Modular fingertips for soft robotic actuators

Abstract

An exemplary embodiment relates to a soft robotic actuator configured to accept a modular fingertip. The fingertip may be mounted to the distal end of a standardized actuator. The distal end of the actuator may be sized and shaped to correspond to the proximal end of the modular fingertip. A backing plate may be provided within the reservoir of the actuator to distribute the load of the fastener. The fastener may be inserted through the reservoir and backing plate and into one or more holes that penetrate the material of the actuator and into the modular fingertip. To reduce leak points, the holes may not extend completely through the modular fingertip. In other embodiments, the fastener may be inserted into the fingertip and secured to the actuator. A sealing bead may be provided between the distal end of the actuator and the fingertip.

Description

[Technical Field]

[0001] [CROSS-REFERENCE TO RELATED APPLICATIONS] This application claims the benefit of U.S. Provisional Application No. 63 / 428,994, filed November 30, 2022, entitled "MODULAR FINGERTIPS FOR SOFT ROBOTIC ACTUATORS," the entire contents of which are incorporated herein by reference. [Background technology]

[0002] Robotic grippers are used in packaging, manufacturing, food preparation, and a variety of other applications. Historically, many robotic grippers have been made from rigid or non-compliant materials, but in recent years, "soft" elastic robotic actuators (or fingers) have become widely available. Soft robotic actuators have the advantage of being able to conform to the object being gripped. This means that a single soft robotic actuator can reliably grip objects of various shapes, sizes, and weights without damaging them—a balance that is difficult to achieve with rigid grippers.

[0003] However, different tasks may still benefit from actuators with different geometries or configurations. For example, when extracting an object from a densely packed environment, fingers with relatively flat ends may be useful for separating or isolating neighboring objects. On the other hand, grasping an object in a slippery bag may require a different type of actuator with a high-friction gripping surface. While it is possible to design soft robotic actuators with different styles or configurations, in practice, end users must replace the entire actuator when changing to a new grasping task. This can be costly (because users must maintain many complete specialized actuators) and time-consuming. To avoid increased costs, users tend to rely on a single, general-purpose actuator, which may have difficulty grasping certain types of objects, resulting in drops and reduced throughput.

[0004] In addition to the challenges of end-user implementation, the manufacturing costs of customized soft robotic actuators are high. Traditionally, soft robotic actuators are formed by pouring material into a mold that corresponds to the desired shape. Producing a custom actuator requires a new mold for each actuator configuration, increasing the price and complexity of the manufacturing process. As a result, unless the actuator is expected to be sold in large quantities, developing new molds through trial and error is not economically viable, and development tends to be limited to large companies. Therefore, smaller or more specialized businesses may be limited to tools developed for larger competitors. Summary of the Invention

[0005] Exemplary embodiments of the present invention provide soft robotic actuators that can be coupled with modular fingertips that provide the ability to be detached and quickly and efficiently replaced. Further embodiments relate to methods of deploying and using systems that include the actuators and modular tips.

[0006] In one aspect, a soft robotic actuator system includes a soft robotic actuator made of a resilient material, extending from a proximal end to a distal end, substantially surrounding a reservoir configured to receive an inflation fluid, the soft robotic actuator configured to bend circumferentially upon injection or evacuation of the inflation fluid into the reservoir, the distal end of the actuator sized and shaped to mate with a proximal end of a modular fingertip configured to be attachable to the distal end of the actuator, and the distal end including one or more holes configured to receive a fastener that mates with the modular fingertip.

[0007] The soft robotic actuator system may further include modular fingertips.

[0008] The soft robotic actuator system may include a configuration in which one or more holes in the distal end do not extend completely through the elastic material of the soft robotic actuator.

[0009] The soft robotic actuator system may further include a backing plate that secures the proximal end of the modular fingertip to the distal end of the actuator.

[0010] The soft robotic actuator system may further include a sealing bead configured to prevent penetration of the interface between the proximal end of the modular fingertip and the distal end of the actuator.

[0011] The soft robotic actuator system may include a configuration in which the modular fingertip is a spatula having a substantially flat surface extending from the soft robotic actuator along a plane defined by the base of the soft robotic actuator.

[0012] The soft robotic actuator system may include a configuration in which the modular fingertip includes an angled tip extending from the soft robotic actuator at an angle relative to a plane defined by the base of the soft robotic actuator.

[0013] The soft robotic actuator system may include a configuration in which the modular fingertip includes a textured surface to increase friction exerted by the modular fingertip compared to a base of the soft robotic actuator.

[0014] The soft robotic actuator system may include a configuration in which the modular fingertip includes a flat extension having a flat surface extending from the soft robotic actuator along a plane defined by the base of the soft robotic actuator, the flat extension tapering or diverging along its length.

[0015] The soft robotic actuator system may include a modular fingertip configured as a first modular fingertip connected to an adjacent second modular finger via inter-fingertip webbing.

[0016] Another embodiment relates to a method that includes accessing a soft robotic actuator as described above and securing a modular fingertip to a distal end of the actuator using a fastener.

[0017] Securing the modular fingertip may include inserting an installation tool into the proximal end of the actuator. The installation tool may be longer than the length of the actuator and smaller than the width of the reservoir. Inserting the installation tool into the proximal end of the actuator may include lowering the actuator onto the installation tool.

[0018] The method may further include inserting a backing plate into the reservoir of the soft robotic actuator before securing the modular fingertips with the fasteners.

[0019] The fasteners may be fastened through holes in the backing plate that correspond to the holes in the actuator.

[0020] Securing the modular fingertip to the distal end of the actuator may include inserting a fastener into a hole in the modular fingertip and tightening the fastener.

[0021] The method may further include installing an anti-intrusion seal between the fastener and the modular fingertip.

[0022] Accessing the actuator may include removing the actuator from the robotic gripper before securing the modular fingertip and / or attaching the actuator to the robotic gripper after securing the modular fingertip.

[0023] Other technical features may be readily apparent to those skilled in the art from the following drawings, descriptions, and claims. [Brief explanation of the drawings]

[0024] To facilitate identification of a particular element or description of an operation, the most significant digit(s) of a reference number indicates the number of the figure in which that element is first shown.

[0025] [Figure 1A] FIG. 1A illustrates an exemplary soft actuator and inflation system according to an exemplary embodiment. [Figure 1B] FIG. 1B illustrates an exemplary soft actuator and inflation system according to an exemplary embodiment. [Figure 1C] FIG. 1C illustrates an exemplary soft actuator and inflation system according to an exemplary embodiment. [Figure 1D] FIG. 1D illustrates an exemplary soft actuator and inflation system according to an exemplary embodiment.

[0026] [Figure 2] FIG. 2 is a cross-sectional perspective view of a soft actuator with attached modular fingertips according to one embodiment.

[0027] [Figure 3] 3(A)-3(D) show various views of an exemplary actuator with attached modular fingertips.

[0028] [Figure 4]4(A)-4(D) show various views of an exemplary actuator suitable for use with a modular fingertip.

[0029] [Figure 5A] FIG. 5A shows various examples of modular fingertips suitable for use in exemplary embodiments. [Figure 5B] FIG. 5B shows various examples of modular fingertips suitable for use in exemplary embodiments. [Figure 5C] FIG. 5C illustrates various examples of modular fingertips suitable for use in exemplary embodiments. [Figure 5D] FIG. 5D shows various examples of modular fingertips suitable for use in exemplary embodiments. [Figure 5E] FIG. 5E illustrates various examples of modular fingertips suitable for use in exemplary embodiments. [Figure 5F] FIG. 5F illustrates various examples of modular fingertips suitable for use in exemplary embodiments.

[0030] [Figure 6] FIG. 6 is an exemplary flowchart illustrating a technique for attaching modular fingertips according to an exemplary embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0031] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. However, the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and comprehensive, and will fully convey the scope of the invention to those skilled in the art.

[0032] In the drawings, like numbers refer to like elements throughout. Reference will now be made to the drawings, wherein like reference numbers are used to refer to like elements throughout. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding. However, novel embodiments may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form to facilitate description. The intention is to cover all modifications, equivalents, and alternatives consistent with the subject matter of the claimed invention.

[0033] In the figures and accompanying description, the symbols "a," "b," and "c" (and similar symbols) are intended to be variables representing any positive integer. Thus, for example, if a=5 in one implementation, then the complete set of components 122 illustrated as 122-a through 122-a may include components 122-1, 122-2, 122-3, 122-4, and 122-5. The present embodiment is not limited in this context.

[0034] [Background Technology on Soft Robot Grippers] Conventional robotic grippers or actuators can be expensive and may not be able to operate in certain environments where the uncertainty and variability in the weight, size, and shape of the objects being handled has previously prevented automated solutions from operating. This application describes the application of novel soft robotic actuators that are adaptable, inexpensive, lightweight, customizable, and easy to use.

[0035] Soft robotic actuators may be formed from an elastic material such as rubber, or thin plastic walls arranged in a concertina structure configured to unfold, stretch, and / or bend under pressure, or other suitable relatively soft materials. For example, they may be fabricated by molding one or more pieces of elastic material into a desired shape. Soft robotic actuators may have hollow interiors that can be filled with a fluid, such as air, water, or saline, to pressurize, expand, and / or actuate the actuator. Upon actuation, the actuator's outer shape changes. In the case of accordion-style actuators, described in more detail below, actuation may cause the actuator to bend or straighten to a predetermined off-target shape. Partial expansion of the actuator may result in one or more intermediate off-target shapes between a fully unactuated outer shape and a fully actuated outer shape. Alternatively or additionally, the actuator may be actuated using a vacuum to change the degree of bending, twisting, and / or stretching of the actuator by removing the expansion fluid from the actuator.

[0036] Actuation may also allow the actuator to apply force to an object, such as an object being grasped or pressed. However, unlike traditional rigid robotic actuators, soft actuators maintain adaptive properties during actuation, allowing them to partially or fully conform to the shape of the object being grasped. Soft actuators can also deflect upon impact with an object. This is particularly relevant when removing an object from a pile or container, as the actuator is likely to collide with adjacent objects in the pile or the sides of the container that are not being grasped. Furthermore, the easily deformable nature of the material allows the amount of applied force to be distributed over a larger surface area in a controlled manner. In this way, soft robotic actuators can grasp objects without damaging them.

[0037] Furthermore, soft robotic actuators enable motions (including bending, twisting, stretching, and contraction) and combinations thereof that are difficult to achieve with conventional hard robotic actuators.

[0038] 1A-1D illustrate an exemplary soft robotic actuator. More specifically, FIG. 1A illustrates a side view of a portion of the soft robotic actuator 100. FIG. 1B illustrates a top view of the portion illustrated in FIG. 1A. FIG. 1C illustrates a side view of a portion of the soft robotic actuator 100, including a pump that can be operated by a user. FIG. 1D illustrates an alternative embodiment of the portion illustrated in FIG. 1C.

[0039] 1A, may be a soft robotic actuator that is inflatable with an inflation fluid such as air, water, or saline. The inflation fluid may be supplied through an inflation device 120 and a fluid connection such as flexible tubing 118.

[0040] Actuator 100 may be in an uninflated state, where a small amount of inflation fluid is present and the pressure is approximately the same as the external environment. Actuator 100 may be in a fully inflated state, where a predetermined amount of inflation fluid is present inside (corresponding to a predetermined maximum force exerted by actuator 100 or a predetermined maximum pressure exerted by inflation fluid on actuator 100). Actuator 100 may be in a full vacuum state, where all fluid has been removed from actuator 100, or in a partial vacuum state, where some fluid is present within actuator 100 but at a pressure lower than the external pressure. Additionally, actuator 100 may be in a partially inflated state, where actuator 100 contains less inflation fluid than the predetermined amount of inflation fluid in the fully inflated state, but more than when no inflation fluid is present (or only a small amount is present).

[0041] In the expanded state, the actuator 100 may exhibit a tendency to curve around a central axis, as shown in FIG. 1A. For ease of explanation, several directions are defined herein. The axial direction is the direction passing through the central axis about which the actuator 100 curves, as shown in FIG. 1B. The radial direction is the direction perpendicular to the axial direction and extends radially of the partial circle formed by the expanded actuator 100. The circumferential direction is the direction extending along the circumference of the expanded actuator 100.

[0042] In the expanded state, the actuator 100 may exert a radial force along its inner periphery. For example, the inside of the tip of the actuator 100 exerts a force inward toward the central axis, which may be used to enable the actuator 100 (in conjunction with one or more other actuators 100) to grasp an object. Due to the materials used and its overall structure, the soft robotic actuator 100 may remain relatively compliant when expanded.

[0043] In the neutral state, the base 102 of the actuator 100 may be substantially linear, in which case the base 102 defines a plane that may extend outwardly of the actuator along the length and / or width of the base.

[0044] Actuator 100 may be constructed from one or more elastic materials that allow for a relatively flexible and conformable structure. Depending on the application, the elastic material may be selected from a group of FDA-approved materials that are food-safe, biocompatible, or medically safe. Actuator 100 may be manufactured in a GMP (Good Manufacturing Practice) facility.

[0045] The actuator 100 may include a substantially flat base 102 (although various reinforcements or additions may be added to the base 102 to improve the actuator's gripping and / or bending capabilities). The base 102 may form a gripping surface for gripping an object. In some embodiments, the base may be constructed of a different material or thickness than the rest of the actuator 100 and may include features such as axially extending slats. Material properties or additional components may program a bending resistance for the base 102 (which may be different from the bending resistance of the rest of the actuator 100), thereby configuring the actuator 100 to preferentially bend in the circumferential direction. In some embodiments, the actuator 100 may exhibit a substantially linear curved profile, i.e., the actuator 100 changes its bending rate in response to pressure or depressurization at a substantially constant rate over a relatively wide range of pressure values ​​(e.g., 0-15 psi). In other embodiments, the strain may be programmed to vary in a predetermined and predictable manner over a particular portion of the actuator's operating range, and / or the actuator 100 may be programmed to operate in a twisting or rolling manner, either axially, circumferentially, and / or radially.

[0046] Actuator 100 may include one or more concertina extensions 104. The concertina extensions 104 allow actuator 100 to curve or bend when expanded and further help define the shape of actuator 100 in its expanded state. The concertina extensions 104 include a series of ridges 106 and valleys 108. The size of the concertina extensions 104 and the arrangement of the ridges 106 and valleys 108 can be varied to achieve different shapes or expanded configurations.

[0047] While the exemplary actuators in FIGS. 1A-1D are shown as being "C"-shaped or oval when deployed, one skilled in the art will understand that the present invention is not limited to such shapes. Various sizes, shapes, and configurations can be achieved by varying the shape of the actuator 100 body or the size, position, and configuration of the bellows-like extensions 104. Furthermore, by varying the amount of inflation fluid supplied to the actuator 100, the actuator 100 can assume one or more intermediate sizes or configurations between its uninflated and inflated states. Thus, a single actuator 100 can be made adjustable in size and shape by varying the amount of inflation, and the size and shape can be further adjusted by replacing one actuator 100 with another actuator 100 of a different size, shape, or configuration.

[0048] The actuator 100 extends from a proximal end 112 to a distal end 110. The proximal end 112 is connected to an interface 114. The interface 114 allows the actuator 100 to be removably connected to other components of the actuator 100. The interface 114 may be constructed from a medical-grade or food-safe material, such as polyethylene, polypropylene, polycarbonate, polyetheretherketone, acrylonitrile butadiene styrene ("ABS"), or acetal homopolymer. The interface 114 may be removably connected to either or both the actuator 100 and / or flexible tubing 118. The interface 114 may have ports for connecting to the actuator 100. Each interface 114 may have different sizes, numbers, or configurations of actuator ports to accommodate larger or smaller actuators, different numbers of actuators, or different configurations of actuators.

[0049] Actuator 100 can be inflated with inflation fluid supplied from inflation device 120 via a fluid connection such as flexible tubing 118. Interface 114 may include or be attached to a valve 116 that allows fluid to flow into actuator 100 but prevents fluid from flowing out of the actuator (unless the valve is opened). Flexible tubing 118 may be connected to, or instead of, a pressurization valve 124 at inflation device 120 to regulate the supply of inflation fluid at inflation device 120.

[0050] Flexible tubing 118 may include an actuator adaptor connection interface 122 for removably connecting one end to interface 114 and the other end to inflation device 120. Separating the two sections of actuator adaptor connection interface 122 allows different inflation devices 120 to be connected to different interfaces 114 and / or actuators 100.

[0051] The inflation fluid may be, for example, air or saline. If air is used, inflation device 120 may include a manual bulb pump or bellows pump to supply ambient air. If saline is used, inflation device 120 may include a syringe or other suitable fluid supply system. Alternatively or additionally, inflation device 120 may include a compressor or pump to supply the inflation fluid.

[0052] Inflation device 120 may include a fluid source 126 for supplying inflation fluid. For example, fluid source 126 may be a reservoir for storing compressed air, liquefied or compressed carbon dioxide, liquefied or compressed nitrogen, or saline, or may be a vent for supplying ambient air to flexible tube 118.

[0053] Inflation device 120 may further include a fluid supply 128, such as a pump or compressor, for supplying inflation fluid from a fluid source 126 to actuator 100 via flexible tubing 118. Fluid supply 128 may be capable of either supplying fluid to actuator 100 or withdrawing fluid from actuator 100. Fluid supply 128 may be powered by electricity. To provide power, inflation device 120 may include a power source 130, such as a battery or an interface for connecting to a power outlet.

[0054] The power supply 130 may also provide power to a controller 132. The controller 132 allows a user to control the inflation or deflation of the actuator and may be operated, for example, via one or more actuation buttons 134 (or other devices, such as switches). The controller 132 may include a controller 136 that sends control signals to the fluid supply 128, causing the fluid supply 128 to supply or withdraw inflation fluid from the actuator 100. The controller 136 may be programmed with appropriate logic or instructions, encoded on a non-transitory computer-readable medium, to carry out the processes described herein.

[0055] [Actuators and Modular Fingertips] Exemplary embodiments relate to specialized soft robotic actuators and modular fingertips that can be attached to them. The modular fingertips and attachment mechanisms described below allow actuators to be configured to have different functions and capabilities without requiring an entirely new, dedicated actuator for each task.

[0056] Figure 2 shows an enlarged view of the distal end 110 of such an actuator 202, with a modular fingertip 204 attached to the distal end. The distal end 110 of the actuator 202 and the proximal end of the modular fingertip 204 are configured with corresponding shapes. For example, in Figure 2, the distal end 110 is flattened (e.g., compared to the actuator 100) to accommodate the flat proximal end of the modular fingertip 204. While the illustrated embodiment has two flat surfaces joined together, one skilled in the art will recognize that other configurations are possible.

[0057] The modular fingertip 204 may be formed from a resilient or non-resilient material. For example, the modular fingertip 204 may be manufactured from silicone rubber. In some embodiments, the modular fingertip 204 may be constructed from a food-grade material such as Delrin® or other hard plastic.

[0058] To secure the modular fingertip 204 to the actuator 202, a backing plate 206 may be inserted into the reservoir of the actuator 202 and positioned inside the distal end 110. The backing plate 206 in this example is a flat plate sized and shaped to fit snugly within the distal end 110 of the actuator 202. The backing plate 206 includes one or more through-holes for receiving blind-hole screws 208, which can be inserted from inside the actuator 202, through the reservoir and backing plate 206, and into corresponding holes in the actuator 202 and modular fingertip 204. In this manner, the modular fingertip 204 can be secured to the actuator 202. The backing plate may have an extended surface to fill all available space on the bottom interior surface of the distal end 110 of the actuator 202, which can more effectively distribute the load from the blind-hole screws 208 and reduce wear and tear on the actuator 202.

[0059] The blind screw 208 may be secured through the backing plate 206 using a specialized tool, such as an especially long hex wrench. To tighten the blind screw 208, the actuator 202 may be lowered onto an installation tool so that the installation tool is inserted into a reservoir of the actuator 202. The installation tool may contact the blind screw 208 and rotate the screw until it is secured through the backing plate 206, the actuator 202, and the modular fingertip 204.

[0060] In some applications, such as food handling and similar situations, it may be important to reduce or eliminate potential breeding points for bacteria. The interface between the actuator 202 and the modular fingertip 204 can be a particularly vulnerable point for bacteria and other substances to enter. Therefore, in some embodiments, the actuator 202 and / or the modular fingertip 204 may be provided with an ingress-resistant sealing bead 210. For example, the distal end 110 of the actuator 202 may be provided with a bead, rib, edge, or compressible area around its periphery that forms a seal when the actuator 202 is fastened to the modular fingertip 204 by the blind screw 208 to prevent the ingress of substances at the actuator 202 / modular fingertip 204 interface. In some embodiments, a separate sealing device, such as an O-ring, gasket, or similar mechanism, may be provided at this interface.

[0061] As an additional measure against bacterial ingress, the holes for the blind screws 208 may extend through the backing plate 206 and actuator 202, and then partway through the modular fingertips 204, rather than completely through the modular fingertips 204. Thus, the outward facing portions of the modular fingertips 204 may be free of openings that could harbor bacteria or allow other materials to enter.

[0062] In another embodiment, the blind hole screw 208 may be configured in the reverse direction, i.e., inserted from outside the actuator 202 / modular fingertip 204 system and threaded into the backing plate 206 inside the actuator 202. This configuration has the advantage of easier and faster installation and removal because it does not require the insertion of an installation tool into the actuator 202 reservoir. However, this configuration may introduce openings through which bacteria and other substances may enter. Therefore, the blind hole screw 208 may also have an additional sealing surface in a manner similar to the ingress prevention seal bead 210. The shape and type of the blind hole screw 208 may also be selected to reduce the number of hard edges and sharp angles.

[0063] For reference, Figures 3(A)-3(D) are side views showing the bottom (Figure 3(A)), side cross section (Figure 3(B)), side (Figure 3(C)), and top (Figure 3(D)) of the actuator 202 with the modular fingertip 204 attached.

[0064] Similarly, Figures 4(A)-4(D) are a perspective view (Figure 4(A)), a rear view (Figure 4(B)), a side cross-sectional view (Figure 4(C)), and a top view (Figure 4(D)) of the actuator 202 without the modular fingertip 204 attached.

[0065] 5A-5F show an example of a modular fingertip that can be used in exemplary embodiments suitable for a variety of applications.

[0066] Figure 5A shows two examples of angled tips 502: a short tip (left) and a long tip (right). Each angled tip includes an extension that extends away from the distal end 110 of the actuator 202 along a plane defined by the base of the soft robotic actuator (e.g., functions as an extension of the base). The angled tip extends from the soft robotic actuator at an angle relative to that plane. While Figure 5A shows a tip extending at a 90-degree angle from the plane, other embodiments may use 45 degrees, 30 degrees, or any other angle suitable for the application.

[0067] Such a tip provides an improved gripping surface when gripping slippery objects such as raw chicken. If the extension is long enough (e.g., at least 10%, preferably at least 20%, and more preferably at least 25% of the length of the base 102 of the actuator 202), the tip can also function as a spatula 504 for scooping up food or other items.

[0068] FIG. 5B shows two examples of protrusions that serve a similar purpose as the angled tip 502. In the left image, actuator 202 is fitted with soft (elastic) protrusions 506, which can provide improved friction and gripping force against slippery and / or deformable items, such as plastic plastic bags. Protrusions 506 may extend a relatively short distance (e.g., 10% or less of the length of base 102). In some embodiments, the base of protrusion 506 (located on the same side as base 102) may be slightly concave or have a textured surface, which can increase the frictional force exerted by the modular fingertip compared to the base or non-textured surface of the soft robotic actuator.

[0069] In the right image, the rigid friction-increasing tip 508 generally corresponds to the shape of the protrusion 506, although the friction-increasing tip 508 may be longer than the protrusion 506. The friction-increasing tip 508 may be formed from a rigid material, such as a hard plastic. The friction-increasing tip 508 may include a friction surface 510 (e.g., a textured surface to increase the friction exerted by the modular fingertip compared to the base or an untextured surface of the soft robotic actuator). The friction surface 510 may be recessed by being recessed from the plane of the base 102 toward the interior of the actuator 202. The outer periphery of the friction-increasing tip 508 may include a step 512 extending from the friction surface 510 toward the plane of the base 102. A similar shape may be applied to the soft protrusion 506.

[0070] 5C shows three examples of finger extensions 514. Finger extensions 514 are relatively long, thin, modular tips suitable for insertion into tight spaces, such as between cylindrically shaped grasped objects such as hot dogs, bread rolls, cucumbers, etc.

[0071] The finger extensions 514 may be flat and may extend in the plane of the base 102. They may be relatively thin (e.g., up to 25%, preferably up to 15%, and more preferably up to 10% of the depth of the base of the finger extensions 514). The length of the finger extensions 514 may vary depending on the application, but is preferably relatively long (e.g., at least 10% of the length of the base 102 of the actuator 202, preferably at least 20% of the length of the base 102, and more preferably at least 25% of the length of the base 102).

[0072] The finger extensions 514 may be the same width along their entire length, or may vary in width as shown in the center and right images.

[0073] In the center view, the finger extension 514 has a flat surface extending away from the soft robotic actuator along a plane defined by the actuator's base, with the extension tapering along its length. Specifically, the finger extension 514 includes a first region closest to the distal end 110 of the actuator 202, which has approximately the same width as the base of the finger extension 514. A second, intermediate region tapers in width (in this example, the outer edges taper inward at approximately a 45-degree angle, although other angles may be used depending on the application). A third region located at the distal end of the finger extension 514 has a relatively narrower width (e.g., less than 100%, preferably at most 50%, and more preferably at most 25% of the width of the first region).

[0074] In the right-hand image, the finger extension 514 has a flat surface that extends away from the soft robotic actuator along a plane defined by the actuator's base, with the extension widening along its length. Specifically, the finger extension 514 includes a first region closest to the distal end 110 of the actuator 202, which has approximately the same width as the base of the finger extension 514 (or, in some embodiments, this region may be narrower than the base). A second, more distal region expands in width (in this example, the outer edges flare outward at an angle of approximately 90 degrees, although other angles may be used depending on the application). The width of the second region may be relatively wide (e.g., greater than 100% of the width of the first region, preferably at least 110% of said width, and more preferably at least 125% of said width).

[0075] In another embodiment, shown in Figure 5D, multiple actuators 202 may be connected by a single modular fingertip 204. In this example, three actuators 202 are connected by inter-finger webbing 516. Such an embodiment is useful for distributing the force exerted by the actuator tips (e.g., when lifting fragile items such as bread). The example shown in Figure 5D includes a webbing tip 518 suitable for scooping items, while the examples shown in Figures 5E and 5F include a beveled tip suitable for grasping items such as sauce bags.

[0076] As shown in these figures, webbing extension 520 represents a portion of modular fingertip 204 extending from base 102, similar to the first region in Figure 5C. Webbing extension 520 extends to webbing tip 518, but webbing tip 518 is angled at approximately a 90 degree angle in Figure 5D and at approximately a 45 degree angle in Figures 5E and 5F.

[0077] In some embodiments, as shown in Figure 5D, the actuators 202 are separated from one another, resulting in a gap between the base of the inter-finger webbing 516. As a result, webbing connectors 522 may be provided between the webbing extensions 520. In embodiments such as those shown in Figures 5E and 5F, the actuators 202 are positioned relatively closely together, so that no webbing extensions 520 (or only minimal webbing extensions 520) may be used.

[0078] FIG. 6 is a flow chart illustrating a method for deploying actuators 202 with modular fingertips 204.

[0079] In block 602, an existing actuator may be removed from the robotic gripper. The existing actuator may be a conventional hard or soft actuator, or may be the actuator 202 described above. The proximal end 112 of the actuator 202 described herein may be identical to the proximal end 112 of a conventional soft robotic actuator, so that the exemplary actuator 202 can be a one-to-one replacement for the conventional actuator without modifying the existing gripper. The existing actuator may be removed in any manner appropriate for the style of actuator currently mounted on the gripper (e.g., by removing the base of the actuator relative to the gripper with a release or retention mechanism).

[0080] In block 604, a modular fingertip may be placed on the distal end of the actuator. The tip of the actuator and the modular fingertip have corresponding shapes and sizes, allowing alignment based on their similarity. The gripping surface of the modular fingertip may be positioned to align with the inner portion (the side including the base) of the actuator.

[0081] At block 606, a backing plate may be inserted into the actuator (although in some embodiments, if the actuator has an integrated backing plate, it may be used). The backing plate may be inserted at the proximal end of the actuator (e.g., using the installation tool described above) and manipulated to the distal end. The backing plate may be pushed all the way to the distal end and aligned with the flat surface of the actuator inside the bottom of the reservoir.

[0082] In block 608, the blind hole screws may be inserted into the reservoir in a similar manner to the backing plate using an installation tool. The blind hole screws may be pressed into the openings in the backing plate.

[0083] In block 610, the blind hole screws may be tightened to penetrate the backing plate, the actuator material, and the modular fingertips. The blind hole screws and / or corresponding holes in the modular fingertips may be sized so that the screws only penetrate part way through the modular fingertips, but not completely through.

[0084] In some embodiments, more than one blind hole screw may be used, in which case the processes of blocks 608 and 610 may be performed repeatedly.

[0085] The assembled actuator may be attached to the gripper at block 612. The actuator may be attached using any suitable mechanism, such as by attaching a hub to the proximal end 112 of the actuator, applying a quick-change mechanism, or a crimp-type attachment mechanism.

[0086] The flowchart in Figure 6 describes a technique for deploying an actuator with modular fingertips that connect through the interior of the actuator. Those skilled in the art will understand how this process can be modified for other configurations, such as configurations where blind-hole screws are attached from the outside of the modular fingertips.

[0087] Some embodiments may be described using the phrase "one embodiment" or "an embodiment" and their derivatives. These terms mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase "in one embodiment" in various places in this specification do not necessarily refer to the same embodiment. Furthermore, unless otherwise stated, it is understood that the above-described features can be used in any combination. Thus, features described individually can be used in combination with each other unless expressly stated as incompatible with each other.

[0088] To generally refer to symbols and nomenclature used herein, the detailed descriptions herein may be presented in terms of program procedures executed on a computer or network of computers. These procedural descriptions and representations are the means used by those skilled in the art to most effectively convey the substance of their work to others skilled in the art.

[0089] As used herein, a "procedure" generally refers to a self-consistent sequence of steps leading to a desired result. These steps require physical manipulations on physical quantities. Usually, though not necessarily, these quantities take the form of electrical, magnetic, or optical signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It is sometimes convenient, principally for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. It should be noted, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels for these quantities.

[0090] Some embodiments may be described using the terms "coupled" and "connected," along with their derivatives. These terms are not necessarily intended as synonyms for each other. For example, some embodiments may use the terms "connected" and / or "coupled" to indicate that two or more elements are in direct physical or electrical contact. However, the term "coupled" may also mean that two or more elements cooperate or interact with each other even when they are not in direct contact.

[0091] Various embodiments also relate to apparatus or systems for performing these processes. This apparatus may be specially constructed for the desired purposes, or it may comprise a general-purpose computer selectively activated or reconfigured by a computer program stored within the computer. The process procedures presented herein are not inherently limited to any particular computer or other apparatus. Various general-purpose machines may be used with programs written in accordance with the teachings herein, or it may be convenient to construct more specialized apparatus to perform certain method steps. The required structure for various applications of these machines will appear from the description below.

[0092] It should be emphasized that the Abstract of the Disclosure is provided to enable the reader to quickly grasp the contents of the technical disclosure. This Abstract is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Moreover, in the foregoing Detailed Description, it can be seen that various features are grouped together in a single embodiment for the purpose of conciseness of the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive subject matter lies in some but not all features of a single disclosed embodiment. Accordingly, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as an independent embodiment. In the appended claims, the terms "including" and "in which" are used as plain English expressions for "comprising" and "wherein," respectively. Furthermore, the terms "first," "second," "third," etc. are used merely as labels and are not intended to impose numerical limitations on the objects they refer to.

[0093] The foregoing includes exemplary disclosed configurations. Of course, it is not possible to describe every conceivable combination of components and / or methodologies, and one of ordinary skill in the art will recognize that many more combinations and variations are possible. Accordingly, the novel configuration of the present invention is intended to embrace all such alterations, modifications, and variations that fall within the spirit and scope of the appended claims.

Claims

1. a soft robotic actuator made of a resilient material, extending from a proximal end to a distal end, and substantially enclosing a reservoir configured to receive an inflation fluid; the soft robotic actuator is configured to bend circumferentially upon injection or evacuation of the inflation fluid into the reservoir; a distal end of the actuator sized and shaped to mate with a proximal end of a modular fingertip configured to be attachable to the distal end of the actuator; The soft robotic actuator system, wherein the distal end comprises one or more holes configured to receive fasteners that engage with modular fingertips.

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

3. The soft robotic actuator system of claim 2 , wherein the modular fingertip is a spatula having a substantially flat surface extending from the soft robotic actuator along a plane defined by a base of the soft robotic actuator.

4. The soft robotic actuator system of claim 2 , wherein the modular fingertip comprises an angled tip extending from the soft robotic actuator at an angle relative to a plane defined by a base of the soft robotic actuator.

5. The soft robotic actuator system of claim 2 , wherein the modular fingertips comprise textured surfaces to increase friction exerted by the modular fingertips compared to a base of the soft robotic actuator.

6. 3. The soft robotic actuator system of claim 2, wherein the modular fingertip includes a flat extension having a flat surface extending from the soft robotic actuator along a plane defined by a base of the soft robotic actuator, the flat extension tapering or diverging along its length.

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

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

9. The soft robotic actuator system of claim 1 , further comprising a backing plate that secures a proximal end of the modular fingertip to a distal end of the actuator.

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

11. accessing the soft robotic actuator of claim 1; and securing the modular fingertip to the distal end of the actuator with a fastener.

12. The method of claim 11 , wherein securing the modular fingertip comprises inserting an installation tool into the proximal end of the actuator.

13. The method of claim 12 , wherein the installation tool is longer than the length of the actuator and smaller than the width of the reservoir.

14. The method of claim 12 , wherein inserting the installation tool into the proximal end of the actuator comprises lowering the actuator onto the installation tool.

15. The method of claim 11 , further comprising inserting a backing plate into the reservoir of the soft robotic actuator before securing the modular fingertip with the fastener.

16. The method of claim 15 , wherein the fasteners are fastened through holes in the backing plate that correspond to holes in the actuator.

17. The method of claim 11 , wherein securing the modular fingertip to the distal end of the actuator comprises inserting the fastener into a hole in the modular fingertip and tightening the fastener.

18. 18. The method of claim 17, further comprising placing an anti-intrusion seal between the fastener and the modular fingertip.

19. The method of claim 11 , wherein accessing the actuator comprises removing the actuator from a robotic gripper before securing the modular fingertip.

20. The method of claim 11 , further comprising securing the actuator to a robotic gripper after securing the modular fingertip.

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