Content

[0006] In view of the foregoing background, in some embodiments, the aim is to provide a novel soft gripper structure with a deformation mechanism.

[0007] In some embodiments, the novel soft gripper structure incorporates a deformation mechanism, enabling seamless switching between a gripper adsorption configuration and a gripper squeezing configuration. In some embodiments, the gripper structure is manufactured using a set of molds via a silicone rubber casting process, thereby ensuring uniform material distribution and improved durability. In some embodiments, a pneumatic control system enables the gripper to deform between the gripper adsorption configuration and the gripper squeezing configuration. In some embodiments, through the integration of these components, the gripper structure and control system of this invention enable the production of soft grippers capable of having two gripping forms (squeezing and adsorption forms) and seamlessly deforming between these two forms. In some embodiments, this application seeks to protect the unique features and innovative aspects of the gripper structure and control system, thereby providing proprietary rights and recognition for its utility in industries such as logistics and manufacturing.

[0008] In some embodiments, a soft gripper structure is introduced that incorporates a deformation mechanism, enabling it to switch between a gripper suction configuration and a gripper extrusion configuration. In some embodiments, a manufacturing method for the gripper is developed and is further supplemented by a pneumatic control system along with corresponding methods to enable deformation between the different gripper configurations. In some embodiments, the soft gripper can be deformed into a gripper suction configuration to attach and release objects with a contact surface larger than the working face of a suction cup. In some embodiments, the soft gripper can also be deformed into a gripper extrusion configuration to attach and release objects with a contact surface smaller than the working face of a suction cup. In some embodiments, the soft gripper is manufactured using 3D printing molds and casting techniques. In some embodiments, the pneumatic control system enables the corresponding structures of the soft gripper to be activated in a specific order, allowing it to realize deformation between the two gripper configurations.

[0009] In some embodiments, a soft gripper is provided having a proximal side and a distal side, the soft gripper comprising: a body comprising a suction cup portion including an open end at the proximal side; and a neck portion connected with or extending from the suction cup portion; and a contact membrane configured to seal the open end, wherein the neck portion includes a neck chamber therein, and the suction cup portion includes a suction cup chamber therein, the neck chamber and the suction cup chamber together forming a main chamber configured to be in gas communication with a first pneumatic source and to receive an extrusion material, and wherein the neck portion further includes at least one auxiliary chamber therein, each auxiliary chamber disposed around the neck chamber and configured to be in gas communication with a second pneumatic source.

[0010] In some embodiments, a manufacturing method for a soft gripper as described in any of the preceding embodiments is provided, comprising the steps of: (1) providing a body mold sized and shaped to form the body, and solidifying a first flexible material into the body mold, thereby forming the body; (2) providing a membrane mold sized and shaped to form the contact membrane, and solidifying a second flexible material into the membrane mold, thereby forming the membrane; and (3) attaching the contact membrane to the body, thereby forming the soft gripper.

[0011] In some embodiments, there is provided a pneumatic system for controlling a soft gripper as described in any of the preceding embodiments, comprising: an auxiliary chamber control system comprising: a second pneumatic source configured to provide a second pressure; a first valve connected between an outlet of the second pneumatic source and the at least one auxiliary chamber; and a second valve connected between an inlet of the second pneumatic source and the at least one auxiliary chamber; and a main chamber control system comprising: a first pneumatic source configured to provide a first pressure; a third valve connected between an outlet of the first pneumatic source and the main chamber; and a fourth valve connected between an inlet of the first pneumatic source and the main chamber.

[0012] In some embodiments, there is provided a method of controlling a soft gripper as described in any of the preceding embodiments using a pneumatic system as described herein, the method comprising one or more of the following steps: (i) gripping a target object in a pinching attachment configuration; (ii) gripping a target object in a suction attachment configuration; (iii) deforming from the pinching attachment configuration to the suction attachment configuration; and / or (iv) deforming from the gripper suction configuration to the gripper pinching configuration.

[0013] The present disclosure has a number of advantages. In some embodiments, the mechanism enables a gripper to seamlessly deform between a gripper suction configuration and a gripper pinching configuration, thereby exploiting the respective advantages of both suction and pinching methods within a single gripper structure. In some embodiments, the gripper suction configuration allows a vacuum seal to be created, thereby enabling flat and smooth objects to be securely gripped. In contrast, in some embodiments, the gripper pinching configuration exploits granular material to conform to the shape of an object, thereby facilitating effective manipulation of irregularly shaped or porous objects. In some embodiments, the ability to switch between the gripper suction configuration and the gripper pinching configuration enables the soft gripper to be adapted to a wider range of objects, thereby making it suitable for a variety of tasks in industries such as logistics and manufacturing. Overall, in some embodiments, the utility of the soft gripper structure with a deformation mechanism addresses the limitations of existing grippers and provides a novel engineering solution with enhanced gripping capabilities. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1A is a perspective view of an example soft gripper with a deformation mechanism according to an example embodiment.

[0015] Figure 1B is a cross-sectional view of the same embodiment of an example soft gripper with a deformation mechanism according to Figure 1A

[0016] ​Figure 1C is a perspective view of an exemplary soft gripper of square shape with a deformation mechanism according to another exemplary embodiment.

[0017] Figure 1D is a perspective view of an exemplary soft gripper of oval shape with a deformation mechanism according to another exemplary embodiment.

[0018] Figure 1E is a bottom view of an exemplary soft gripper of oval shape with a deformation mechanism according to the same exemplary embodiment of Figure 1D .

[0019] Figure 1F is a schematic cross-sectional view of an exemplary soft gripper with three auxiliary chambers according to another exemplary embodiment.

[0020] Figure 1G is a schematic cross-sectional view of an exemplary soft gripper with four auxiliary chambers according to another exemplary embodiment.

[0021] Figures 2A-2C is a schematic illustration of an exemplary manufacturing method of a soft gripper according to an exemplary embodiment.

[0022] Figure 3 is a schematic illustration of an exemplary pneumatic control system for controlling a soft gripper according to an exemplary embodiment.

[0023] Figures 4A-4D is a schematic illustration of an exemplary control scheme of a soft gripper using an exemplary pneumatic control system according to an exemplary embodiment, the soft gripper being in a pinching attachment configuration, a suction attachment configuration, a deformation from the gripper pinching configuration, and a deformation from the gripper suction configuration to the gripper pinching configuration, respectively.

[0024] Figure 5A is a perspective view of an exemplary soft gripper of square shape with a deformation mechanism according to another exemplary embodiment.

[0025] Figure 5B is a cross-sectional view of an exemplary soft gripper with a deformation mechanism according to the same embodiment of Figure 5A .

[0026] Figure 5C is a perspective view of an exemplary soft gripper of square shape with a deformation mechanism according to another exemplary embodiment.

[0027] Figure 5D is a perspective view of an exemplary soft gripper of oval shape with a deformation mechanism according to another exemplary embodiment.

[0028] Figure 5E is a perspective view of an exemplary soft gripper of square shape with a deformation mechanism according to another exemplary embodiment.Figure 5D Bottom view of an exemplary soft gripper of oval shape with a deformation mechanism of the same exemplary embodiment.

[0029] Figure 5F Schematic cross-sectional view of an exemplary soft gripper with three auxiliary chambers according to yet another exemplary embodiment.

[0030] Figure 5G Schematic cross-sectional view of an exemplary soft gripper with four auxiliary chambers according to yet another exemplary embodiment.

[0031] Figures 6A-6C Schematic view of an exemplary manufacturing method of a soft gripper according to another exemplary embodiment.

[0032] Figure 7 Schematic view of an exemplary pneumatic control system for controlling a soft gripper according to another exemplary embodiment.

[0033] Figures 8A-8D Schematic view of an exemplary control scheme of a soft gripper using an exemplary pneumatic control system according to another exemplary embodiment, the soft gripper being in a pinching attachment configuration, a suction attachment configuration, a deformation from the gripper pinching configuration, and a deformation from the gripper suction configuration to the gripper pinching configuration, respectively.

[0034] Figure 9 A series of photographs (A-F) of an exemplary control scheme of an exemplary soft gripper carrying different objects, of an exemplary embodiment. DETAILED DESCRIPTION

[0035] Definitions

[0036] As used herein and in the claims, the terms “comprising” (or any

[0037] For the purposes of clarity, “comprise,” “include,” “contain,” and “have” and any variations thereof are open-ended terms that refer to elements or features that are not exclusive, but that also include, without limitation, additional elements or features not expressly listed or otherwise described. “Consisting essentially of’ is a closed term that, when used in a claim, means that the claimed subject matter excludes any additional element or step that is not specified in the claim.

[0038] As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. When referring to ranges of values, the ranges are understood to include each and every discrete point within the range. For example, 1 to 7 is intended to mean 1, 2, 3, 4, 5, 6, and 7.

[0039] As used herein, the term “about” is understood to be within the normal tolerances of the art and no more than ±10% of the recited value. By way of example only, about 50 means from 45 to 55, including all values in between. As used herein, the phrase “about” a particular value also includes the particular value.

[0040] As used herein and in the claims, the terms "generally" or "generally" or "substantially" or "essentially" mean that the recited characteristic, angle, shape, state, structure, or value need not be achieved exactly, but that deviations or variations, including for example, tolerances, measurement error, measurement accuracy limitations and other factors known to those of skill in the art can occur. For example, an object that has a "generally" cylindrical shape means that the object has a precise cylindrical shape or nearly a precise cylindrical shape. In another example, an object that is "substantially" perpendicular to a surface means that the object is precisely perpendicular to the surface or nearly precisely perpendicular to the surface, for example, with a 5% deviation.

[0041] It should be understood that terms such as "top," "bottom," "intermediate," "side," "length," "inner," "outer," "internal," "external," "outboard," "vertical," "horizontal," and the like, as can be used herein, merely describe points of reference and do not limit the present application to any particular orientation or configuration. Further, terms such as "first," "second," "third," and the like, merely identify one of multiple parts, components, and / or points of reference, as described herein, and likewise do not limit the present application to any particular configuration or orientation.

[0042] As used herein, the terms "connect," "connecting," "connected," and "connection" refer to physical coupling, either directly or indirectly.

[0043] As used herein, the term "gripper" refers to a device designed to grip or grasp and hold one or more target objects. In some examples, the gripper can be made of soft material and is capable of deforming into different states, and can be referred to as a "soft gripper" or a "deformable soft gripper."

[0044] As used herein, the term "soft" refers to the property of a material being flexible and at least partially deformable.

[0045] As used herein, the term "in gaseous communication" refers to a connection between two components such that at least one gas can flow from one component to the other.

[0046] As used herein, the term "body" refers to the main component of the soft gripper that contains the neck portion and the suction cup portion. In some examples, the body is made of one or more flexible materials.

[0047] As used herein, the term "main chamber" refers to a space or cavity defined in the main body that contains or is formed by the neck chamber and the chuck chamber. In some examples, the main chamber is configured to receive one or more extrusion materials and is in gaseous communication with a pneumatic source.

[0048] As used herein, the term "auxiliary chamber" refers to a space or cavity defined in the neck portion that is disposed about the neck chamber and is in gaseous communication with a pneumatic source.

[0049] As used herein, the term "chuck portion" refers to a component of the main body in which the chuck chamber is defined to provide a working surface in at least a gripper suction configuration.

[0050] As used herein, the term "neck portion" refers to a component of the main body that is connected to or extends from the chuck portion. In some examples, the neck portion contains the neck chamber and one or more auxiliary chambers.

[0051] As used herein, the term "contact film" refers to a flexible film or sheet that substantially covers and seals the open end of the chuck portion to form the main chamber.

[0052] As used herein, the term "extrusion material" refers to a material used in a soft gripper based on the principle of extrusion. For example, the extrusion material is in the form of extrusion particles, powder, beads, or the like.

[0053] As used herein, the term "valve" refers to a device or component that controls the flow of a fluid (e.g., liquid or gas) by opening, closing, or partially obstructing a passageway within a system to allow for the regulation, isolation, or direction of flow. For example, the valve is an electrically operated valve that controls air pressure in a pneumatic system.

[0054] As used herein, the term "pneumatic system" is a control system that uses compressed gas (e.g., air) as a medium to deliver and control pressure to a soft gripper. For example, the pneumatic system includes one or more components such as an air compressor, pneumatic actuators, valves, pressure gauges, air filters, regulators, and air tubes, among others.

[0055] As used herein, the term "pneumatic source" is or contains a device (e.g., a compressor) that pumps compressed gas (e.g., air) and contains a means (e.g., a valve) to control the flow and / or pressure of the compressed gas.

[0056] As used herein, the term "deformable" refers to an element that is capable of undergoing a change in form, shape, and / or configuration. For example, a deformable soft gripper contains different components that have the ability to deform or change into different states or configurations, such as an extrusion configuration and a suction configuration.

[0057] As used herein, the term "suction configuration" or "gripper suction configuration" refers to the state of a soft gripper that is configured to attach and release objects via a suction mechanism. For example, the gripper suction configuration allows for the creation of a vacuum seal, thereby enabling secure grasping of objects, such as flat and smooth objects, which can or can not have a contact surface larger than the working face of the suction cup.

[0058] As used herein, the term "extrusion configuration" or "gripper extrusion configuration" refers to the state of a soft gripper that is configured to attach and release objects via an extrusion mechanism. For example, the gripper extrusion configuration utilizes granular material to conform to the shape of an object, thereby facilitating effective manipulation of objects, such as irregularly shaped or porous objects.

[0059] While the description refers to particular embodiments, the disclosure should not be interpreted as being limited to the embodiments set forth herein.

[0060] Embodiments of the present invention

[0061] Example 1

[0062] In some embodiments, the novel soft gripper structure incorporates a deformation mechanism that enables seamless switching between the gripper suction configuration and the gripper extrusion configuration. In some embodiments, the gripper structure is manufactured using a set of molds with a silicone rubber casting process, thereby ensuring uniform material distribution and increased durability. In some embodiments, a pneumatic control system enables the gripper to deform between the gripper suction configuration and the gripper extrusion configuration. In some embodiments, through the integration of these components, the gripper structure, manufacturing method, and control system of the present application enable the creation of a soft gripper that can have two forms of grasping (extrusion form and suction form) and seamlessly deform between the two forms. In some embodiments, the present application seeks to protect the unique features and innovative aspects of the gripper structure, manufacturing method, and control method, thereby providing exclusive rights and recognition for its utility in industries such as logistics and manufacturing.

[0063] In some embodiments, a soft gripper structure is introduced that incorporates a deformation mechanism, enabling it to switch between a gripper suction configuration and a gripper jamming configuration. In some embodiments, a manufacturing method for the gripper is developed and is supplemented by a pneumatic control system along with corresponding methods to enable deformation between the different gripper configurations. In some embodiments, the soft gripper can be deformed into a gripper suction configuration to attach and release objects with a contact surface larger than the working face of the suction cup. In some embodiments, the soft gripper can also be deformed into a gripper jamming configuration to attach and release objects with a contact surface smaller than the working face of the suction cup. In some embodiments, the soft gripper is manufactured using 3D printing molds and casting techniques. In some embodiments, the pneumatic control system enables the corresponding structures of the soft gripper to be activated in a specific order, allowing it to realize deformation between the two gripper configurations.

[0064] Examples

[0065] Examples that describe certain embodiments of the disclosure in more detail are provided herein. The examples provided herein are for illustrative purposes only and are not meant to limit the scope of the present invention in any way. All references given below and elsewhere in this application are hereby incorporated by reference.

[0066] Example 1

[0067] Reference is now made to Figure 1A and Figure 1B The deformable soft gripper structure 100 contains a main chamber air tube 101, two auxiliary chamber air tubes 102 and 112, a main body 103, a suction cup 104, and a contact membrane 105. The details of each component are described as follows:

[0068] Main chamber air tube 101. It is a hose connected to the main chamber 107.

[0069] Two auxiliary chamber air tubes 102 and 112. They are hoses connected to the auxiliary chambers 106.

[0070] Main body 103. The main chamber 107 has a cylindrical cavity aligned with the central axis of the main body 103. Figure 1B The other two cavities aligned symmetrically with the main chamber 107 are the two auxiliary chambers 106. Each auxiliary chamber 106 has a narrow upper opening and a large lower space. Therefore, the upper wall between the main chamber 107 and the auxiliary chamber 106 is much thicker than the lower wall. The main chamber 107 is filled with jamming particles 108. By way of example, the main body 103 is made of a flexible material such as rubber, silicone rubber (such as Dragon Skin 0030 or Dragon Skin 0010), or RTV silicone rubber, or a combination of the above.

[0071] Suction cup 104. It is connected to the bottom of the main body 103. It is a flexible concave cup shape. The overall shape is similar to a cone with a vertical extension in the widening direction of the cone. The narrower side is connected to the main chamber 107. There are two small grooves 109 on the bottom edge surface of the suction cup portion. These two grooves are used to increase the connection strength between the contact film 105 in Figure 1B

[0072] Contact film 105. It is a soft thin film that seals the bottom of the suction cup 104. The contact film 105 can have various patterns or designs on its surface, including bumps, pits, and coatings of different materials. For example, the contact film 105 is made of a flexible material such as silicone rubber (such as Ecoflex 0030 or Ecoflex 0010). In some embodiments, the flexibility of the flexible material of the contact film is greater than the flexibility of the flexible material of the main body. For example, the film casting material can be a dopamine-based adhesive nano-coating, or a hyaluronic acid hydrogel adhesive, or a combination of the above.

[0073] Figure 1A and Figure 1B The deformable soft gripper 100 in has a generally circular cross-section. Referring now to Figures 1C-1E , another example deformable soft gripper structure 100A with a square cross-section and another example deformable soft gripper structure 100B with an elliptical cross-section are shown.

[0074] Referring now to Figures 1F-1G , the example deformable soft gripper structure 100 includes more than one auxiliary chamber 106. The example deformable soft gripper includes three auxiliary chambers (100C) and four auxiliary chambers (100D), respectively.

[0075] Example 2

[0076] Referring now to Figures 2A-2C To manufacture the deformable soft gripper structure 100, an example manufacturing method is provided with the following steps:

[0077] Step 1: Assemble the 3D printed top holder 202, 3D printed closed cap 201, 3D printed left outer shell 206, 3D printed left inner shell 205, 3D printed right outer shell 204, 3D printed right inner shell 203, and 3D printed base mold 207 to make a complete mold 208. Then, pour in the silicone gel via the top opening of the top holder 202, and place the mold 208 in a vacuum environment for degassing. After degassing, the mold 208 is taken out of the vacuum environment. The mold 208 is left to solidify to allow the silicone rubber to solidify into the main body 209. Then, the mold 208 is removed.

[0078] ​Step 2: Fill the mold 210 with silicone rubber. Place the filled mold 210 in a vacuum environment and let it sit for degassing. After degassing, remove the mold 210 from the vacuum environment and mate the upper side of the body 209 with the bottom of the mold 210. Let them sit for curing to allow the silicone rubber to cure the cap of the body 209 and become the new body 211. Then, remove the mold 210 from the body 211.

[0079] Step 3: Fill the mold 221 with soft silicone rubber, place it in a vacuum environment, and let it sit for degassing. After degassing, remove the mold 221 from the vacuum chamber and let it sit for curing to allow the silicone rubber to cure as the contact membrane 105. Then, adhere the contact membrane 105 with silicone rubber adhesive to seal the bottom opening of the body 209. Adhere the main chamber air tube 101 and the two auxiliary chamber air tubes 102 and 112 to the top opening of the body 209 with silicone rubber adhesive. Fill the main chamber air tube 101 with a certain amount of jamming particles 108 to manufacture the deformable soft gripper 100.

[0080] Example 3

[0081] Now referring to Figure 3 The exemplary pneumatic control system 399 for controlling the deformable soft gripper 100 contains two control groups, namely the auxiliary chamber control group 300 and the main chamber control group 310.

[0082] In the auxiliary chamber control group 300, the outlet of the compressor 301 is connected to a 2 / 3-way electric valve 302, and the inlet of the compressor 301 is connected to a 2 / 3-way electric valve 303. When the valve 302 is in the "open" state and the valve 303 is in the "closed" state, the compressor 301 can pump air from the surrounding environment and deliver positive pressure to the auxiliary chamber 106. This expansion causes the auxiliary chamber 106 to expand towards the main chamber, effectively preventing the jamming particles 108 from passing through the main chamber 107. When the valve 302 is in the "closed" state and the valve 303 is in the "open" state, the compressor 301 can pump air to the surrounding environment, thereby generating negative pressure in the auxiliary chamber 106. This deflation causes the auxiliary chamber 106 to contract, thereby allowing material to pass through the main chamber 107. When both valves 302 and 303 are in the "closed" state, the pressure in the auxiliary chamber 106 is locked. When both valves are set to "open", the pressure in the auxiliary chamber 106 is equal to atmospheric pressure.

[0083] In the main chamber control group 310, the outlet of the compressor 311 is connected to a 2 / 3 on solenoid valve 312, and the inlet of the compressor 311 is connected to a 2 / 3 on solenoid valve 313. When valve 312 is in the “on” state and valve 313 is in the “off’ state, the compressor 311 can pump air from the ambient environment and deliver positive pressure to the main chamber 107, thereby causing the contact membrane 105 to expand outward. When valve 312 is in the “off’ state and valve 313 is in the “on” state, the compressor 311 can pump air to the ambient environment and deliver negative pressure to the main chamber 107, thereby causing the contact membrane 105 to collapse inward. When both valves 312 and 313 are in the “off’ state, the pressure in the main chamber 107 is locked. When both valves are in the “on” state, the pressure within the main chamber 107 is equal to atmospheric pressure.

[0084] Example 4

[0085] Referring now to Figures 4A-4D Under the control of a pneumatic system, such as the exemplary system 399 described in Example 3, the deformable soft gripper 100 can perform four functions: (1) a pinching attachment 420 for grasping objects smaller than the gripper, (2) a suction attachment 440 for grasping objects larger than the gripper, (3) a deformation from the gripper pinching configuration to the gripper suction configuration (deformation 460), and (4) a deformation from the gripper suction configuration to the gripper pinching configuration (deformation 480).

[0086] Referring now to Figure 4ATo implement the pinch attach 420, the pneumatic system performs a series of actions. First, during the pinch phase 421, all valves 302, 303, 312, 313 are in the "open" state, and the gripper 100 is in its resting state 100-1, positioned on top of the small object 431. Next, in the pinch phase 422, by changing valve 313 to the "closed" state, positive pressure is delivered to the main chamber 107, causing the contact membrane 105 to expand outward. As a result, the pinch particles 108 fall into the expanded space, causing the gripper 100 to deform from state 100-1 to state 100-2. Then, in the pinch phase 423, valve 303 is changed to the "closed" state, causing the auxiliary chamber 106 to expand toward the main chamber. This expansion prevents the pinch particles 108 from flowing back into the main chamber 107. This causes the gripper 100 to deform to state 100-3. In the pinch phase 424, the gripper 100 is lowered toward the object 431 until the object is completely surrounded by the pinch particles 108. In the pinch phase 425, valve 313 is changed to the "open" state, creating negative pressure in the main chamber 107. This causes the pinch particles 108 to squeeze toward the object 431, causing the gripper to deform to state 100-4. Finally, in the pinch phase 426, valve 313 is changed to the "closed" state, and the object 431 is attached to the gripper 100, completing the pinch attach and allowing the gripper to effectively manipulate small objects.

[0087] Reference is now made to Figure 4BTo achieve the suction attachment 440, the pneumatic system performs a series of actions. First, during suction phase 441, valves 302, 303, 312, 313 are all set to the "open" state, and gripper 100 is in its resting state 100-1, positioned on top of large object 8207. Then, in subsequent suction phase 442, by changing valve 312 to the "closed" state, a negative pressure is applied to main chamber 107, causing contact membrane 105 to collapse inward. This action pushes jam particles 108 into main chamber 107, causing gripper 100 to deform from state 100-1 to state 100-5. Next, in suction phase 443, valves 303 and 313 are changed to the "closed" state, while valve 312 is set to "open." Auxiliary chamber 106 expands toward main chamber, preventing jam particles 108 from falling back into suction cup 104. The contact membrane expands outward under relatively small pressure, causing gripper 100 to deform to state 100-6. In suction phase 444, gripper 100 is lowered toward object 8207 until the object is in full contact with membrane 105. In suction phase 445, valve 313 is changed to "open," creating a negative pressure in main chamber 107. This creates a vacuum space between contact membrane 105 and object 8207, causing gripper 100 to deform to state 100-7. Finally, in suction phase 446, valve 313 is switched to "closed," and object 8207 is securely attached to gripper 100, completing the suction attachment and enabling the gripper to effectively manipulate large objects.

[0088] Reference is now made to Figure 4C To achieve the deformation from the gripper jammed configuration to the gripper suction configuration (deformation 460), the pneumatic system performs a series of actions. First, the gripper is in the jammed state 100-3, with valve 302 in the "open" state, valve 303 in the "closed" state, valve 312 in the "open" state, and valve 313 in the "closed" state. Then, valve 303 is switched to "open," allowing the auxiliary chamber to create a pathway for jam particles 108, and gripper 100 deforms from state 100-1 to state 100-2. Next, valve 312 is changed to the "closed" state, and valve 313 is changed to the "open" state. A negative pressure is applied to main chamber 107, causing contact membrane 105 to collapse inward, which causes jam particles 108 to be pushed into main chamber 107. As a result, gripper 100 deforms from state 100-2 to state 100-5. Finally, valve 303 is changed to the "closed" state, and valve 312 is changed to the "open" state. Gripper 100 deforms from state 100-5 to state 100-6. At this point, gripper 100 is ready for suction-based grasping.

[0089] Reference is now made to Figure 4DTo achieve the deformation from the gripper suction configuration to the gripper extrusion configuration (deformation 480), the pneumatic system needs to take a series of actions. First, the gripper is in the suction state 100-6, where valve 302 is in the "on" state, valve 303 is in the "off state, valve 312 is in the "on" state, and valve 313 is in the "on" state. The process starts with the activation of valve 303, which opens the passage in the auxiliary chamber for the extrusion particles 108. This causes the gripper 100 to deform from state 100-6 to state 100-1. Subsequently, by changing valve 313 to the "off state, a positive pressure is applied to the main chamber 107. This causes the contact membrane 105 to expand outward, thus allowing the extrusion particles 108 to fall into the expanded space. The gripper 100 deforms from state 100-1 to state 100-2. In the extrusion phase 423, valve 303 is changed to the "off state. This action causes the auxiliary chamber 106 to expand towards the main chamber, thus preventing the extrusion particles 108 from flowing back to the main chamber 107. Thus, the gripper 100 deforms to state 100-3, thus preparing it for extrusion-based grasping.

[0090] Example 5

[0091] In this example, the exemplary deformable soft gripper 100 contains:

[0092] A 100 mm long main chamber air tube 101 made of thermoplastic polyurethane (TPU).

[0093] Two 100 mm long auxiliary chamber air tubes 102 and 112 made of TPU.

[0094] A body 103. It is designed in the form of an inverted funnel meticulously crafted from DragonSkin 30 TM with a diameter of 15 mm, and the larger end of the funnel has a diameter of 20 mm. Within this structure, there is a cylindrical cavity with a diameter of 8 mm, which is aligned with the central axis of the funnel, constituting the main chamber 107. In addition, symmetrically disposed about the main chamber 107 are two cavities that form the auxiliary chambers 106.

[0095] A suction cup 104. It is connected to the bottom of the body 103. It is a flexible concave cup made of TPU. The overall shape of the cup resembles a cone with a vertical extension in the direction of widening of the cone. The narrower side is connected to the main chamber 107. There are two small grooves 109 on the bottom edge surface of the suction cup portion. These two grooves serve to increase the connection strength between the contact membranes 105.

[0096] A contact membrane 105. It is a cylindrical thin film with a measured diameter of 20 mm and a thickness of 1.15 mm, which seals the bottom of the suction cup 104. Ecoflex-0030TM to manufacture a film. The contact film 105 can have a variety of patterns or designs on its surface, including bumps, pits, and coatings of different materials.

[0097] In this example, the manufacturing method of the deformable soft gripper 100 is illustrated by the following steps:

[0098] Step 1 : Assemble the SLA-3D printed top fixture 202, the SLA-3D printed closure cap 201, the SLA-3D printed left outer shell 206, the SLA-3D printed left inner shell 205, the SLA-3D printed right outer shell 204, the SLA-3D printed right inner shell 203, and the SLA-3D printed base mold 207 to make a complete mold 208. Then, pour 15 g of DragonSkin 30 TM silicone gel through the top opening of the top fixture 202 and let the mold 208 rest in a vacuum environment for 20 minutes. After 20 minutes, the mold 208 is taken out of the vacuum environment. The mold 208 is left to rest for 16 hours to allow the DragonSkin 30 TM silicone gel to cure into the body 209. Then, the mold 208 is taken out.

[0099] Step 2: Fill the mold 210 with 5 g of DragonSkin 30 TM silicone gel. The filled mold 210 is placed in a vacuum environment and left to rest for 20 minutes. After this time, the mold 210 is taken out of the vacuum environment and the upper side of the body 209 is attached to the bottom of the mold 210. They are left to rest for 4 hours to allow the DragonSkin 30 TM silicone gel to cure the cap of the body 209 and become a new body 211. Then, the mold 210 is taken out of the body 211.

[0100] Step 3: Fill the mold 221 with 2 g of Ecoflex-00 30 TM silicone gel and place it in a vacuum environment for 5 minutes. After this time period, the mold 221 is taken out of the vacuum chamber and left to rest for 4 hours, allowing the silicone gel to cure and form the contact film 105. Then, the contact film 105 is adhered using the silicone adhesive Sil-Poxy TM to seal the bottom opening of the body 209 of the deformable soft gripper 100. Additionally, the silicone adhesive Sil-Poxy TM is used to attach the main chamber air tube 101 and the two auxiliary chamber air tubes 102 and 112 to the top opening of the body 209. Once the adhesive has cured, the main chamber air tube 101 is filled with 10 g of dry coffee grounds to complete the manufacturing of the deformable soft gripper 100.

[0101] In different industrial production or underwater object recovery scenarios, actuators often face many challenges. These challenges include having to operate at the water surface and underwater, or requiring larger debris to be removed first, followed by picking up smaller objects. In this example, valves 302, 303, 312, 313 are initially all in the "open" state. Gripper 100 is in its resting state 100-1 and is placed on top of a 50mm x 50mm acrylic box 551. Next, during suction phase 442, valve 312 is switched to the "closed" state, allowing -25 kPa of pressure to be transmitted to main chamber 107. This action causes contact membrane 105 to collapse inward, pushing jamming particles 108 into main chamber 107. Gripper 100 deforms from state 100-1 to state 100-5. Subsequently, valves 303 and 313 are changed to the "closed" state, while valve 312 is changed to the "open" state. This causes auxiliary chamber 106 to expand towards main chamber, preventing jamming particles 108 from falling back to suction cup 104. The contact membrane expands outward under 2 kPa of pressure, deforming gripper 100 to state 100-6. During the next phase, in suction phase 444, gripper 100-6 is lowered towards acrylic box 551 until acrylic box 551 is in full contact with membrane 105. Valve 313 is then changed to the "open" state, allowing -25 kPa of pressure to be transmitted to main chamber 107. This pressure creates a vacuum space between contact membrane 105 and acrylic box 551. This deformation changes gripper 100 to state 100-7. Finally, valve 313 is changed to the "closed" state, allowing target 431 to stick to gripper 100-7. Gripper 100 removes the top of acrylic box 551. After this action, gripper 100 deforms from the gripper suction configuration to the gripper jamming configuration (deformation 480). Valve 303 is changed to the "closed" state, causing auxiliary chamber 106 to expand towards main chamber, preventing jamming particles 108 from flowing back to main chamber 107. This deformation changes gripper 100 to state 100-3. Gripper 100 then moves downwards towards the green beans 552 inside box 551, which have a 4mm diameter. The gripper continues its operation until green beans 552 are fully surrounded by jamming particles 108. Subsequently, valve 313 is changed to the "open" state, applying -25 kPa of pressure to main chamber 107. This causes jamming particles 108 to squeeze towards target 431 and deforms gripper 100 to state 100-4. Finally, valve 313 is changed to the "closed" state, fixing target 431 to gripper in state 100-4. Gripper 100 attaches to green beans 552 and removes them from box 551.

[0102] Example 2

[0103] Example 6

[0104] Reference is now made to Figure 5Aand Figure 5B An example deformable soft gripper 5000 is shown, which generally contains a body 5100 and a contact membrane 5130. For ease of description, the direction closer to the contact membrane 5130 of the soft gripper 5000 is referred to as the "proximal end" and the direction away from the contact membrane 5130 of the soft gripper 5000 is referred to as the "distal end". The side closer to the contact membrane 5130 is referred to as the "proximal side" and the side away from the contact membrane 5130 is referred to as the "distal side".

[0105] The body 5100 generally contains a suction cup portion 5110 having an open end at the proximal side and a neck portion 5120 connected to or extending from the suction cup portion 5110.

[0106] Reference is now made to Figure 5B In this example, the neck portion 5120 extends from the suction cup portion 5110 to form a unitary body 5100. A neck chamber 5121 is defined in the neck portion 5120 and a suction cup chamber 5111 is defined in the suction cup portion 5110. Together, the neck chamber 5121 and the suction cup chamber 5111 form a main chamber 5101 defined by the body 5100 and the contact membrane 5130. The neck chamber 5121 further contains a cylindrical hollow main chamber air tube 5200 (also in the neck portion 5120) that is in fluid communication with the main chamber 5101. Figure 5AThe main chamber air tube is sized and shaped to connect with and be configured to be in gaseous communication with the main chamber 5101 and the first pneumatic source (not shown here, described in more detail later). In this example, the main chamber air tube 5200 is made of a flexible material. In this example, the neck portion 5120 is generally in the shape of an inverted truncated dome, having a reduced diameter proximal side connected with or extending from the distal side of the puck portion 5110 and an opposite distal side of larger diameter. The neck chamber 5121 is generally a cylindrical cavity, aligned with the central axial axis of the neck portion 5120 of the main body 5100. The neck chamber 5121 further includes a reduced diameter proximal side chamber configured to be in gaseous communication with the cup chamber and a distal side chamber of larger diameter configured to connect with the main chamber air tube 5200. Further defined in the neck portion 5120 are at least one auxiliary chamber 5122 disposed about the central axial axis of the neck portion 5120 and configured to be in gaseous communication with the second pneumatic source (not shown, described in more detail later), respectively. In this example, the neck portion 5120 contains two separate auxiliary chambers 5122A, 5122B (or collectively 5122) disposed about the central neck chamber 5121. Each of the auxiliary chambers 5122 generally contains a larger lower cavity and a reduced upper cylindrical cavity sized and shaped to mate with an auxiliary chamber air tube 5300 (also shown in Figure 5A FIG. 5). In this example, the two auxiliary chambers 5122A, 5122B are two curved rectangular cavities having a C-shaped cross-section, symmetrically aligned about the neck chamber 5121 of the main chamber 5101. Each auxiliary chamber 5122 further contains or is connected with a cylindrical hollow auxiliary chamber air tube 5300A, B sized and shaped to connect with and be configured to be in gaseous communication with the neck chamber 5121 and the second pneumatic source. In this example, the auxiliary chamber air tubes 5300 are made of a flexible material. Each auxiliary chamber 5122 has a narrow upper opening and a larger lower space. Thus, the upper wall 5123 between the neck chamber 5121 of the main chamber 5101 and the auxiliary chamber 5122 is thicker than the lower wall 5124 between the neck chamber 5121 of the main chamber 5101 and the auxiliary chamber 5122.

[0107] Still referring to Figure 5A and Figure 5BThe suction cup portion 5110 is connected to or extends from the bottom of the main body 5100. In this example, the suction cup portion 5110 extends from the main body 5100, and the suction cup portion is a concave cup made of the same flexible material as the main body 5100. The overall shape is similar to a cone with a vertical extension in the direction of the widening of the cone. The narrower side is connected to or extends from the proximal side of the neck chamber 5121. The outer periphery of the bottom side of the suction cup portion 5110 further contains two pairs of small grooves 5112, each pair of small grooves being disposed on opposite ends. These grooves 5112 are used to increase the connection strength between the contact film 5130 in Figure 5B

[0108] The contact film 5130 is a flexible film or sheet that substantially covers and seals the bottom open end of the suction cup 104 to form the main chamber 5101. For example, the contact film 5130 further contains various patterns or designs on its surface, including protrusions and / or indentations, such as bumps, rims, or dimples, and coatings of different materials, in order to increase the frictional contact with the target object. For example, the contact film 5130 is made of one or more flexible materials, such as silicone rubber (such as Ecoflex 00-30 or Ecoflex 00-10 (Smooth-on Inc.)). In some embodiments, the flexibility of the contact film 5130 is configured to be greater than that of the main body 5100. For example, the film casting material is a dopamine-based adhesive nano-coating, or a hyaluronic acid hydrogel adhesive, or a combination thereof.

[0109] The main chamber 5101 is configured to receive one or more extrusion materials. In this example, the main chamber 5101 is filled with extrusion particles or extrusion granules 5140. For example, the extrusion granules 5140 are made of coffee grounds with an average particle size of 0.1 mm. For example, the main body 5100 is made of one or more flexible materials, such as rubber, silicone rubber (such as Dragon Skin 0030 or Dragon Skin 0010 (Smooth-On, USA) or room temperature vulcanizing silicone (RTV silicone) rubber, or a combination thereof.

[0110] The main body 5100, the contact film 5130, the main chamber 5101, and the auxiliary chamber 5122 can have different sizes, shapes, and configurations, respectively. Figures 5A-5B The example deformable soft gripper 5000 in Figure 5C Another example deformable soft gripper structure 5000A is shown, in which the main body 5100A and the contact film 5130A have a generally rectangular or square cross-section, with two auxiliary chambers. Referring now to Figure 5D and Figure 5E ​FIG. 5B shows another example deformable soft gripper structure 5000B, where the body 5100B and the contact membrane 5130B have a generally elliptical cross-section, and the bottom surface of the body 5100B contains two annular grooves 5112B and 5112B’.

[0111] The number of auxiliary chambers 5122 provided in the soft gripper 5000 can vary. Referring now to Figures 5F-5G FIGS. 5C and 5D show other example deformable soft grippers 5000C and 5000D that include more than two auxiliary chambers 5122C and 5122D. The example deformable soft gripper 5000C includes a main chamber 5111C and three auxiliary chambers 5122C, and the example deformable soft gripper 5000D includes a main chamber 5111D and four auxiliary chambers 5122D, which are substantially disposed around the central axis of the body.

[0112] Example 7

[0113] Referring now to Figures 6A-6C To manufacture a deformable soft gripper (taking the example of the example deformable soft gripper 5000 as described in Example 5), an example manufacturing method is provided having the following steps:

[0114] Step 1 : Provide a body: Provide a body mold sized and shaped to form the body having a chuck portion and a lower neck portion containing the auxiliary chambers and the main chamber. In this example, the body mold generally includes a lower body mold 6100 to form the lower body 5150 (or lower portion) and an upper body mold 6200 to form the upper body 5160 (or upper portion). The body 5100 is formed from the lower body 5150 and the upper body 5160.

[0115] Step la: Provide the lower body 5150: Referring to Figure 6AThe lower body mold 6100 generally includes a top fixture 6102, a closure cap 6101, a left outer shell 6106, a left inner shell 6105, a right outer shell 6104, a right inner shell 6103, and a base mold 6107. For example, these body mold components are fabricated by 3D printing. The top fixture 6102, the closure cap 6101, the left outer shell 6106, the left inner shell 6105, the right outer shell 6104, the right inner shell 6103, and the base mold 6107 are assembled to form the complete lower body mold 6100. Then, a first flexible material (e.g., silicone gel) is poured through the top opening of the top fixture 6102, and the lower body mold 6100 is left to degas in a vacuum environment. After degassing, the lower body mold 6100 is removed from the vacuum environment. The lower body mold 6100 is left to cure, allowing the first flexible material (e.g., silicone rubber) to cure as the lower body 5150. Then, the lower body mold 6100 is removed to obtain the lower body 5150.

[0116] Step 1b: Providing the upper body 5160: Referring to Figure 6B An upper body mold 6200 is provided. The upper body mold 6200 is filled with a first flexible material (e.g., silicone rubber). In other examples, the upper body mold 6200 is filled with other flexible materials that are different from the first flexible material. In one implementation, the filled upper body mold 6200 is placed in a vacuum environment and left to degas. After degassing, the upper body mold 6200 is removed from the vacuum environment, and the upper side (distal side) of the lower body 5150 formed from step 1a is mated with the bottom of the upper body mold 6200. They are left to cure, allowing the first flexible material (e.g., silicone rubber) to cure the cap or upper body 5160 of the lower body 5150 and form the body 5100. Then, the upper body mold 6200 is removed from the body 5100 to obtain the body 5100.

[0117] Step 2: Providing the contact film 5130: Referring to Figure 6C A film mold 6001 sized and shaped to form the contact film 5130 is provided, and a second flexible material that is more flexible than the first flexible material is cured into the film mold 6001. In one implementation, the film mold 6001 is filled with the second flexible material (e.g., soft silicone rubber), placed in a vacuum environment, and left to degas. After degassing, the film mold 6001 is removed from the vacuum chamber and left to cure, allowing the second flexible material to cure as the contact film 5130.

[0118] Step 3: Attaching the contact film 5130 to the body 5100: Still referring to Figure 6Csuch as with a silicone rubber adhesive, to seal the bottom end opening of the body 5100.

[0119] Additionally or alternatively, the main chamber air tube 5200 and one or more auxiliary chamber air tubes 5300 are attached adhered to the top opening of the body 5100, such as with a silicone rubber adhesive, to connect with the main chamber and auxiliary chambers, respectively. The example deformable soft gripper 5000 is manufactured after filling the main chamber air tube 5200 with a suitable amount of jamming particles 5140.

[0120] Example 8

[0121] Reference is now made to Figure 7 , an example pneumatic control system 7000 for controlling an example deformable soft gripper as described in any of the examples herein, exemplified by the example deformable soft gripper 5000 in example 5. The example pneumatic control system 7000 generally contains two control systems, namely an auxiliary chamber control system 7100 and a main chamber control system 7200.

[0122] The auxiliary chamber control system 7100 is directly or indirectly connected and / or in air communication with the auxiliary chamber 5122 and is configured to provide and control a second pressure within the auxiliary chamber 5122. In one implementation, the auxiliary chamber control system 7100 is connected and / or in air communication with the auxiliary chamber 5122 through an auxiliary chamber air tube 5300. The auxiliary chamber control system 7100 generally contains a second pneumatic source 7110, a first valve 7120, a second valve 7130, and a pressure gauge 7180. In this example, the second pneumatic source 7110 is or contains a compressor, and the first valve 7120 and the second valve 7130 are both 2 / 3-way solenoid valves, each configured to be switchable between an open state and a closed state. The compressor contains an outlet connected to the first valve 7120 and an inlet connected to the second valve 7130. The first valve 7120 is configured to be connected between the outlet of the second pneumatic source 7110 and the at least one auxiliary chamber 5122, and the second valve 7130 is configured to be connected between the inlet of the second pneumatic source 7110 and the at least one auxiliary chamber 5122. The pressure gauge 7180 is connected between the outlets of the first valve 7120 and the second valve 7130 and the at least one auxiliary chamber 5122. The auxiliary chamber control system 7100 includes a first configuration, a second configuration, a third configuration, and a fourth configuration. When the first valve 7120 is in the "open" state and the second valve 7130 is in the "closed" state (i.e., the first configuration), the second pneumatic source (compressor) 7110 is configured to pump air from the ambient environment and deliver a positive second pressure to the auxiliary chamber 5122. This positive pressure causes the auxiliary chamber 5122 to expand or dilate toward the neck chamber 5121 of the main chamber 5101, thereby closing the neck chamber 5121 to a closed state to effectively prevent jamming particles 5140 from passing through the main chamber 5101. When the first valve 7120 is in the "closed" state and the second valve 7130 is in the "open" state (i.e., the second configuration), the second pneumatic source (compressor) 7110 is configured to pump air to the ambient environment, thereby creating a negative second pressure within the auxiliary chamber 5122. This negative pressure causes the auxiliary chamber 5122 to collapse or contract, thereby opening the neck chamber 5121 to an open state and allowing jamming material 5140 to pass through the neck chamber 5121 of the main chamber 5101. When the first valve 7120 and the second valve 7130 are both in the "closed" state (i.e., the third configuration), the second pressure within the auxiliary chamber 5122 is locked or maintained. When both valves are set to "open" (i.e., the fourth configuration), the second pressure within the auxiliary chamber 5122 is substantially equal to atmospheric pressure.

[0123] The main chamber control system 7200 is directly or indirectly connected and / or in air communication with the main chamber 5101 and is configured to provide and control a first pressure within the main chamber 5101. In one embodiment, the main chamber control system 7200 is connected and / or in air communication with the main chamber 5101 through the main chamber air tube 5200. The main chamber control system 7200 generally contains a first pneumatic source 7210, a third valve 7220, a fourth valve 7230, and a pressure gauge 7280. In this example, the first pneumatic source 7210 is or contains a compressor, and both the third valve 7220 and the fourth valve 312 are 2 / 3 on solenoid valves, each configured to be switchable between an on state and an off state. The compressor contains an outlet connected to the third valve 7220 and an inlet connected to the fourth valve 7230. The third valve 7220 is configured to be connected between the outlet of the first pneumatic source 7210 and the main chamber 5101, and the fourth valve 7230 is configured to be connected between the inlet of the first pneumatic source 7210 and the main chamber 5101. The pressure gauge 7280 is connected between the outlets of the third valve 7220 and the fourth valve 7230 and the main chamber 5101. The main chamber control system 7200 includes a fifth configuration, a sixth configuration, a seventh configuration, and an eighth configuration. When the third valve 7220 is in the "on" state and the fourth valve 7230 is in the "off state (i.e., the fifth configuration), the first pneumatic source (compressor) 7210 is configured to pump air from the ambient environment and deliver a positive first pressure to the main chamber 5101, thereby causing the contact membrane 5130 to expand outward to an expanded state. When the third valve 7220 is in the "off state and the fourth valve 7230 is in the "on" state (i.e., the sixth configuration), the first pneumatic source (compressor) 7210 is configured to pump air to the ambient environment and deliver a negative first pressure to the main chamber 5101, thereby causing the contact membrane 5130 to collapse inward to a collapsed state. When both the third valve 7220 and the fourth valve 7230 are in the "off state (i.e., the seventh configuration), the first pressure in the main chamber 5101 is locked or maintained. When both valves are in the "on" state (i.e., the eighth configuration), the first pressure within the main chamber 5101 is substantially equal to atmospheric pressure. Table 1 summarizes the eight configurations of the pneumatic system 7000. By controlling the pneumatic system 7000 to be in different configurations, the deformable soft gripper 5000 is configured to be switchable between at least a gripper suction configuration and a gripper extrusion configuration. More details will be described in later examples.

[0124] Table 1. Eight configurations of pneumatic system 7000

[0125]

[0126]

[0127] Example 9

[0128] Referring now to Figures 8A-8D A deformable soft gripper, such as the example deformable soft gripper 5000 described in Example 5, can perform at least four functions: (1) a jammed attachment configuration 8100 for grasping objects that can be smaller than the gripper; (2) a suction attachment configuration 8200 for grasping objects that can be larger than the gripper; (3) a deformation from the gripper jammed configuration 8400 to the gripper suction configuration 8300 (first deformation configuration 8301); and (4) a deformation from the gripper suction configuration 8300 to the gripper jammed configuration 8400 (second deformation configuration 8401). In one embodiment, such functions are controlled by an example pneumatic system, such as using the example system 7000 described in Example 8 as an example.

[0129] Referring now to Figure 8ATo achieve the pinch attachment configuration 8100, the example pneumatic system performs a series of actions and steps. First, during a pinch phase 8101, the first valve 7120, the second valve 7130, the third valve 7220, and the fourth valve 7230 are all in an “on” state (i.e., the auxiliary chamber control system and the main chamber control system of the pneumatic system are configured as the fourth configuration and the eighth configuration, respectively), and the example soft gripper 5000 is in its resting state 5000-1, with the contact membrane 5130 in a flat state. The soft gripper 5000 is configured to be positioned on top of a target object 8107. In this example, the target object 8107 is a spherical object having a size smaller than the soft gripper 5000. Next, in a pinch phase 8102, by changing the fourth valve 7230 to an “off’ state (i.e., the main chamber control system is configured as the fifth configuration), a positive first pressure is delivered to the main chamber 5101, causing the contact membrane 5130 to expand outward to an expanded state. As a result, the pinch particles 5140 fall into the expanded space within the suction cup, deforming the soft gripper 5000 from state 5000-1 to state 5000-2. Then, in a pinch phase 8103, the second valve 7130 is changed to an “off’ state (i.e., the auxiliary chamber control system is configured as the first configuration), causing the auxiliary chamber 5122 to expand toward the main chamber 5101, such that the neck chamber 5121 is closed (in a closed state) to prevent the pinch material 5140 from passing through the neck chamber or flowing back to the main chamber 5101. This deforms the example soft gripper 5000 to state 5000-3. In a pinch phase 8104, the soft gripper 5000 is lowered toward the target object 8107 until the target is in full contact with the expanded contract membrane and is at least partially surrounded by the pinch particles 5140. The third valve 7220 is changed to an “off’ state (i.e., the main chamber control system is configured as the seventh configuration) to maintain the first pressure within the main chamber, and the example soft gripper is maintained in state 5000-3. In a pinch phase 8105, the fourth valve 7230 is changed to an “on’ state (i.e., the main chamber control system is configured as the sixth configuration), causing a negative first pressure in the main chamber. This negative pressure causes the pinch particles 5140 to squeeze toward the target object 8107, providing a stronger grip while also distributing the force more evenly on the surface of the target object. The gripper is deformed to state 5000-4. Finally, in a pinch phase 8106, the fourth valve 7230 is changed to an “off’ state (i.e., the main chamber control system is configured as the seventh configuration), such that the first pressure within the main chamber is maintained, and the target object 8107 is attached to the soft gripper, completing the pinch attachment and allowing the example soft gripper to effectively manipulate (grip the target object). In one example, the target object 8107 is a small object having a size smaller than the soft gripper.

[0130] Reference is now made to Figure 8BTo achieve the suction attachment configuration 8200, the example pneumatic system performs a series of actions and steps. First, during suction phase 8201, the first valve 7120, the second valve 7130, the third valve 7220, and the fourth valve 7230 are all set to the“open” state (i.e., the auxiliary chamber control system and the main chamber control system of the pneumatic system are configured to the fourth configuration and the eighth configuration, respectively), and the example soft gripper is in its resting state 5000-1, with the contact membrane in the flat state. The example soft gripper is configured to be positioned on top of a target object 451. In this example, the target object 8207 is a flat, plate-like object having a top surface area that is larger than the contact membrane. Then, in the subsequent suction phase 8202, by changing the third valve 7220 to the“closed” state (i.e., the main chamber control system 7200 is configured to the sixth configuration), a negative first pressure is applied to the main chamber, causing the contact membrane to collapse inward to the collapsed state. This action pushes the jammed particles into the main chamber, causing the example soft gripper to deform from state 5000-1 to state 5000-5. Next, in suction phase 8203, the second valve 7130 and the fourth valve 7230 are changed to the“closed” state, while the third valve 7220 is set to the“open” state (i.e., the auxiliary chamber control system is configured to the first configuration, while the main chamber control system is configured to the fifth configuration), causing the auxiliary chamber to expand toward the main chamber, such that the neck chamber is closed (in the closed state) to prevent the jammed material from passing through the neck chamber or falling back into the puck chamber 5111. The contact membrane expands outward under the relatively small pressure, causing the example soft gripper to deform to state 5000-6. In suction phase 8204, by changing the third valve 7220 to the“closed” state (i.e., the main chamber control system 7200 is configured to the seventh configuration), the first pressure inside the main chamber is maintained, and then the example soft gripper is lowered toward the target object 8207 until the target object 8207 is fully in contact with the membrane. In suction phase 8205, the fourth valve 7230 is changed to the“open” state (i.e., the main chamber control system is configured to the sixth configuration), causing a negative first pressure in the main chamber, such that the contact membrane collapses inward to the collapsed state and a vacuum space is formed between the contact membrane and the target object 8207, causing the example soft gripper to deform to state 5000-7. Finally, in suction phase 8206, the fourth valve 7230 is switched to the“closed” state (i.e., the main chamber control system is configured to the seventh configuration) to maintain the first pressure inside the main chamber, and the target object 8207 is securely attached to the example soft gripper, completing the suction attachment and enabling the example soft gripper to effectively manipulate (grip the target object 8207).

[0131] Reference is now made to Figure 8CTo effect the deformation from the pinch configuration 8400 to the suction configuration 8300 (as the first deformed configuration 8301), the example pneumatic system performs a series of actions and steps. First, the soft gripper is preset to the pinch state 5000-3, where the first valve 7120 is in the“open” state, the second valve 7130 is in the“closed” state, the third valve 7220 is in the“open” state, and the fourth valve 7230 is in the“closed” state (i.e., the auxiliary chamber control system is configured as the first configuration, while the main chamber control system is configured as the fifth configuration). Then, the second valve 7130 is switched to the“open” state (i.e., the auxiliary chamber control system is configured as the fourth configuration), allowing the auxiliary chamber to create a passageway for the pinched particles 5140, and the example soft gripper 5000 deforms from state 5000-3 to state 5000-2. In another embodiment, to deform the example soft gripper 5000 from state 5000-3 to state 5000-2, the first valve 7120 can be switched to the“closed” state, while the second valve 7130 is switched to the“open” state (i.e., the auxiliary chamber control system is configured as the second configuration), the second pneumatic source creates a negative second pressure to the auxiliary chamber, causing the auxiliary chamber to contract away from the neck chamber, allowing the auxiliary chamber to create a passageway for the pinched particles 5140. Next, the third valve 7220 is changed to the“closed” state, and the fourth valve 7230 is changed to the“open” state (i.e., the main chamber control system of the pneumatic system is in the sixth configuration), a negative first pressure is applied to the main chamber, causing the contact membrane to collapse inwardly to a collapsed state. This action pushes the pinched particles into the main chamber, causing the example soft gripper to deform from state 5000-2 to state 5000-5. Finally, the second valve 7130 is changed to the“closed” state, while the third valve 7220 is changed to the“open” state (i.e., the auxiliary chamber control system is configured as the first configuration, while the main chamber control system is configured as the eighth configuration), causing the neck chamber to close (into a closed state) to prevent the pinched material from passing through the neck chamber or falling back into the suction cup chamber. The example soft gripper deforms from state 5000-5 to state 5000-6. At this point, the example soft gripper is ready for suction-based grasping.

[0132] Reference is now made to Figure 8DTo achieve the deformation from the gripper suction configuration 8300 to the gripper extrusion configuration 8400 (second deformed configuration 8401), the exemplary pneumatic system needs to take a series of actions. First, the exemplary soft gripper is in the suction state 5000-6, where the first valve 7120 is in the "open" state, the second valve 7130 is in the "closed" state, the third valve 7220 is in the "open" state, and the fourth valve 7230 is in the "open" state (i.e., the auxiliary chamber control system and the main chamber control system of the pneumatic system are configured as the first configuration and the eighth configuration, respectively). The process starts with changing the second valve 7130 to the "open" state (i.e., the auxiliary chamber control system is configured as the fourth configuration), such that the second pressure inside the auxiliary chamber and the first pressure inside the main chamber are substantially equal to the atmospheric pressure, and the auxiliary chamber 5122 is contracted away from the neck chamber 5121 to the open state, thereby allowing the extrusion material 5140 to pass through the neck chamber. This causes the exemplary soft gripper to deform from the state 5000-6 to the state 5000-1. Subsequently, by changing the fourth valve 7230 to the "closed" state (i.e., the main chamber control system is configured as the fifth configuration), a positive first pressure is generated on the main chamber, such that the contact membrane expands outward to the expanded state, thereby allowing the extrusion particles to fall into the expanded space. The exemplary soft gripper deforms from the state 5000-1 to the state 5000-2. In the extrusion stage, the second valve 7130 is changed to the "closed" state (i.e., the auxiliary chamber control system is configured as the first configuration), such that a positive second pressure is generated on the auxiliary chamber, such that the chambers expand towards the neck chamber, thereby closing the neck chamber to the closed state, to prevent the extrusion material from passing through the neck chamber and flowing back to the main chamber. Thus, the exemplary soft gripper deforms to the state 5000-3, thereby making it ready for the extrusion-based gripping.

[0133] Example 10

[0134] In this example, one embodiment of the exemplary deformable soft gripper 5000 as described in Example 6, the method of manufacturing thereof as described in Example 7, the pneumatic system 7000 for controlling the soft gripper 5000 as described in Example 8, and the method of controlling the soft gripper 5000 as described in Example 9 will be described in more detail herein. For the sake of brevity, similar structures or features to the previous examples will not be repeated.

[0135] Exemplary soft gripper

[0136] Reference Figure 5A and Figure 5BThe exemplary soft gripper 5000 generally contains a body 5100 and a contact membrane 5130. The body 5100 contains a suction cup portion 5110, a neck portion 5120 extending from the suction cup portion 5110 and defining a neck chamber 5121 therein. A suction cup chamber is defined in the suction cup portion 5110. The neck chamber 5121 and the suction cup chamber together form a main chamber 5101 defined by the body 5100 and the contact membrane 5130. The neck chamber 5121 contains or is connected to a main chamber air tube 5200. The neck portion 5120 contains two separate auxiliary chambers 5122, and each auxiliary chamber 5122 contains or is connected to an auxiliary chamber air tube 5300 to connect with the neck chamber 5121. All of these components are made of a flexible material:

[0137] In this example, the main chamber air tube 5200 is about 100 mm long and is made of thermoplastic polyurethane (TPU).

[0138] In this example, the two auxiliary chamber air tubes 5300 are about 100 mm long and are made of TPU.

[0139] In this example, the body 5100 is in the form of an inverted funnel and is made substantially of DragonSkin 30. The smaller end of the funnel has a diameter of about 15 mm, and the larger end of the funnel has a diameter of about 20 mm. The main chamber 5101 has a diameter of about 8 mm.

[0140] In this example, the suction cup portion 5110 is a flexible concave cup made of TPU. The overall shape of this portion is similar to a cone with a vertical extension in the widening direction of the cone.

[0141] In this example, the contact membrane 5130 is a cylindrical thin film with a diameter of about 20 mm and a thickness of about 1.15 mm. The contact membrane 5130 is made of Ecoflex-0030 TM For example, the contact membrane 5130 can have various patterns or designs on its surface, including but not limited to bumps, pits, and coatings of different materials.

[0142] Exemplary manufacturing method

[0143] Reference Figures 6A-6C The exemplary manufacturing method of the exemplary soft gripper 5000 generally contains 3 steps:

[0144] Step 1: Fabricating the body with the body mold generally includes a lower body mold to form the lower body 5150 and an upper body mold to form the upper body 5160 (or upper portion). The lower body mold 6100 generally contains a top fixture 6102, a closure cap 6101, a left outer shell 6106, a left inner shell 6105, a right outer shell 6104, a right inner shell 6103, and a base mold 6107. A first flexible material is poured into the lower body mold 6100, which then cures as the lower body 5150, and a first flexible material is poured into the upper body mold 6200, which then cures as the cap of the lower body 5150 or the upper body 5160 and forms the body 5100.

[0145] Step 2: Providing the contact membrane 5130 by providing a membrane mold 6001 sized and shaped to form the contact membrane 5130, and curing a second flexible material, which is more flexible than the first flexible material, into the membrane mold 6001.

[0146] Step 3: Attaching or adhering the contact membrane 5130 to the body 5100 using a silicone rubber adhesive, for example, to seal the bottom end opening of the lower body 5150. Additionally or alternatively, attaching or adhering the main chamber air tube 5200 and the auxiliary chamber air tube 5300 to the top opening of the body 5100, such as with a silicone rubber adhesive, to connect with the main chamber and the auxiliary chamber, respectively. Then, filling the main chamber air tube 5200 with a suitable amount of jamming particles 5140.

[0147] In this example, the lower body mold 6100 in Step 1 is made by assembling an SLA-3D printed top fixture 6102, an SLA-3D printed closure cap 6101, an SLA-3D printed left outer shell 6106, an SLA-3D printed left inner shell 6105, an SLA-3D printed right outer shell 6104, and an SLA-3D printed right inner shell 6103. The first flexible material used is about 15g DragonSkin 30 TM Silicone gel is poured through the top opening of the top fixture 6102, and the lower body mold 6100 is left to rest in a vacuum environment for about 20 minutes. After about 20 minutes, the lower body mold 6100 is removed from the vacuum environment. The lower body mold 6100 is left to rest for 16 hours to allow the DragonSkin 30 TM Silicone rubber to cure as the lower body 5150. Then, the lower body mold 6100 is removed.

[0148] In this example, the first flexible material used to fill the upper body mold 6200 in Step 1 is about 5g DragonSkin 30 TMSmooth-On, Inc. The filled upper body mold 6200 was then left in a vacuum environment for about 20 minutes. After the time, the upper body mold 6200 was removed from the vacuum environment and the upper body 5160 was attached to the bottom of the upper body mold 6200. They were left for about 4 hours to allow the DragonSkin 30 TM silicone rubber to cure as a cap for the lower body 5150 and become the body 5100. The upper body mold 6200 was then removed from the body 5100.

[0149] In this example, the second flexible material used to fill the film mold 6001 in step 2 was about 2 g of Ecoflex-0030 TM silicone rubber. The filled film mold 6001 was then placed in a vacuum environment for 5 minutes. After the time period, the film mold 6001 was removed from the vacuum chamber and left for 4 hours to allow the Ecoflex-0030 TM silicone rubber to cure and form the contact film 5130.

[0150] In this example, the silicone adhesive used in step 3 was a silicone adhesive Sil-Poxy TM . The jamming particles 5140 used were about 10 g of dry coffee grounds, which were filled into the main chamber air tube 5200 once the adhesive had cured.

[0151] Exemplary pneumatic control system and method

[0152] Reference is made to Figure 5A , Figure 5B , and Figure 7The exemplary pneumatic control system 7000 generally contains two control systems, namely an auxiliary chamber control system 7100 and a main chamber control system 7200. The auxiliary chamber control system 7100 is connected and / or in air communication with the auxiliary chamber 5122 directly or indirectly, for example through the auxiliary chamber air tube 5300, and is configured to provide and control the second pressure within the auxiliary chamber 5122. The auxiliary chamber control system 7100 generally contains a second pneumatic source 7110, a first valve 7120, a second valve 7130, and a pressure gauge 7180, and these valves are configured to be switchable between an open state and a closed state. The open and closed states of the first valve 7120 and the second valve 7130 control the deflation or contraction of the auxiliary chamber 5122, the opening of the neck chamber 5121 to an open state, and the allowing of the extruded material 5140 to pass through the neck chamber 5121 of the main chamber 5101; the inflation or expansion of the neck chamber 5121 toward the main chamber 5101, thereby closing the neck chamber 5121 to a closed state, to effectively prevent the extruded particles 5140 from passing through the main chamber 5101. The main chamber control system 7200 generally contains a first pneumatic source 7210, a third valve 7220, a fourth valve 7230, and a pressure gauge 7280, and these valves are configured to be switchable between an open state and a closed state. The open and closed states of the third valve 7220 and the fourth valve 7230 control the delivery of the positive first pressure to the main chamber 5101, which causes the contact membrane 5130 to expand outward to an expanded state or to deflate inward to a deflated state.

[0153] In different industrial production or underwater object recovery scenarios, actuators often face many challenges. These challenges include having to operate at the water surface and underwater, or requiring a larger object or debris to be removed first before picking up a smaller target object.

[0154] Reference is now made to Figure 5A , Figure 5B , Figure 7 , Figure 8B , and Figure 9, showing an exemplary control scheme for an exemplary soft gripper 5000 that can handle complex cases of target objects of different sizes and shapes under different media. In this example, the soft gripper 5000 is operatively connected with a robotic end effector. A plurality of target objects are disposed in a container and immersed in water. In this container, a green bean 903 (about 2.4 mm in diameter; target object #3) and a pear 902 (about 75 mm in diameter and about 67.5 mm in height; target object #2) are disposed within a perspex box 900, which is closed with a lid 901 (target object #1). In this example, the first valve 7120, the second valve 7130, the third valve 7220, and the fourth valve 7230 are initially all configured in the "open" state (A) (i.e., the auxiliary chamber control system and the main chamber control system of the pneumatic system are configured in the fourth configuration and the eighth configuration, respectively). The soft gripper 5000 is in its resting state 5000-1 and is placed on top of the about 15 cm x 15 cm perspex box 900. Next, during the suction phase 8202, the third valve 7220 is switched to the "closed" state (i.e., the main chamber control system is configured in the sixth configuration), allowing -25 kPa of pressure to be transmitted to the main chamber 5101. This action causes the contact membrane 5130 to collapse inward, pushing the jamming particles 5140 into the main chamber 5101. The soft gripper 5000 deforms from state 5000-1 to state 5000-5. Subsequently, the second valve 7130 and the fourth valve 7230 are changed to the "closed" state, while the third valve 7220 is changed to the "open" state (i.e., the auxiliary chamber control system and the main chamber control system of the pneumatic system are configured in the first configuration and the fifth configuration, respectively). This causes the auxiliary chamber 5122 to expand towards the main chamber 5101, preventing the jamming particles 5140 from falling back to the suction cup 104. The contact membrane 5130 expands outward under 2 kPa of pressure, deforming the soft gripper 5000 to state 5000-6. During the next phase, in the suction phase 8204, the soft gripper 5000-6 is lowered towards the perspex box 900 until the perspex box 900 is in full contact with the membrane 5130. The third valve 7220 is changed to the "closed" state, while the fourth valve 7230 is changed to the "open" state (i.e., the main chamber control system is configured in the sixth configuration), allowing -25 kPa of pressure to be transmitted to the main chamber 5101. This pressure creates a vacuum space between the contact membrane 5130 and the perspex box 900. This deformation causes the soft gripper 5000 to change to state 5000-7. Finally, the fourth valve 7230 is changed to the "closed" state (i.e., the main chamber control system is configured in the seventh configuration), allowing the target object #1 (the lid 901) to stick to the soft gripper 5000 (B). The soft gripper 5000 takes out the target object #1 (the top of the perspex box 900 or the lid 901) (C).After this action, the soft gripper 5000 deforms from the gripper suction configuration 8300 to the gripper jamming configuration 8400 (second deformed configuration 8401). The second valve 7130 is changed to the "off state (i.e., the auxiliary chamber control system is configured to the first configuration), thereby causing the auxiliary chamber 5122 to expand towards the main chamber 5101, thereby preventing the jamming particles 5140 from flowing back to the main chamber 5101. This deformation causes the soft gripper 5000 to become in state 5000-3. Then, the soft gripper 5000 moves downwards within the acrylic box 900 towards a pear 902 (target object #2) having a diameter of about 75 mm. The gripper continues its operation until the pear 902 is fully surrounded by the jamming particles 5140 (D). Subsequently, the fourth valve 7230 is changed to the "on state (i.e., the main chamber control system is configured to the sixth configuration), thereby applying a pressure of -25 kPa to the main chamber 5101. This causes the jamming particles 5140 to press towards the target object #2 (pear 902) and deforms the soft gripper 5000 to state 5000-4. Finally, the fourth valve 7230 is changed to the "off state (i.e., the main chamber control system is configured to the seventh configuration), thereby fixing the target object #2 (pear 902) to the soft gripper 5000 in state 5000-4 (E). The soft gripper 5000 is attached to the pear 902 and is removed from the acrylic box 900, thereby exposing a target object #3 (green beans 903). After removing the larger target object #2 (pear 902), the target object #3 (green beans 903) is subsequently removed from the acrylic box 900 in the same second deformed configuration 8401 (F).

[0155] The exemplary embodiments of the present application have thus been described. Although the description refers to particular embodiments, it will be clear to a person skilled in the art that the present application can be practiced by variations of these specific details. The present application should not be considered as being limited to the embodiments described herein.

[0156] For example, the components of the soft gripper (such as the neck portion, the suction cup portion, the jamming particles, and the contact membrane) can have different numbers, sizes, shapes (regular or irregular), configurations, and be made of different materials.

[0157] For example, the soft gripper can be manufactured by other available processes, manners or methods in the art.

[0158] For example, in some examples, an exemplary pneumatic control system has been described, but the auxiliary chamber and the main chamber of the soft gripper can be controlled by other pneumatic control systems.

[0159] For example, in some examples, 2 / 3-way electrically powered valves are used in the system, but other (same or different) suitable valves available in the art can be used instead.

[0160] For example, in certain examples, an air compressor is used in the system, but other pneumatic sources available in the art can be used instead.

[0161] For example, in certain examples, jamming particles are used in the soft gripper, but other forms of jamming material, such as powders, particles, beads, flakes, etc., and combinations thereof, of different sizes, shapes, materials, and amounts can be used.

[0162] For example, in certain examples, the body is formed by providing the lower body followed by providing the upper body, but other sequences or other methods of forming the body known in the art can be used instead.

[0163] Numbered examples

[0164] Group 1

[0165] Example 1. A soft gripper having a proximal side and a distal side, the soft gripper comprising: a body comprising a puck portion including an open end at the proximal side; and a neck portion connected with or extending from the puck portion; and a contact membrane configured to seal the open end, wherein a neck chamber is included in the neck portion and a puck chamber is included in the puck portion, the neck chamber and the puck chamber together forming a main chamber configured to be in gas communication with a first pneumatic source and to receive a jamming material, and wherein at least one auxiliary chamber is further included in the neck portion, each auxiliary chamber disposed around the neck portion and configured to be in gas communication with a second pneumatic source.

[0166] Example 2. The soft gripper of Example 1, wherein the contact membrane is deformable between an inflated state, a flat state, and a deflated state under control of the first pneumatic source, and wherein the neck chamber is deformable between at least an open state and a closed state under control of the second pneumatic source, such that the soft gripper is configured to be switchable between at least a gripper suction configuration and a gripper jamming configuration.

[0167] Example 3. The soft gripper of any of the preceding examples, further comprising a main chamber air tube putting the main chamber in gas communication with the first pneumatic source; and at least one auxiliary chamber air tube putting the at least one auxiliary chamber in gas communication with the second pneumatic source.

[0168] Example 4. The soft gripper of any of the preceding examples, wherein the body comprises an upper portion and a lower portion connected with each other.

[0169] Example 5. A method of manufacturing a soft gripper as in any of the preceding examples, comprising the steps of: (1) providing a body mold sized and shaped to form the body, and curing a first flexible material into the body mold, thereby forming the body; (2) providing a film mold sized and shaped to form the contact film, and curing a second flexible material, which is more flexible than the first flexible material, into the film mold, thereby forming the film; and (3) attaching the contact film to the body, thereby forming the soft gripper.

[0170] Example 6. The method as in Example 5, wherein the body comprises an upper portion and a lower portion, wherein the step (1) comprises the steps of: (a) providing a first body mold for the lower portion, and introducing a first flexible material into the first body mold, and curing the flexible material, thereby forming the upper portion; and (b) providing a second body mold for the upper portion, and introducing a first flexible material into the second body mold, disposing the upper portion to the second body mold, and curing the flexible material, thereby forming the upper portion onto the lower portion, such that the body is formed.

[0171] Example 7. The method as in Example 6, further comprising the step of: attaching a main chamber air tube and at least one auxiliary chamber air tube to the main chamber and the at least one auxiliary chamber, respectively.

[0172] Example 8. The method as in any of Examples 5-7, wherein the first flexible material is selected from the group consisting of: rubber, silicone rubber (e.g., Dragon Skin 0030, Dragon Skin 0010, RTV silicone rubber), and combinations thereof; the second flexible material is selected from the group consisting of: rubber, silicone rubber (e.g., Dragon Skin 0030, Dragon Skin 0010, RTV silicone rubber), and combinations thereof; and / or the adhesive is selected from the group consisting of: silicone adhesive, sil- poxy, dopamine-based adhesive nanocoating, hyaluronic acid hydrogel adhesive, and combinations thereof.

[0173] Example 9. The method as in any of Examples 5-8, further comprising the steps of: attaching the main chamber air tube and the at least one auxiliary chamber air tube to the main chamber and the auxiliary chamber, respectively; and / or providing a jamming material into the main chamber.

[0174] Example 10. A pneumatic system for controlling a soft gripper as in any one of Examples 1-4, comprising: an auxiliary chamber control system comprising: a second pneumatic source configured to provide a second pressure; a first valve connected between an outlet of the second pneumatic source and the at least one auxiliary chamber; and a second valve connected between an inlet of the second pneumatic source and the at least one auxiliary chamber; and a main chamber control system comprising: a first pneumatic source configured to provide a first pressure; a third valve connected between an outlet of the first pneumatic source and the main chamber; and a fourth valve connected between an inlet of the first pneumatic source and the main chamber.

[0175] Example 11. The pneumatic system of Example 10, wherein the first valve, the second valve, the third valve, and / or the fourth valve is a 2 / 3 on solenoid valve switchable between an on state and an off state.

[0176] Example 12. The pneumatic system of either Example 10 or Example 11, wherein the auxiliary chamber control system comprises a first configuration, a second configuration, a third configuration, and a fourth configuration, wherein the first configuration comprises the first valve configured to an open state and the second valve configured to a closed state, the second pneumatic source generating a positive second pressure on the at least one auxiliary chamber such that the at least one auxiliary chamber expands toward the neck chamber, closing the neck chamber to a closed state to prevent the extrusion material from passing through the neck chamber; wherein the second configuration comprises the first valve configured to a closed state and the second valve configured to an open state, the second pneumatic source generating a negative second pressure on the at least one auxiliary chamber such that the at least one auxiliary chamber contracts away from the neck chamber to an open state, allowing the extrusion material to pass through the neck chamber; wherein the third configuration comprises the first valve and the second valve configured to the closed state, the second pressure within the auxiliary chamber is maintained; and wherein the fourth configuration comprises the first valve and the second valve configured to the open state, the second pressure within the at least one auxiliary chamber is substantially equal to atmospheric pressure; and wherein the main chamber control system comprises a fifth configuration, a sixth configuration, a seventh configuration, an eighth configuration, wherein the fifth configuration comprises the third valve configured to an open state and the fourth valve configured to a closed state, the first pneumatic source generating a positive first pressure on the main chamber such that the contact membrane expands outward to an expanded state; wherein the sixth configuration comprises the third valve configured to a closed state and the fourth valve configured to an open state, the first pneumatic source generating a negative first pressure on the main chamber such that the contact membrane collapses inward to a collapsed state; wherein the seventh configuration comprises the third valve and the fourth valve configured to the closed state, the first pressure within the main chamber is maintained; and wherein the eighth configuration comprises the third valve and the fourth valve configured to the open state, the first pressure within the main chamber is substantially equal to atmospheric pressure.

[0177] Example 13. A method of controlling a soft gripper as described in any of Examples 1-4 using a pneumatic system as described in Example 12, the method comprising one or more of the following steps: (i) grasping a target object in an extrusion attachment configuration; (ii) grasping a target object in a suction attachment configuration; (iii) transforming from the extrusion attachment configuration to the suction attachment configuration; and / or (iv) transforming from the gripper suction configuration to the gripper extrusion configuration.

[0178] Example 14. The method of Example 13, wherein the step (i) comprises the steps of: (i-i) configuring the auxiliary chamber control system to the fourth configuration and the main chamber control system to an eighth configuration, such that the soft gripper is in a resting state; (i-ii) configuring the main chamber control system to a fifth configuration, such that the contact membrane is inflated outwardly to the inflated state; (i-iii) disposing the soft gripper proximate to a target object until the target object is fully in contact with the inflated contact membrane; (i-iv) configuring the auxiliary chamber control system to the first configuration, such that the neck chamber is closed to the closed state to prevent the jamming material from passing through the neck chamber; (i-v) configuring the main chamber control system to the seventh configuration, such that the first pressure within the main chamber is maintained; (i-vi) configuring the main chamber control system to the sixth configuration, thereby creating a negative first pressure to the main chamber; and (i-vii) configuring the main chamber control system to the seventh configuration, such that the first pressure within the main chamber is maintained, thereby performing a jamming attachment for grasping the target object.

[0179] Example 15. The method of Example 13, wherein the step (ii) comprises the steps of: (ii-i) configuring the auxiliary chamber control system to the fourth configuration and the main chamber control system to the eighth configuration, such that the soft gripper is in a resting state; (ii-ii) configuring the main chamber control system to the sixth configuration, such that the contact membrane is deflated inwardly to the deflated state; (ii-iii) configuring the auxiliary chamber control system to the first configuration and the main chamber control system to the fifth configuration, such that the neck chamber is closed to the closed state to prevent the jamming material from passing through the neck chamber, and the contact membrane is inflated outwardly to the inflated state; (ii-iv) disposing the soft gripper proximate to a target object until the target object is fully in contact with the contact membrane; (ii-v) configuring the main chamber control system to the seventh configuration, such that the first pressure within the main chamber is maintained; (ii-vi) configuring the main chamber control system to the sixth configuration, such that the contact membrane is deflated inwardly to the deflated state; and (ii-vii) configuring the main chamber control system to the seventh configuration, such that the first pressure within the main chamber is maintained, thereby performing a suction attachment for grasping the target object.

[0180] Example 16. The method of Example 13, wherein the step (iii) comprises the steps of: (iii-i) configuring the auxiliary chamber control system into the first configuration and configuring the main chamber control system into the fifth configuration; (iii-ii) configuring the auxiliary chamber control system into the fourth configuration such that the neck chamber is open; (iii-iii) configuring the main chamber into the sixth configuration such that the contact membrane is collapsed inwardly into the collapsed state, whereby the jam material is pushed into the main chamber; and (iii-iv) configuring the auxiliary chamber into the first configuration and configuring the main chamber into the eighth configuration such that the neck chamber is closed into the closed state to prevent the jam material from passing through the neck chamber, thereby deforming from the jam attachment configuration to the suction attachment configuration.

[0181] Example 17. The method of Example 13, wherein the step (iv) comprises the steps of: (iv-i) configuring the auxiliary chamber control system into the first configuration and configuring the main chamber control system into the eighth configuration; (iv-ii) configuring the auxiliary chamber control system into the fourth configuration such that a path for the jam particles in the auxiliary chamber is open; (iv-iii) configuring the main chamber control system into the fifth configuration such that the contact membrane is expanded outwardly into an expanded state; (iv-iv) configuring the auxiliary chamber into the first configuration such that the neck chamber is closed into the closed state to prevent the jam material from passing through the neck chamber.

[0182] Group 2

[0183] Example 1. A soft gripper having a proximal side and a distal side, the soft gripper comprising: a main body comprising a suction disc portion including an open end at the proximal side; and a neck portion connected with or extending from the suction disc portion; and a contact membrane configured to seal the open end, wherein a neck chamber is included in the neck portion and a suction disc chamber is included in the suction disc portion, the neck chamber and the suction disc chamber together forming a main chamber configured to be in gas communication with a first pneumatic source and to receive a jam material, and wherein at least one auxiliary chamber is further included in the neck portion, each auxiliary chamber being disposed around the neck chamber and configured to be in gas communication with a second pneumatic source.

[0184] Example 2. The soft gripper of Example 1, wherein, under control of the first pneumatic source, the contact membrane is deformable between an inflated state, a flat state, and a deflated state, and wherein, under control of the second pneumatic source, the neck chamber is deformable between at least an open state and a closed state, such that the soft gripper is configured to switch between at least a gripper suction configuration and a gripper pinching configuration.

[0185] Example 3. The soft gripper of any of the preceding examples, further comprising a main chamber air tube that gasically communicates between the main chamber and the first pneumatic source; and at least one auxiliary chamber air tube that gasically communicates between the at least one auxiliary chamber and the second pneumatic source.

[0186] Example 4. The soft gripper of any of the preceding examples, wherein the main body is made of a first flexible material, and the contact membrane is made of a second flexible material, wherein the first flexible material and / or the second flexible material is selected from the group consisting of: rubber, silicone rubber, and combinations thereof; and wherein the second flexible material is more flexible than the first flexible material.

[0187] Example 5. The soft gripper of Example 4, wherein the first flexible material is selected from the group consisting of: DragonSkin 30, DragonSkin 10, RTV silicone rubber, and combinations thereof; and / or the second flexible material is selected from the group consisting of: Ecoflex 30, Ecoflex 10, and combinations thereof.

[0188] Example 6. A method of manufacturing a soft gripper as described in any of the preceding examples, comprising the steps of: (1) providing a main body mold sized and shaped to form the main body, and curing a first flexible material into the main body mold, thereby forming the main body; (2) providing a membrane mold sized and shaped to form the contact membrane, and curing a second flexible material into the membrane mold, thereby forming the membrane; and (3) attaching the contact membrane to the main body, thereby forming the soft gripper.

[0189] Example 7. The method of Example 6, wherein the body comprises an upper portion and a lower portion, and wherein the step (1) comprises the steps of: (a) providing a lower body mold for the lower portion, and introducing a first flexible material into the lower body mold, and curing the flexible material, thereby forming the lower portion; and (b) providing an upper body mold for the upper portion, and introducing a first flexible material into the second body mold, disposing the lower portion to the second body mold, and curing the first flexible material, thereby forming the upper portion onto the lower portion, such that the body is formed.

[0190] Example 8. The method of Example 7, further comprising the step of: attaching or inserting a main chamber air tube and at least one auxiliary chamber air tube to the main chamber and the at least one auxiliary chamber, respectively.

[0191] Example 9. The method of any one of Examples 6-8, wherein the first flexible material and / or the second flexible material is selected from the group consisting of: rubber, silicone rubber, and combinations thereof; and wherein the second flexible material is more flexible than the first flexible material.

[0192] Example 10. The method of any one of Examples 6-9, wherein the first flexible material is selected from the group consisting of: DragonSkin 30, DragonSkin 10, RTV silicone rubber, and combinations thereof, and / or the second flexible material is selected from the group consisting of: Ecoflex 30 or Ecoflex 10.

[0193] Example 11. The method of any one of Examples 6-10, wherein the step (3) of attaching the contact membrane to the body is performed with an adhesive selected from the group consisting of: silicone adhesive, sil-Poxy, dopamine-based adhesive nanocoating, hyaluronic acid hydrogel adhesive, and combinations thereof.

[0194] Example 12. The method of any one of Examples 6-11, further comprising the steps of: attaching the main chamber air tube and the at least one auxiliary chamber air tube to the main chamber and the auxiliary chamber, respectively; and / or providing a plug material into the main chamber.

[0195] Example 13. A pneumatic system for controlling a soft gripper as in any one of Examples 1-5, comprising: an auxiliary chamber control system comprising: a second pneumatic source configured to provide a second pressure; a first valve connected between an outlet of the second pneumatic source and the at least one auxiliary chamber; and a second valve connected between an inlet of the second pneumatic source and the at least one auxiliary chamber; and a main chamber control system comprising: a first pneumatic source configured to provide a first pressure; a third valve connected between an outlet of the first pneumatic source and the main chamber; and a fourth valve connected between an inlet of the first pneumatic source and the main chamber.

[0196] Example 14. The pneumatic system of Example 13, wherein the first valve, the second valve, the third valve, and / or the fourth valve is a 2 / 3 on solenoid valve switchable between an on state and an off state.

[0197] Example 15. The pneumatic system of either Example 13 or Example 14, wherein the auxiliary chamber control system comprises a first configuration, a second configuration, a third configuration, and a fourth configuration, wherein the first configuration comprises the first valve configured to an open state and the second valve configured to a closed state, the second pneumatic source generating a positive second pressure on the at least one auxiliary chamber such that the at least one auxiliary chamber expands toward the neck chamber, closing the neck chamber to a closed state to prevent the extrusion material from passing through the neck chamber; wherein the second configuration comprises the first valve configured to a closed state and the second valve configured to an open state, the second pneumatic source generating a negative second pressure on the at least one auxiliary chamber such that the at least one auxiliary chamber contracts away from the neck chamber to an open state, allowing the extrusion material to pass through the neck chamber; wherein the third configuration comprises the first valve and the second valve configured to the closed state, the second pressure within the auxiliary chamber is maintained; and wherein the fourth configuration comprises the first valve and the second valve configured to the open state, the second pressure within the at least one auxiliary chamber is substantially equal to atmospheric pressure; and wherein the main chamber control system comprises a fifth configuration, a sixth configuration, a seventh configuration, an eighth configuration, wherein the fifth configuration comprises the third valve configured to an open state and the fourth valve configured to a closed state, the first pneumatic source generating a positive first pressure on the main chamber such that the contact membrane expands outward to an expanded state; wherein the sixth configuration comprises the third valve configured to a closed state and the fourth valve configured to an open state, the first pneumatic source generating a negative first pressure on the main chamber such that the contact membrane collapses inward to a collapsed state; wherein the seventh configuration comprises the third valve and the fourth valve configured to the closed state, the first pressure within the main chamber is maintained; and wherein the eighth configuration comprises the third valve and the fourth valve configured to the open state, the first pressure within the main chamber is substantially equal to atmospheric pressure.

[0198] Example 16. A method of controlling a soft gripper as described in any of Examples 1-5 using a pneumatic system as described in Example 15, the method comprising one or more of the following steps: (i) grasping a target object in an extrusion attachment configuration; (ii) grasping a target object in a suction attachment configuration; (iii) transforming from the extrusion attachment configuration to the suction attachment configuration; and / or (iv) transforming from the gripper suction configuration to the gripper extrusion configuration.

[0199] Example 17. The method of Example 16, wherein the step (i) comprises the steps of: (i-i) configuring the auxiliary chamber control system to the fourth configuration and the primary chamber control system to an eighth configuration, such that the soft gripper is in a resting state; (i-ii) configuring the primary chamber control system to a fifth configuration, such that the contact membrane is inflated outwardly to the inflated state; (i-iii) configuring the auxiliary chamber control system to the first configuration, such that the neck chamber is closed to the closed state to prevent the extrusion material from passing through the neck chamber; (i-iv) disposing the soft gripper proximate to a target object until the target object is fully in contact with the inflated contact membrane; (i-v) configuring the primary chamber control system to the seventh configuration, such that the first pressure within the primary chamber is maintained; (i-vi) configuring the primary chamber control system to the sixth configuration, such that a negative first pressure is generated to the primary chamber; and (i-vii) configuring the primary chamber control system to the seventh configuration, such that the first pressure within the primary chamber is maintained, thereby performing an extrusion attachment for grasping the target object.

[0200] Example 18. The method of any one of Examples 16-17, wherein the step (ii) comprises the steps of: (ii-i) configuring the auxiliary chamber control system to the fourth configuration and the primary chamber control system to the eighth configuration, such that the soft gripper is in a resting state; (ii-ii) configuring the primary chamber control system to the sixth configuration, such that the contact membrane is deflated inwardly to the deflated state; (ii-iii) configuring the auxiliary chamber control system to the first configuration and the primary chamber control system to the fifth configuration, such that the neck chamber is closed to the closed state to prevent the extrusion material from passing through the neck chamber, and the contact membrane is inflated outwardly to the inflated state; (ii-iv) disposing the soft gripper proximate to a target object until the target object is fully in contact with the contact membrane; (ii-v) configuring the primary chamber control system to the seventh configuration, such that the first pressure within the primary chamber is maintained; (ii-vi) configuring the primary chamber control system to the sixth configuration, such that the contact membrane is deflated inwardly to the deflated state; and (ii-vii) configuring the primary chamber control system to the seventh configuration, such that the first pressure within the primary chamber is maintained, thereby performing a suction attachment for grasping the target object.

[0201] Example 19. The method of any one of Examples 16-18, wherein step (iii) comprises the steps of: (iii-i) configuring the auxiliary chamber control system into the first configuration and the primary chamber control system into the fifth configuration; (iii-ii) configuring the auxiliary chamber control system into the fourth configuration or the sixth configuration such that the neck chamber is open; (iii-iii) configuring the primary chamber into the sixth configuration such that the contact membrane is collapsed inward into the collapsed state, whereby the jam material is pushed into the primary chamber; and (iii-iv) configuring the auxiliary chamber into the first configuration and the primary chamber into the eighth configuration such that the neck chamber is closed into the closed state to prevent the jam material from passing through the neck chamber, thereby deforming from the jam attachment configuration to the suction attachment configuration.

[0202] Example 20. The method of any one of Examples 16-19, wherein step (iv) comprises the steps of: (iv-i) configuring the auxiliary chamber control system into the first configuration and the primary chamber control system into the eighth configuration; (iv-ii) configuring the auxiliary chamber control system into the fourth configuration such that a path in the auxiliary chamber for the jam particles is open; (iv-iii) configuring the primary chamber control system into the fifth configuration such that the contact membrane is expanded outward into an expanded state; (iv-iv) configuring the auxiliary chamber into the first configuration such that the neck chamber is closed into the closed state to prevent the jam material from passing through the neck chamber.

Claims

1. A soft gripper having a proximal side and a distal side, characterized by, The soft gripper comprises: a body comprising a suction cup portion comprising an open end at the proximal side; and a neck portion connected to or extending from the suction cup portion; and a contact membrane configured to seal the open end, wherein a neck chamber is comprised in the neck portion and a suction cup chamber is comprised in the suction cup portion, the neck chamber and the suction cup chamber together forming a main chamber configured to be in gas communication with a first pneumatic source and to receive a squeeze material, and wherein at least one auxiliary chamber is further comprised in the neck portion, each auxiliary chamber being arranged around the neck chamber and configured to be in gas communication with a second pneumatic source.

2. The soft gripper of claim 1, wherein, under control of the first pneumatic source, the contact membrane is deformable between an inflated state, a flat state, and a deflated state, and wherein, under control of the second pneumatic source, the neck chamber is deformable at least between an open state and a closed state, such that the soft gripper is configured to be switchable at least between a gripper suction configuration and a gripper squeeze configuration.

3. The soft gripper of claim 1, wherein, further comprising a main chamber air tube putting the main chamber in gas communication with the first pneumatic source; and at least one auxiliary chamber air tube putting the at least one auxiliary chamber in gas communication with the second pneumatic source.

4. A pneumatic system for controlling the soft gripper as claimed in claim 1, characterized in that, comprising: an auxiliary chamber control system comprising: a second pneumatic source configured to provide a second pressure; a first valve connected between an outlet of the second pneumatic source and the at least one auxiliary chamber; and a second valve connected between an inlet of the second pneumatic source and the at least one auxiliary chamber; and a main chamber control system comprising: a first pneumatic source configured to provide a first pressure; a third valve connected between an outlet of the first pneumatic source and the main chamber; and a fourth valve connected between an inlet of the first pneumatic source and the main chamber.

5. The pneumatic system of claim 4, wherein, The first valve, the second valve, the third valve, and / or the fourth valve are 2 / 3-way solenoid valves switchable between an open state and a closed state.

6. The pneumatic system of claim 4, wherein, The auxiliary chamber control system comprises a first configuration, a second configuration, a third configuration, and a fourth configuration, wherein the first configuration comprises the first valve configured in the open state and the second valve configured in the closed state, the second pneumatic source generating a positive second pressure on the at least one auxiliary chamber, such that the at least one auxiliary chamber expands towards the neck chamber, thereby closing the neck chamber in the closed state, to prevent the squeeze material from passing through the neck chamber; wherein the second configuration includes the first valve configured to the closed state and the second valve configured to the open state, the second pneumatic source generating a negative second pressure to the at least one auxiliary chamber such that the at least one auxiliary chamber collapses away from the neck chamber to an open state, thereby allowing the jamming material to pass through the neck chamber; wherein the third configuration includes the first valve and the second valve configured to the closed state, the second pressure within the auxiliary chamber being maintained; and wherein the fourth configuration includes the first valve and the second valve configured to the open state, the second pressure within the at least one auxiliary chamber equal to atmospheric pressure or having a 5% deviation; and wherein the main chamber control system includes a fifth configuration, a sixth configuration, a seventh configuration, an eighth configuration, wherein the fifth configuration includes the third valve configured to the open state and the fourth valve configured to the closed state, the first pneumatic source generating a positive first pressure to the main chamber such that the contact membrane expands outward to an expanded state; wherein the sixth configuration includes the third valve configured to the closed state and the fourth valve configured to the open state, the first pneumatic source generating a negative first pressure to the main chamber such that the contact membrane collapses inward to a collapsed state; wherein the seventh configuration includes the third valve and the fourth valve configured to the closed state, the first pressure within the main chamber being maintained; and wherein the eighth configuration includes the third valve and the fourth valve configured to the open state, the first pressure within the main chamber equal to atmospheric pressure or having a 5% deviation.

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