Robot end effector with dynamic stiffening elements for adapting to object interactions

Abstract

A robot end effector for providing conformal object interaction. The end effector has at least one finger with an inner portion or engaging side and one or more degrees of freedom. A counter-conformal pad is on the inner portion of the at least one finger. The counter-conformal pad has a compliant configuration, where the counter-conformal pad is compliant and is configured to distribute across the surface of the object and, if contoured, penetrate any deformations (e.g., depressions) in the surface to define a conformal engagement surface configured to match and mate with the surface. The counter-conformal pad has a rigid configuration, where the counter-conformal pad is rigid or relatively rigid compared to the counter-conformal pad in the compliant configuration and substantially maintains the shape of the conformal engagement surface.

Description

Background Art

[0001] Robotic hands or grippers typically create point or line contacts and associated loads that can be inconvenient and inefficient when gripping an object. The point or line contacts and loads are the result of rigid surfaces that make up the robotic hand or gripper, such as the (multiple) fingers, palm, or other elements of the robotic hand or gripper. Such rigid surfaces do not allow the robotic hand or gripper to conform to the object to be gripped along its surface. In other words, the rigid surfaces that make up the robotic hand cannot conform to the object being gripped. The development of robotic hands or grippers is an ongoing effort.

Summary of the Invention

[0002] The structure and advantages of the present invention will become apparent from the following detailed description when understood in connection with the accompanying drawings, which together illustrate, by way of example, the structure of the present invention.

Brief Description of the Drawings

[0003] [Figure 1a] Front view of a semi-humanoid hand with a nuisance conformal pad according to an example, i.e., a robotic end effector.

[0004] [Figure 1b] Side view of the robotic end effector of FIG. 1a shown gripping an object.

[0005] [Figure 2a] Schematic side cross-sectional view of the nuisance conformal pad of FIG. 1a shown in a non-contact compliant configuration.

[0006] [Figure 2b]This is a schematic side cross-sectional view of the obstruction conformal pad shown in Figure 1a in a non-contact compliant configuration with respect to an object.

[0007] [Figure 3a] This is a schematic side cross-sectional view of the obstruction conformal pad shown in Figure 1a, which is configured for rigid contact with an object.

[0008] [Figure 3b] This is a schematic side cross-sectional view of the obstruction conformal pad shown in Figure 1a in a contact rigid configuration with the object removed.

[0009] [Figure 4] Figure 2a is a detailed schematic side view of the obstructing conformal pad of Figure 1a, taken along line 4, showing the particles of the filler in a flowable configuration.

[0010] [Figure 5] Figure 3a is a detailed schematic side view of the obstructing conformal pad of Figure 1a, taken along line 5, showing the particles of the filler in the static configuration.

[0011] [Figure 6] This is a detailed schematic side view of the filler material of an interfering conformal pad in one example, showing the interstitial material, i.e., liquid, in the gaps between particles.

[0012] [Figure 7] This is a detailed schematic side view of the filler material of an interfering conformal pad in one example, showing particles of different sizes.

[0013] [Figure 8] This is a detailed schematic side view of the filler material of an interfering conformal pad in one example, showing particles with different shapes.

[0014] [Figure 9]A detailed schematic side view of a filler for an interference conformal pad in one example, showing the compressibility of the particles.

[0015] [Figure 10] A perspective view of another end effector, namely a hybrid magnetic and finger gripper, with an interference conformal pad according to an example.

[0016] [Figure 11] A perspective view of another end effector, namely a morph hand, with an interference conformal pad according to an example.

[0017] [Figure 12a] A front view of another end effector, namely a plate or anthropomorphic hand, with an interference conformal pad according to an example.

[0018] [Figure 12b] A side view of the end effector of FIG. 12a.

[0019] [Figure 13] A front view of another end effector, namely a plate or anthropomorphic hand, with an interference conformal pad according to an example.

[0020] [Figure 14a] A front view of another end effector, namely a plate or anthropomorphic hand, with an interference conformal pad according to an example.

[0021] [Figure 14b] A side view of the end effector of FIG. 14a.

DETAILED DESCRIPTION OF THE INVENTION

[0022] Next, illustrative embodiments are shown, and specific language is used herein to describe these exemplary embodiments. Nevertheless, it will be understood that no limitation of the scope of the invention is intended therein.

[0023] As used herein, the term “substantially” means the complete or near-complete extent or degree of an action, feature, characteristic, state, structure, item, or result. For example, an object “substantially” enclosed means that the object is completely or nearly completely enclosed. The exact degree of acceptable deviation from absolute completeness may, in some cases, depend on the specific context. However, generally speaking, proximity to completion is such that it produces the same overall result as if absolute and complete completion had been achieved. The use of “substantially” is equally applicable when used in a negative sense to refer to the complete or near-complete absence of an action, feature, characteristic, state, structure, item, or result.

[0024] As used herein, “adjacent” means the proximity of two structures or elements. In particular, elements identified as “adjacent” are either touching or connected. Such elements may be close or adjacent to each other without necessarily touching. The exact degree of proximity may, in some cases, depend on the specific context.

[0025] An initial overview of the technical embodiments is provided below, followed by a more detailed description of specific technical embodiments. This initial overview is intended to help the reader more quickly understand the technology, but is not intended to identify any key or essential configurations of the technology, nor is it intended to limit the scope of the claimed subject matter.

[0026] Disclosed herein is a robot end effector comprising at least one gripping surfaces and one or more jamming conformal pads disposed on at least one gripping surface, each of the one or more jamming conformal pads being operable in at least two pad configurations, the at least one pad configuration being configured to provide conformal object interaction, including a compliant configuration in which the shape of the jamming conformal pad is modifiable to achieve an engaged shape in response to the pad's engagement with the surface of an object, and a stiff configuration in which the jamming conformal pad maintains the engaged shape and is relatively stiffer than the jamming conformal pad in the compliant configuration.

[0027] The robot end effector may further include one or more fingers, each finger having one or more degrees of freedom, and at least one gripping surface may be defined by one or more fingers. The robot end effector may further include at least one finger, a palm, and a thumb extending from the palm and opposing at least one finger, and at least one gripping surface may be defined by at least one finger, palm and thumb, a conformal interfering pad associated with at least one finger and thumb, or the palm, or a combination thereof.

[0028] Disclosed herein are robot end effectors comprising one or more jamming conformal regions or pads for improving the gripping of a workpiece or object. The end effector may have one or more degrees of freedom. One or more jamming conformal regions or pads may be located on the inner portion of the end effector (e.g., on the engagement surfaces of corresponding fingers of one or more fingers) and supported by such inner portion of the end effector. The jamming conformal regions or pads may be operable in at least two pad configurations, namely a compliant configuration and a stiff configuration. In the compliant or relaxed configuration, the shape of the jamming conformal region or pad may be modified to achieve an engaged shape in response to the engagement of the pad with the surface of an object. In one example, if the object includes a contoured surface, the pad can be distributed across the contoured surface of the object, penetrating into the indentations of the contoured surface to define a conformal engaging surface that matches and mates with the contoured surface of the object. In a rigid configuration, the interfering conformal region or pad maintains the engaging shape and is rigid or relatively rigid compared to the interfering conformal region or pad in a compliant configuration. From a compliant configuration, the interfering conformal region or pad can be made rigid or stiff to maintain a shape away from the engaging shape and conformal engaging surface if the end effector is gripping the object, thereby improving the grip of the end effector on the object. In one embodiment, the end effector may have a single interfering conformal region or pad. In another embodiment, the end effector may have multiple interference conformal regions or pads, or a single interference conformal region or pad on each finger, palm, or combination thereof.In another embodiment, the end effector may have multiple interference conformal regions or pads on each finger.

[0029] In one embodiment, the interfering conformal region or pad may include a filler that is flowable within the bladder. The filler may include particles. The flow properties of the filler may change or vary, and the interaction forces between particles in the filler may change or vary with the pressure within the bladder. The resistance of the interfering conformal region or pad, or the bladder, to change may vary with the flow properties of the filler. A pressure source may be connected to the bladder to change or vary the pressure within the bladder, for example, to cause the bladder to collapse to some extent. Changing or varying the flow properties of the filler, and changing or varying the interaction forces between particles in the filler, changes or varies the bladder's resistance to bladder movement, and thus changes the configuration of the interfering conformal region or pad between compliant and rigid.

[0030] Figures 1a to 5 depict exemplary robotic end-effectors 8, i.e., semi-anthropomorphic hands comprising three fingers 12 extending from a palm 20 and an opposing thumb 16. Figure 1a depicts an open or empty end-effector 8 comprising one or more obstructive conformal regions or pads collectively indicated by 24, while Figure 1b depicts an end-effector 8 that is closed or grasping a workpiece or object 26. The fingers 12, thumb 16, and palm 20 of the end effector 8 may have an inner portion 30 (which may also be called the engaging side or surface), the inner portion 30 facing inward to the workpiece or object 26 and engaging with the workpiece or object 26 directly or indirectly (i.e., indirectly due to the presence of a bladder and associated outer membrane that at least partially covers the inner portion or engaging side or surface 30). In addition, the fingers 12 and thumb 16 may be able to face each other across a gap 34 that receives the workpiece or object 26. In one embodiment, the thumb 16 may also be characterized as a finger 12 so that the end effector 8 may have at least two opposing fingers 12 and 16. In another embodiment, the end effector 8 may have at least one finger 12 that can face another structure such as the palm 20 so that the finger 12 can close facing the palm 20.

[0031] Furthermore, the fingers 12 and thumb 16 can be articulated and may have one or more degrees of freedom. For example, the fingers 12 and / or thumb 16 may pivot relative to the palm 20 or base. In one embodiment, each of the fingers 12 and thumb 16 may have a series of segments collectively shown as 38, and adjacent segments are movably connected to each other by joints collectively shown as 42. Each of the fingers 12 and thumb 16 may have at least a proximal segment 38a connected to the palm 20 and a distal free segment 38b. In addition, each of the fingers 16 and thumb 16 may have an intermediate segment 38c between the proximal and distal free segments 38a and 38b. Thus, each of the fingers 12 and thumb 16 may have three segments 38. The fingers 12 and thumb 16 are movable relative to each other and relative to the palm 20. Thus, the fingers 12 and thumb 16 can move to change the size of the gap 34. In one embodiment, the fingers 12 and thumb 16 can collapse over the gap 34 to grasp a workpiece or object 26. In addition, each segment 38 of the fingers 12 and thumb 16 can move relative to an adjacent segment 38 or palm 20 to grasp the workpiece or object 26. The fingers 12 and thumb 16, and their segments 38, can be operationally coupled to actuators and controllers to bring about movement. Furthermore, the end effector 8, the fingers 12 and thumb 16, and their segments 38 can be rigid members.

[0032] The end effector 8 and the fingers 12, thumb 16 and / or palm 20 may have one or more jamming conformal areas or pads 24. The jamming conformal areas or pads 24 may be positioned on the inner portion 30 (e.g., the engaging side) of the fingers 12, thumb 16 and / or palm 20 and may be carried or supported by the end effector 8. Thus, the jamming conformal areas or pads 24 may be positioned to contact and engage with the workpiece or object 26 and may be positioned between the workpiece or object 26 and the fingers 12, thumb 16 and palm 20. In one embodiment, the fingers 12, thumb 16 and / or palm 20 may be separated from the workpiece or object 26 by the jamming conformal areas or pads 24.

[0033] In one embodiment, separate, distinct interference conformal regions or pads 24 can be positioned on each component of the end effector 8, or on the fingers 12, thumb 16, and palm 20. For example, a palm pad 46 can be positioned on the palm 20, a thumb pad 48 can be positioned on the thumb 16, and finger pads 50 can be positioned on the fingers 12. In another embodiment, separate, discrete interference conformal regions or pads 24 can be positioned on each segment 38 of the fingers 13 and thumb 16. For example, a proximal pad 24a can be positioned on the proximal segment 38a, an intermediate pad 24c can be positioned on the intermediate segment 38c, and a distal pad 24b can be positioned on the distal free segment 38a. In yet another embodiment, separate, discrete interference conformal regions or pads 46 can be positioned on the palm 20. In yet another embodiment, the end effector 8 may have only specific interference conformal regions or pads 24. For example, the end effector 8 may have distal or fingertip pads 24b only at the distal free ends of the fingers 12 and thumb 16. In another example, the end effector 8 may have distal pads 24b at the distal free ends of the fingers 12 and thumb 16, and palm pads 46 on the palm 20. Separate discrete interference conformal regions or pads 24 can form different zones.

[0034] Figure 2a depicts the obstruction conformal region or pad 24 in a compliant configuration, while Figure 3a depicts the obstruction conformal region or pad 24 in a stiff configuration, in contact with or engaged with a workpiece or object 26. Similarly, Figure 2b depicts the obstruction conformal region or pad 24 in a compliant configuration before contact with or engagement with a workpiece or object 26, while Figure 3b depicts the obstruction conformal region or pad 24 in a rigid configuration, after the workpiece or object 26 has been released and the workpiece or object 26 is absent. In Figures 2a to 3b, the obstruction conformal region or pad 24 is represented by the distal pad 24b, while the segments 38 of the palm 20, thumb 16, and fingers 12 are represented by the distal free segments 38b. The workpiece or object 26 may have a surface 54. In one embodiment, the surface 54 may include a contoured surface with recesses 56 and / or projections 58. In one embodiment, the surface 54 of the workpiece or object 26 may be irregular and / or asymmetrical. In another embodiment, the surface 54 of the workpiece or object 26 may be regular and / or symmetrical, but may have a discontinuous surface configuration comprising depressions 56 and / or protrusions 58. The obstruction conformal regions or pads 24 or 24b may be compliant so as to be distributed across the surface 54 of the workpiece or object 26. If the surface 54 is contoured by one or more variations from flat (depressions 56 and protrusions 58), the obstruction conformal regions or pads 24 or 24b may be distributed across the surface 54 and may penetrate into depressions 56 within the surface 54 (similar to how the fingers and palm of a human hand fit together to at least some extent). The resulting contour or shape of the obstruction conformal regions or pads 24 or 24b may define a conformal engaging surface 62 (Figure 3b) that is operable to conform to and engage with the surface 54 of the workpiece or object 26.In a compliant configuration, the interfering conformal region or pad 24 or 24b can be compliant, conformal, and flexible, and may be susceptible to operation, movement, or modification such that the shape of the interfering conformal pad can be changed in response to the engagement of the interfering conformal region or pad with the surface of an object. The shape of the interfering conformal pad can be modified to achieve a plurality of different engagement shapes depending on the object to be gripped. In one embodiment, the interfering conformal region or pad 24 or 24b can be free, relaxed, and / or de-energized in a compliant configuration to allow the interfering conformal region or pad to conform at least partially, and in some cases completely, to the surface of an object. This is advantageous over previous end effectors that rely only on point contact or line contact and associated loads. This is because, by conforming at least partially to the surface of the object, the interfering conformal region or pad can achieve regional contact (contact around a region of the object rather than just a point or line), and the associated fingers 12, thumb 16 and / or palm 20 of the end effector 8 can exert and facilitate multidirectionally distributed forces within the regional contact, as well as reaction forces across the entire region between the surface and the end effector 8. All of these work to increase the static and kinematic coefficients of friction between the object and the end effector 8, and these functions are analogous to those that occur between a human hand and the surface of the object being grasped.

[0035] In one embodiment, the interfering conformal region or pad 24 or 24b can be active or dynamic, or can be an active or dynamic pad or surface, or may include an active or dynamic pad or surface, and can change properties, states, and / or responsiveness, such as compliant properties between compliant and rigid. Thus, the interfering conformal regions or pads 24 and 24b can selectively alternate between configurations or states, such as compliant and rigid configurations, and can achieve states between these. In addition, the interfering conformal regions or pads 24 or 24b can alternately change and maintain shapes such as engagement shapes (resulting from interaction with an object) or shapes achieved without engagement with an object. When the end effector 8 is used to grip an object, the resulting engagement shapes and contours of the conformal engagement surface 62 can be maintained together with the interfering conformal regions or pads in the rigid configuration. In the rigid configuration, the interfering conformal regions or pads 24 or 24b are rigid or relatively rigid compared to the compliant configuration. In addition, in a rigid configuration, the interfering conformal region or pad 24 or 24b can substantially maintain any engagement shape and contour of the interfering conformal region or pad 24 or 24b and its corresponding conformal engagement surface 62. Thus, in a rigid configuration, the interfering conformal region or pad 24 or 24b, and / or conformal engagement surface 62 become substantially rigid or solid. In one embodiment, the shape or contour of the conformal engagement surface 62 and the interfering conformal region or pad 24 or 24b is controllable and active, as opposed to being passive. In a rigid configuration, the conformal engagement surface 62 has substantially the same shape and / or contour as the surface 54 of the workpiece or object 26 (whether the surface is contoured, flat, or a combination thereof) even if the workpiece or object 26 is removed, as shown in Figure 3b. In a rigid configuration, the interfering conformal region or pad 24 or 24b can be energized, and the shape and / or contour of the conformal engagement surface 62 can be actively maintained.Therefore, the conformal interfering region or pad 24 or 24b, and the conformal engaging surface 62 can conform to the surface 54 of the workpiece or object 26, distribute force across the region, and extend into the recess 56 for better gripping, and these are only some of the advantages provided. This results in less slippage between the end effector 8 and the object, and can further facilitate a reduction in the amount of force required on the end effector 8 to grip and hold the object, especially compared to conventional end effectors that have only a rigid grip, palm or other surface, intended to interact with objects that rely on point contact or line contact and associated loads.

[0036] In one embodiment, the interference conformal region or pad 24 or 24b can be binary and may have only two compliant and rigid configurations. In another embodiment, the interference conformal region 24 or 24b can be analogous and may have multiple different degrees of stiffness between the compliant and rigid configurations, as will be described in more detail below.

[0037] In one embodiment, the interfering conformal regions or pads 24 can be actuated collectively. Thus, each interfering conformal region or pad 24 can share a common state or configuration such that all are compliant or all are stiff. Similarly, they may all share a similar degree of stiffness or compliance. In another embodiment, the interfering conformal regions or pads 24 can be actuated independently of each other. Thus, one interfering conformal region or pad 24 may be compliant while another is rigid. In addition, different interfering conformal regions or pads 24 may have different degrees of compliance or stiffness.

[0038] Although the interfering conformal region or pad 24 or 24b has been described above as being relaxed in a compliant configuration and energized or active in a rigid configuration, the interfering conformal region or pad 24 or 24b may be relaxed or not energized in a rigid configuration and may be configured to be energized in a compliant configuration.

[0039] In one embodiment, the interfering conformal region or pad 24 or 24b includes a bladder 66 in the inner portion 30 of a finger 12, thumb 16, or palm 20. The bladder 66 may have an outer membrane 68 that is conformable to the surface 54 of a workpiece or object 26 and forms a conformal engagement surface 62. The bladder 66 can contain a filler 72 that is disposed within the bladder 66 and is flowable within the bladder 66. Thus, the filler 72 is located behind the membrane 68 and between the membrane 68 and the inner portion 30 of a finger 12, thumb 16, or palm 20. In another embodiment, the filler 72 may include particles 76. The filler 72 may have at least two configurations, including a flowable configuration as shown in Figures 2a and 2b and a static configuration as shown in Figures 3a and 3b. The flowable configuration corresponds to the compliant configuration of the interfering conformal region or pad 24. In the flowable configuration, the filler 72 flows such that the outer membrane 68 and bladder 66 engage with the surface 54. The static configuration corresponds to a rigid configuration of the obstructing conformal region or pad 24. In the static configuration, the filler 72 is static or relatively static with respect to the flowable configuration and resists the flow of the filler 72. In another embodiment, the flow characteristics of the filler 72 change with the pressure within the bladder 66. Thus, the compliance of the bladder 66, membrane 68 and conformal engagement surface 62 changes with the flow characteristics of the filler 72.

[0040] The bladder 66 may be flexible and resilient or elastic, as recognized by those skilled in the art, and may be formed from any flexible and resilient or elastic material suitable for the purposes and functions described herein. For example, without being intended to be limiting in any way, the bladder 66 may be formed from elastomers such as natural rubber, silicone, neoprene, nitrile, butyl, and others, or from flexible / stretchable polymers such as polyethylene, polypropylene, vinyl, and others. Thus, the bladder 66 may be formed from a material that facilitates a changeable volume, or may contain such a volume. For example, the bladder 66 may be configured to collapse to a given degree under a corresponding given pressure and may have a changeable volume. In addition, the bladder 66 may be configured to change shape and position when the bladder 66 or membrane 68 contacts the surface 54 of the workpiece or object 26. In one embodiment, the bladder 66 may be formed from a single material, a laminate, or a reinforcing material. Bladder 6 can be sealed to the surrounding environment and can be hermetically sealed. Bladder 66 can have an interior or a hollow portion and can define a pocket. In one embodiment, bladder 66 can be formed of a pair of layers sealed around its periphery. The inner layer can be substantially and / or relatively flat, while the outer layer can be substantially and / or relatively convex to form a hollow portion. The inner layer of bladder 66 can be connected to or otherwise secured to the fingers 12, thumb 16 and / or palm 20 of the end effector 8. The inner surface of the inner layer can be connected to or otherwise secured to the end effector 8 such that a large portion or substantially all of the inner surface is connected to or secured to the end effector 8 or its inner portion 30. In another embodiment, the periphery of the inner layer can extend beyond the seal and form a flange or tab that can be connected to or otherwise secured to the end effector 8.The bladder 6 can be attached to, connected to, or otherwise secured to the fingers 12, thumb 16 and / or palm 20 using adhesives, fasteners and seals, and any other means or methods of attachment. The bladder can be attached or otherwise supported by an end effector by being molded and bonded to a surface, or the bladder can form an outer wall with the gripper surface on the opposite side, in which case the bladder can have its free end, which is clamped in such a manner that the free end is sealed to form a sealed volume.

[0041] The filler 72 can be placed within the bladder 66 and may be flowable or otherwise movable within the bladder 66. Flowable means that the particles 76 can move relative to one another. In one example, the filler 72 may include particles 76 that can flow and move relative to one another and support one another. In one embodiment, the particles 76 may loosely fill the bladder 66 and may occupy a large portion of the hollow part or its volume. As the bladder 66 and the hollow part or internal volume change shape and position due to contact or engagement between the bladder 66 and the surface 54 of the workpiece or object 26 and any contour or variation within the surface 54, the filler 72 flows within the bladder 66 and the particles 76 move relative to one another within the bladder 66. In one embodiment, the filler 72 may further include a gas such as air to fill the gaps between the particles 76. Essentially, the filler 72 can be housed within the bladder 66 and made flowable within the bladder 66, the filler 72 containing particles 76, the flow properties of the filler 72 change with the pressure within the bladder 66, and the resistance to movement of the bladder 66, membrane 68 and conformal engagement surface 62 changes with the flow properties of the filler 72. In addition, the stiffness of the bladder 66 or membrane 68 can be characterized as an increase in the interaction force between the particles 76 of the filler 72.

[0042] Furthermore, the pressure source 80 can be operationally coupled to the bladder 66 (for example, operable to induce pressure in or around the bladder 66) and can change the pressure within the bladder 66. In one embodiment, the pressure source 70 may include a vacuum source configured to selectively draw out a gap material or fluid, such as gas or air, from the bladder 66. For example, the vacuum source may be a vacuum pump, such as a piston movable within a cylinder. As the pressure changes within the bladder 66, the bladder 66 collapses, thus changing the flow properties of the filler material 72 and particles 76. Collapse means that the bladder 66 collapses, at least to some extent, from its fully expanded state or condition, or that the volume of the bladder 66 decreases. As the volume of the bladder 66 changes, contact and / or interference between the particles 76 of the filler material 72 increases. As the flow properties of the filler 72 and particles 76 change, the compliance of the bladder 66 with the filler 72 within the bladder 66 decreases, and thus the compliance of the bladder 66, membrane 68 and conformal engagement surface 62 changes. Therefore, the pressure source 80 or vacuum source can be selectively varied to selectively change the stiffness or compliance of the bladder 66. In one embodiment, the stiffness or compliance of the interfering conformal region or pad 24 and the bladder 66 can be selectively varied through a continuous range of resistance between soft and stiff. The stiffness or compliance can be dynamically adjusted from essentially soft or fluid to fully rigid or stiff, and to any state in between. The pressure source 80 can provide the filler 72 with a variable degree / range of stiffness or compliance of the bladder 66 by providing a variable degree / range of pressure within the bladder 66. The pressure source 80 can change the pressure within the bladder 66 to provide compliance that facilitates the rigid or limited movement of the membrane 68 or conformal engagement surface 62 and the free movement of the membrane 68 or conformal engagement surface 62. In another embodiment, although not shown, those skilled in the art will recognize that rather than changing the pressure source 80, the pressure source 80 may be operable in conjunction with one or more valves that fluidly communicate with the pressure source 80 and the bladder 66, and the valves may be controllable to change the pressure within the bladder 66.

[0043] Figure 4 shows a detailed schematic side view of the bladder 66 or obstruction conformal region or obstruction pad 24 taken along line 4 in Figure 2a, while Figure 5 shows a detailed schematic side view of the bladder 66 or obstruction conformal region or obstruction pad 24 taken along line 5 in Figure 3a. Figure 4 depicts the particles 76 of the filler 72 in a relaxed, flowable or conformal configuration of the bladder 66 or pad 24 corresponding to relatively high pressures such as ambient pressure within the bladder 66. The particles 76 can flow and move relative to each other and are not supported by any significant frictional force while in contact with each other. Thus, the bladder 66 or conformal engagement surface can move relatively freely relative to the workpiece or object, and the resistance from the bladder 66 is very small or nominal. On the other hand, Figure 5 depicts the particles 76 of the filler 72 in a static or rigid configuration of the bladder 66 or pad 24 corresponding to relatively lower pressures compared to greater pressures or ambient pressures. In this case, the bladder 66 collapses on the filler 72, and thus the particles 76 are supported by each other, interfering with each other and restricting the flow. Thus, the bladder 66 or conformal engagement surface can have relatively restricted movement, and the resistance received from the bladder 66 is relatively greater. The particles 76 can be relatively loose under greater pressure, as shown in Figure 4, and can flow easily between them, but the particles 76 can be relatively compressed under less pressure, as shown in Figure 5, and have difficulty flowing between them. Compressing the particles 76 can create greater physical obstacles to the flow and greater friction between the particles. When a pressure source 80 or vacuum reduces the pressure in the bladder 66, the bladder 6 collapses, compressing the particles 76 in the filler 72, thus obstructing the flow of the particles 76 and stiffening the obstructing conformal region or pad 24. Essentially, reducing the pressure causes the particles 76 to push against each other, thus increasing the kinematic friction coefficient between them. The magnitude of the kinematic friction coefficient can be altered by changing the pressure induced by the collapse of bladder 66 and the resulting compression of particle 76.

[0044] Referring again to Figures 2a and 3a, the end effector may further include one or more sensors and a controller 84. The sensors can sense characteristics of the bladder 66 or the obstruction conformal region or pad 24, such as the pressure within the bladder 66. In one example, the pressure sensor may be operationally coupled to the bladder 66 itself, the pressure source 80, or a pressure line between the bladder and the pressure source. The pressure sensor can provide feedback to the pressure source 80 and / or the controller 84, so that the stiffness can be changed based on the pressure in the bladder 66. The controller 84 can be operationally coupled to the pressure source 80 (or alternatively, one or more valves) to control the pressure source and selectively change the pressure within the bladder 66. In another embodiment, a force sensor can be used. In another embodiment, a pressure sensor and a position sensor can be used. In another embodiment, the controller 84 and the pressure source 80 can be used to change the pressure in multiple bladders (for example, via a bus configuration in which multiple pressure lines (or branches of pressure lines) between the pressure source and multiple bladders are used).

[0045] Figure 6 shows a detailed schematic side view of the filler 72b of the bladder 66 or obstruction conformal region or pad 24, showing the gap material 88 in the gaps between particles 76. In one embodiment, the gap material 88 may contain a liquid such as oil to facilitate the flow of particles 76. In one embodiment, the gap material 88 may be incompressible. In one embodiment, the gap material 88 may fill the gaps between particles 76 and substantially fill the bladder 66. In another embodiment, the gap material 88 may substantially coat the particles 76 and define the coated particles, while most of the gaps between particles 76 remain gaseous. Thus, the gap material 88 may contain a fluid such as a liquid or gas.

[0046] Figure 7 shows a detailed schematic side view of the filler 72c of the interfering conformal region or pad 24 or bladder 66, showing particles of different sizes. The particles 76 and 76c of the filler 72c may include at least two different sizes of particles, and in some examples, may include three, four or more different sizes of particles. In one embodiment, smaller particles 76c may be placed in the gaps between larger particles 76. In one embodiment, the particles 76 and 76c may be formed of different materials and may have different properties, such as different coefficients of friction or different compressibility. Those skilled in the art will understand that the size, composition, material composition or type, and relative quantities of the particles 76 and c may be selected to obtain desired flow properties and to adjust the resistance properties of the interfering conformal region or pad 24 or bladder 66. In practice, it is assumed that the interfering conformal region or pad 24 or bladder 66 discussed herein may be adjusted as needed or desired.

[0047] Figure 8 shows a detailed schematic side view of the filler 72d of the interfering conformal region or pad 34 or bladder 66, showing particles 76 and 76d having different shapes. The particles of the filler 72d may include at least two different shapes of particles, and in some examples, three, four or more different shapes or configurations. In one embodiment, some of the particles 76 may be spherical, hemispherical, or partially spherical (meaning not perfectly spherical but substantially spherical), while other particles 76d may have a flat surface. In another example, the shape or configuration of the particles 76d may be random. The particles 76 and 76d may have different properties because of their respective shapes, which can alter the flow properties. The shapes of the particles 76 and 76d may be selected to obtain desired flow properties and to adjust the resistance properties of the interfering conformal region or pad 24 or bladder 66.

[0048] Figure 9 shows a detailed schematic side view of the filler particles in an interfering conformal region or pad or bladder, illustrating the compressibility of the particles 76e. In one embodiment, the filler particles 76e can be elastically compressible, as shown. In another embodiment, the particles can be relatively rigid. The filler particles 76e can have an elastic modulus, which is a measure of elastic deformation in response to an applied load, and / or a yield strength, which is the initiation of plastic deformation at a given stress level. In one embodiment, the particles can contain rubber, which essentially has no yield strength and rather elastically deforms until it breaks. In one embodiment, the filler particles can have a relatively low elastic modulus (Young's modulus), such as 0.01 to 3.5 GPa, and rubber (1.45 to 14.5 × 10⁻⁶). -3 Young's modulus (Mpsi or 0.01-0.1 GPa), acrylonitrile butadiene styrene (ABS) (Young's modulus of 1.4-1.3 GPa or 2.3 GPa), nylon (Young's modulus of 0.29-0.58 Mpsi or 2-4 GPa; yield strength of 45 MPa), low-density polyethylene (1.6-6.5 x 10 -3 The filler particles may include polymers such as Mpsi or Young's modulus of 0.11-0.86 GPa, high-density polyethylene (Young's modulus of 0.116 Mpsi or 0.8 GPa), polypropylene (Young's modulus of 0.22-0.29 Mpsi or 1.5-2 GPa), polyimide (Young's modulus of 2.5 GPa), and polystyrene (Young's modulus of 0.44-0.51 Mpsi or 3-3.5 GPa). In another embodiment, the filler particles may have a relatively high modulus of elasticity, such as 50-100 GPa, and may include sand (7-80 MPa), aluminum (Young's modulus of 10 Mpsi or 69 GPa; yield strength of 95 MPa), and glass (Young's modulus of 7.25-13.1 Mpsi or 50-90 GPa). In one embodiment, the filler particles may be lightweight materials to facilitate mobility. In another embodiment, the material coefficient may be selected based on the temperature range of the material properties of interest. In another embodiment, the particles of the filler may have at least two different coefficients.

[0049] Figure 10 depicts another example of an end effector 108, namely a hybrid magnetic and finger gripper, which is similar in most respects to those described above, as will be recognized by those skilled in the art, and whose descriptions are incorporated herein by reference where applicable. The end effector 108 may have opposing fingers 112 that can have obtuse angles between adjacent or continuous segments. Thus, the corresponding interference conformal regions or pads 124 can be aligned with the obtuse angles of the fingers 112. The interference conformal regions or pads 124 may have a substantially constant thickness outward from the fingers along the segments, even while spanning the vertices between segments. In another embodiment, different and / or multiple interference conformal regions or pads may be positioned on each linear segment of the finger.

[0050] Figure 11 depicts another example of the end effector 208, namely a morph hand comprising an obstruction conformal region or pad 224 or bladder, which is in most similarities to the above-described example, as will be recognized by those skilled in the art, and whose description is incorporated herein by reference where applicable. The end effector 208 may have opposing fingers 212 that can have obtuse angles between adjacent or continuous segments. Thus, the corresponding obstruction conformal regions or pads 224 can be aligned with the obtuse angles of the fingers 212. The fingers 212, and therefore the obstruction conformal regions or pads 224, can be long and slender, such as a length along the finger that is much larger than the width of the finger. In another embodiment, different and / or multiple obstruction conformal regions or pads may be positioned on each segment of the finger.

[0051] Figures 12a and 12b depict another example of the end effector 308, namely a plate or humanoid hand comprising obstruction conformal regions or pads 324 or bladder, which is in most similarities to those described above, as will be recognized by those skilled in the art, and whose descriptions are incorporated herein by reference where applicable. The end effector 308 may have four fingers 312, an opposing thumb 316, and a palm 320. In one embodiment, individual discrete obstruction conformal regions or pads 324 may be arranged on each segment of the fingers 312, thumb 315, and palm 320.

[0052] Figure 13 depicts another example of an end effector 408, namely a plate or humanoid hand comprising an obstruction conformal region or pad 424 or bladder, which is in most similarities to those described above, as will be recognized by those skilled in the art, and whose descriptions are incorporated herein by reference where applicable. The end effector may have four fingers 312, an opposing thumb 316, and a palm 320. In one embodiment, separate and different obstruction conformal regions or pads 424 may be positioned on each component of the end effector, or on the fingers 312 and thumb 316 and palm 320. For example, a palm pad 446 may be positioned on the palm 320, a thumb pad 448 may be positioned on the thumb 316, and finger pads 424 may be positioned on the fingers 312. Thus, the obstruction conformal region or pad 424 may be a single obstruction conformal region or pad spanning a series of segments and intermediate joints positioned on the articulated fingers 312.

[0053] Figures 14a and 14b depict another example of the end effector 508, namely a plate or humanoid hand comprising an obstruction conformal region or pad 524 or bladder, which is in most similarities to those described above, as will be recognized by those skilled in the art, and whose descriptions are incorporated herein by reference where applicable. The end effector 508 may have four fingers 312, an opposing thumb 316, and a palm 320. In one embodiment, a single obstruction conformal region or pad 524 may be positioned on the end effector 508 and may extend along each segment of the fingers 312 and thumb 316, between the palm 320 and the fingers 312 and thumb 316. Thus, the obstruction conformal region is a single obstruction conformal region or pad 524 spanning the palm 320, the four fingers 312, and the thumb 316.

[0054] This disclosure may not expressly disclose that some embodiments or configurations described herein may be combined with other embodiments or configurations described herein, but this disclosure should be read as describing any such combinations that are implementable by those skilled in the art. The use of “or” in this disclosure should be understood to mean non-exclusive “and / or” unless otherwise stated herein.

[0055] Refer to the examples illustrated in the drawings, and specific languages ​​have been used in this specification to describe the examples. Nevertheless, it should be understood that this is not intended to limit the scope of the Art. Changes and further modifications to the configurations illustrated herein, as well as additional applications of the examples illustrated herein, should be considered within the scope of this specification.

[0056] Furthermore, the configurations, structures, or features described may be combined in any suitable manner in one or more examples. The preceding description provided numerous specific details, such as examples of various configurations, to provide a complete understanding of the examples of the art described. However, it will be recognized that the art may be carried out without one or more of these specific details, or in conjunction with other methods, components, apparatus, etc. In other cases, well-known structures or operations are not shown or described in detail, in order to avoid obscuring aspects of the art.

[0057] While the subject matter is described in a language specific to structural configurations and / or operations, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific configurations and operations described above. Rather, the specific configurations and operations described above are disclosed as exemplary forms of carrying out the claims. Numerous modifications and alternative configurations can be devised without departing from the spirit and scope of the described art.

[0058] The examples described above illustrate the principles of the present invention in one or more specific applications, but it will be apparent to those skilled in the art that numerous modifications can be made to embodiments, uses, and details without departing from the principles and concepts of the present invention or without exercising inventive ability. Accordingly, the present invention is not intended to be limited except by the claims described below.

Claims

1. A robot end effector configured to provide conformal object interaction, Each finger has an inner portion and one or more degrees of freedom, A plurality of obstructive conformal pads, each obstructive conformal pad comprising a bladder positioned on the inner portion of the corresponding finger of one or more fingers, wherein the bladder comprises a pair of layers sealed around its periphery, the pair of layers comprising an inner layer and an outer layer, the inner layer being substantially flat, and the outer layer being convex to form a hollow portion, each obstructive conformal pad further comprising a filler material located within the bladder and flowable within the bladder, the filler material comprising particles and gap material positioned in the gaps between the particles, each of the plurality of obstructive conformal pads being operable in at least two pad configurations, the at least two pad configurations are A compliant configuration in which the shape of the interfering conformal pad is changeable to achieve an engagement shape in response to the engagement of the interfering conformal pad with the surface of an object, The rigid configuration includes a rigid configuration in which the interfering conformal pad maintains the engagement shape and is relatively rigid compared to the interfering conformal pad in the compliant configuration. The plurality of interference conformal pads, At least one pressure source operatively connected to the plurality of interfering conformal pads, configured to change the pressure within the plurality of interfering conformal pads, wherein the pressure within the interfering conformal pads includes negative pressure, and the at least one pressure source A controller operationally connected to at least one of the pressure sources, A pressure sensor that can operate with each obstruction conformal pad, each pressure sensor being operable with the controller to provide feedback to the controller, the controller independently and selectively changing the pressure within each of the plurality of obstruction conformal pads based on the feedback from each pressure sensor, Robot end effector.

2. The robot end effector according to claim 1, wherein the interfering conformal pads are operable to be dispersed across the surface of the object and to penetrate into any recesses in the surface to define conformal engagement surfaces configured to align with and engage with the surface of the object, and the plurality of interfering conformal pads include active regions that can change the compliant properties to alternately change and maintain the contours of the conformal engagement surfaces.

3. The robot end effector according to claim 2, wherein the conformal engagement surface is an active surface capable of alternatingly changing and maintaining its contour.

4. The filler has at least two components, and these at least two components are When the outer layer conforms to the surface, the filler flows, corresponding to the compliant configuration of the obstructive conformal pad, A static configuration is included, wherein the filler is more static than the filler in the fluid configuration, and the obstructing conformal pad resists the flow of the filler, corresponding to the rigid configuration of the obstructing conformal pad. The robot end effector according to claim 1.

5. The robot end effector according to claim 1, wherein the interfering conformal pad is binaryly operable only in the compliant configuration and the rigid configuration.

6. The robot end effector according to claim 1, wherein the interfering conformal pad is analog and has a plurality of different degrees of rigidity between the compliant configuration and the rigid configuration.

7. The one or more fingers mentioned above are It further includes a pair of opposing articulated fingers that face each other across the gap, Each of the pair of opposing articulated fingers includes at least one of the plurality of obstructive conformal pads on it. The robot end effector according to claim 1.

8. Each jointed finger is, The present invention further includes a series of segments comprising adjacent segments movably connected to one another by a joint, each having at least a proximal segment and a distal free segment, The at least one obstructive conformal pad is positioned on at least the articulated distal free segment, The robot end effector according to claim 7.

9. The robot end effector according to claim 8, wherein the obstruction conformal pads are arranged on each segment of the articulated finger.

10. The robot end effector according to claim 9, wherein the obstruction conformal pad is a single obstruction conformal pad positioned on the articulated finger and spanning the series of segments and intermediate joints.

11. The robot end effector according to claim 9, wherein the interference conformal pad comprises a series of separate discrete interference conformal pads, each interference conformal pad being supported by each segment of the series of segments.

12. Further including a humanoid hand comprising one or more fingers, a palm, and a thumb extending from the palm and opposing the one or more fingers, The aforementioned conformal pad is supported by at least one of the fingers and the thumb. The robot end effector according to claim 1.

13. The robot end effector according to claim 12, wherein the interference conformal pad is positioned on the palm.

14. The robotic end effector according to claim 12, wherein the one or more fingers of the humanoid hand include a plurality of fingers extending from the palm and facing the thumb, and the obstruction conformal pad includes a single obstruction conformal pad spanning the palm, the fingers and the thumb.

15. The robot end effector according to claim 12, wherein the interference conformal pad is one of a plurality of separate discrete interference conformal pads, each interference conformal pad being supported by one of the palm, one or more fingers, and one of the thumb.

16. The robot end effector according to claim 1, wherein the flow characteristics of the filler change with the pressure in the bladder, and the compliance of the bladder changes with the flow characteristics of the filler.

17. The robot end effector according to claim 1, wherein the volume of the bladder varies as a function of the pressure within the bladder.

18. The robot end effector according to claim 1, wherein the pressure source is operable to provide a variable range of pressure within the bladder in order to provide a variable degree of rigidity to the corresponding obstructing conformal pad.

19. The robot end effector according to claim 1, wherein the pressure source can change the pressure within the bladder to provide rigidity to the corresponding obstruction conformal pads, including the soft obstruction conformal pad and the rigid obstruction conformal pad, and the soft obstruction conformal pad and the rigid obstruction conformal pad.

20. The robot end effector according to claim 1, wherein the pressure source includes a vacuum source for selectively withdrawing fluid from the bladder.

21. The robot end effector according to claim 1, wherein the bladder is flexible and has a changeable volume.

22. The robot end effector according to claim 1, wherein the bladder changes shape after contact with the object, and when the bladder changes shape, the filler flows within the bladder and the particles move relative to each other within the bladder.

23. The robot end effector according to claim 1, wherein each of the plurality of interference conformal pads is one of the plurality of bladders of the plurality of interference conformal pads, and each of the plurality of bladders contains a filler material.

24. The robot end effector according to claim 23, wherein the plurality of bladders are arranged parallel to each other on the inner portion of the corresponding fingers, or the plurality of bladders are arranged in series with respect to each other on the inner portion of the corresponding fingers.

25. The robot end effector according to claim 1, wherein the filler further comprises a fluid disposed in the gaps between the particles.

26. The robot end effector according to claim 1, wherein the particles of the filler are elastically compressible, and the particles of the filler have an elastic modulus between 0.01 and 3.5 GPa, or the particles of the filler have an elastic modulus between 50 and 100 GPa.

27. The robot end effector according to claim 1, wherein the particles of the filler have at least two different elastic moduli, or the particles of the filler further comprise at least two different sizes of particles, or the particles of the filler are at least partially spherical, or the particles of the filler comprise at least two different shapes of particles.

28. A robot end effector configured to provide conformal object interaction, Opposing each other across a gap and movable relative to each other to change the size of the gap, each opposing finger having an inner portion and one or more degrees of freedom, A plurality of obstruction conformal pads, each obstruction conformal pad including a bladder on the inner portion of at least one of the pair of opposing fingers, comprising a pair of layers sealed around the periphery, the pair of layers comprising an inner layer and an outer layer, the inner layer being substantially flat and the outer layer being convex to form a hollow portion, A filler is located within the bladder, is flowable within the bladder, and includes particles and a gap material placed in the gaps between the particles to facilitate the flow of the particles, The flow characteristics of the filler change with the pressure inside the bladder, and the compliance of the bladder changes with the flow characteristics of the filler. The bladder, which has the filler material inside, A compliant configuration in which the shape of the bladder and the filler can be changed to achieve an engagement shape in response to the engagement of the bladder with the surface of an object, A rigid configuration is included in which the bladder and the filler maintain the engagement shape and are more rigid than the bladder and the filler in the compliant configuration. It has at least two configurations, At least one pressure source operationally connected to a plurality of interfering conformal pads, configured to change the pressure within the plurality of interfering conformal pads, wherein the pressure within the plurality of interfering conformal pads includes negative pressure, and the at least one pressure source, A controller operationally connected to at least one of the pressure sources, A pressure sensor that can operate with each obstruction conformal pad, each pressure sensor being operable with the controller to provide feedback to the controller, the controller independently and selectively changing the pressure in each of the plurality of obstruction conformal pads based on the feedback from each pressure sensor, Robot end effector.

29. A method for grasping an object having a surface with a robot end effector, Positioning the object within the gap between the pair of opposing fingers of the robot end effector, Closing the pair of opposing fingers on the object, Compressing a conforming interfering pad supported by one of a pair of opposing fingers against the surface of the object, wherein the conforming interfering pad is dispersed over the surface of the object and penetrates into any depressions on the surface to define conforming engagement surfaces of the interfering pad that align with and engage with the surface, the interfering pad includes a bladder positioned on the inner portion of the corresponding fingers of the pair of opposing fingers, the bladder includes a pair of layers sealed around its periphery, the pair of layers including an inner layer and an outer layer, the inner layer being substantially flat and the outer layer being convex to form a hollow portion, the interfering pad further includes a filler material located within the bladder and flowable within the bladder, the filler material including particles and gap material positioned in the gaps between the particles, The controller acquires pressure readings from pressure sensors that are operable with each of the multiple interference conformal pads, wherein the controller is operable with each pressure sensor and acquires the pressure readings. The process includes selectively and independently stiffening the obstructing conformal pads to maintain the shape of the conformal engagement surface via a controller that controls at least one pressure source operationally coupled to the plurality of obstructing conformal pads based on the pressure readings received from each pressure sensor, wherein the at least one pressure source is configured to change the pressure within the plurality of obstructing conformal pads, and the pressure within the plurality of obstructing conformal pads includes negative pressure. method.

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