Winches for use with inverting and everting robotic limbs

Abstract

Disclosed herein is a growing soft robot winch. The design may include a winch which comprises a drum and mandrel (e.g., a cylindrical shaft). The winch may be used to retain and retract a vine robot. The winch may use friction between adjacent portions of the vine robot wound onto the mandrel. One or more clamps configured to grasp the vine robot within a cavity formed in the mandrel may assist in retaining a distal end portion of the vine robot therein during operation. The mandrel may form part of a winch such that the vine robot wound thereon may be held on primarily by friction to apply large tensile loads to the attached vine robot.

Description

WINCHES FOR USE WITH INVERTING AND EVERTING ROBOTIC LIMBSRELATED APPLICATIONS

[0001] This Application claims the benefit of priority under 35 U.S.C. § 119(e) ofU.S. Provisional Application Serial No. US 63 / 508,896, filed June 18, 2023, the disclosure of which is incorporated herein by reference in its entirety.FIELD

[0002] Disclosed embodiments are related to winches for use with inverting and everting robotic limbs.BACKGROUND

[0003] Gently holding, lifting, and transferring the entire human body with a robotic system remains a challenging problem, despite extensive research and development efforts. Humans are heavy, delicate, deformable, and vary widely in shape and pose. Standard robotic manipulators and end effectors cannot achieve sufficiently gentle human interaction while applying the high forces used to lift the body effectively, although many high impact tasks depend on this functionality. In eldercare and care of people with physical disabilities, lifting humans is a necessary task regularly carried out by caregivers, which is both strenuous and fatiguing on their bodies. This task is also critical for emergency medical response, search and rescue, occupational therapy, ergonomic support for manual labor, and so forth. The current standard practice in eldercare is for caregivers to manually attach a harness to the patient or wrap their body with straps to securely harness and lift them. Straps are used because they are practical for high-force human interaction. They can be wrapped around any human in nearly any harnessing configuration to distribute the high load over a large contact area. This is enabled primarily by their simultaneously high tensile strength and bending flexibility. However, manual handling by a human is still used to attach straps in the appropriate configurations, which is a major bottleneck preventing fully autonomous human lifting and transferring with robotic systems.SUMMARY

[0004] In some embodiments a robotic system includes a housing, a mandrel disposed in the housing, wherein the mandrel is configured to rotate. A cavity formed in the mandrel,wherein the cavity is sized and shaped to receive a distal end portion of a vine robot inserted therein, and a clamp configured to selectively retain the distal end portion of the vine robot in the cavity, and wherein a curved internal surface of the housing is configured to guide the vine robot around the mandrel and into the cavity when the vine robot is inserted into the housing.

[0005] In some embodiments a method for operating a robotic system includes inserting a distal end portion of the vine robot into an interior of a housing, guiding the distal end portion of the vine robot around a mandrel with a curved internal surface of the housing to overlap the distal end portion of the vine robot with a proximal portion of the vine robot, and inserting the distal end portion of the vine robot into a cavity of the mandrel, and clamping the distal end portion of the vine robot in the cavity.

[0006] It should be appreciated that the foregoing concepts, and additional concepts discussed below, may be arranged in any suitable combination, as the present disclosure is not limited in this respect. Further, other advantages and novel features of the present disclosure will become apparent from the following detailed description of various nonlimiting embodiments when considered in conjunction with the accompanying figures.

[0007] In cases where the present specification and a document incorporated by reference include conflicting and / or inconsistent disclosure, the present specification shall control. If two or more documents incorporated by reference include conflicting and / or inconsistent disclosure with respect to each other, then the document having the later effective date shall control.BRIEF DESCRIPTION OF DRAWINGS

[0008] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. In the drawings:

[0009] FIG. 1A illustrates the overall structure of a robotic system according to one embodiment;

[0010] Fig. IB illustrates an inverting and everting robotic limb which may be used with the system of Fig. 1 A according to one embodiment;

[0011] FIG. 2 illustrates the overall structure of a winch system according to one embodiment;

[0012] FIGs. 3A-3F depict the process of inserting and grasping of a vine robot into a winch according to one embodiment; and

[0013] FIGs. 4A-4C depict the process of retracting a vine robot after it has been grasped by a winch according to one embodiment.DETAILED DESCRIPTION

[0014] Safely harnessing and lifting humans for transfer is a challenging unsolved problem for current robots because of the high forces and gentle interaction necessary to do so. Traditional flexible robotic limbs are strong but are rigid and unable to conform to the structure of the item the arm is attempting to lift. This reduces the contact points resulting in larger forces being applied to the lifted item. Additionally, traditional flexible robotic limbs may be rigid and difficult to bend. Straps, however, are highly beneficial for manually performing this task primarily because of their simultaneously high tensile strength and high compliant bending flexibility. For example, straps can wrap around an object and passively distribute the force over a larger surface area, but a user will still need to manually manipulate the straps as well as the person and / or object that is to be manipulated.

[0015] In addition to the above, vine robots are being developed which are capable of distally growing through eversion and retracting through inversion. This feature allows vine robots to slide in between a patient and a bed, or through other interfaces with other objects, with minimal friction. However, due to the inflatable nature and everting nature of vine robots, it is difficult to attach an end effector. Without an end effector to latch onto a lock or receiver, it is difficult to anchor the distal tip to at a desired location to facilitate applying tensile loads to the vine robot to lift a load supported by the vine robot.

[0016] Due to the above limitations, typical vine robot retention techniques rely on clamps to support the entire weight of the load. In order for the clamp to support the entire weight of the load, the small surface area of the clamp exerts a large force sufficient to generate enough friction to support a load directly to a single portion of the vine robot. This approach is extremely energy inefficient and may damage the vine robot. For example, vine robots be damaged due to puncturing, ripping, and / or other types of damage if inappropriate forces and / or graspers are used to retain the vine robot during application of a desired load. Thus, vine robot systems are typically limited to supporting loads on the order of about 2.5kg. In view of these shortcomings, the inventors have recognized a need for appropriate systems and methods for grasping and applying tensile forces to a vine robot, or other appropriate flexible everting robotic limb.

[0017] In view of the forgoing, the Inventors have recognized the benefits associated with creating a new robotic system which may comprise a growing soft robot tip clutching mechanism that is able to securely hold a vine robot even with large loads associated with lifting a patient. The inventors recognized that a small grasping force may be utilized to retain a portion of a vine robot on a mandrel of a winch. This small force may allow for the vine robot to wind around the mandrel such that the vine robot overlaps itself and creates a large surface area where friction forces retain the vine robot and a possible load. Accordingly, the inventors have created a winch which utilizes the everting properties of a vine robot to wind the vine robot around a core before clamping which greatly increases the surface area which retains the vine robot and the load. In some embodiments the core may be considered a mandrel which is capable of rotating. A curved internal surface area of a winch may be utilized in order to guide a vine robot due to the everting nature of vine robots. A cavity in the mandril may be utilized where a relatively small clamping force may be employed to retain the distal tip of the vine robot. The cavity may be shaped, sized, and positioned to receive a distal end portion of a vine robot inserted therein.

[0018] The clamp may be configured to selectively retain the distal end of the vine robot. The clamp may be configured to apply a clamping force of at least approximately 0.5 Newtons (N)and at most approximately 100 N. Accordingly, in some embodiments, the clamp may be configured to apply between 1 N and 90 N of clamping force. In some embodiments, the clamp may be configured to apply between 5 N and 80 N of clamping force. In some embodiments, the clamp may be configured to apply between 10 N and 70 N of clamping force. In some embodiments, the clamp may be configured to apply between 20 N and 50 N of clamping force. In some embodiments, the clamp may be configured to apply between 30 N and 40 N of clamping force. The inventors have contemplated the clamp being configured to apply any suitable force depending on the desired application of the robotic system. In applications where large loads are retained and retracted by the robotic system, larger clamp forces may be applied to retain a larger or more robust vine robot.

[0019] It should be understood that a vine robot may correspond to any appropriate type of flexible robotic limb capable of extension and retraction via eversion and inversion through a distal end portion of a flexible inflatable structure as elaborated on further below.Further, in some embodiments, a tether may be present that is operatively connected to the distal end portion of the flexible inflatable structure through which the vine robot inverts and everts. By controlling an applied tension and / or extension length of the tether, it is possible to control an extended length of the vine robot. Appropriate inflatable structures that may be used include, but are not limited to, flexible tube-like structures made from flexible polymeric membranes, textiles with a sealing layer associated with the textile, and / or any other appropriate structure constructed from a suitably flexible and relatively axially inextensible material. The tether may be a string, cable, an internal portion of the flexible inflatable structure inverted within an internal channel of the structure, and / or any other appropriately flexible and relatively axially inextensible material.

[0020] Although in the current application the vine robot is seen as a cylindrical with constant diameter, it should be understood that this system may be used with other varieties of vine robots. Other vine robot shapes may include vine robots which have varying transverse cross sections dimensions along the length of the vine robot. The cross sections shape may include triangle, square, or any other shape suitable for vine robots.

[0021] It should be understood that the various vine robots disclosed herein may is designed in order to have any appropriate length such that it can be used to lift or otherwise support any appropriate load including but not limited to a patient or other appropriate object. For example, a vine robot may be sufficiently long to permit connection to one or more mounting points while also permitting the vine robot to be wrapped at least partially around a target load. Additionally, a tensile strength of the vine robot and a load capacity of a winch including the disclosed mandrels and associated motors may be sufficient to lift a person or other target load (e.g., at least 250 Newtons, 500 Newtons, 1000 Newtons, 2000 Newtons, ranges between any combination of the forgoing, etc.).

[0022] As noted above a vine robot can evert from a distal end portion which allows the vine robot to slide in between a patient and bed / chair without a caretaker creating a gap and / or through gaps present between other loads and a supporting surface. Since the vine robot everts from the distal end portion, this may reduce the friction associated with extension of the vine robot due to the process adding material at its tip instead of from its base. This reduces the total surface area that is pushed between the subject and the bed / chair. The vine robot exists in an inverted state, and when pressurized, the distal tip everts as described above. Thus, potential benefits that may be associated with a vine robot may include but are not limited to the follow: the ability to gently conform to a patient, ease ofstoring and deploying, high tensile strength, and large application versatility. Further, the disclosed systems and methods may further enable the use of vine robots in various applications where larger loading capacities are desired while helping to enable more efficient operation and prevent damage to the vine robots due to excessive forces being applied to the vine robots when supporting such loads.

[0023] Turning to the figures, specific non-limiting embodiments are described in further detail. It should be understood that the various systems, components, features, and methods described relative to these embodiments may be used either individually and / or in any desired combination as the disclosure is not limited to only the specific embodiments described herein.

[0024] FIG. 1A illustrates the overall structure of one embodiment of a robotic system 10. This system may be mounted proximate to a bed, chair, or any other object where a patient or other load may be located using any appropriate type of supporting surface (e.g., a stationary base, mobile base, floor, wall, ceiling, etc.). The vine robot 110 is initially retracted within a first housing such as the depicted housing drum 12. The vine robot 110 everts out of the drum 12, or other housing, and may either be manipulated, or in some instances articulated, around a patient towards a second housing such as the illustrated receiving drum 102 which may be part of a winch 100. As elaborated on further below, the winch 100 may be operated to first grasp and then wind the vine robot 110 into the winch 100 to apply a tensile force thereto. Both the receiving drum 102 and the housing drum 12, or other appropriately shaped housings, may be appropriately configured to be supported by one or more supporting surfaces 16 as depicted in the figure. This surface may be a ceiling, a cantilevered beam, or any other structure capable of supporting large amounts of weight.

[0025] FIG. IB depicts the inner components and structure of one embodiment of the housing drum 12. The housing drum may include a mandrel 54 and a pump 52, or other pressure source, configured to pressurize an interior of the housing drum 12, or other appropriately shaped housing, with a pressurized fluid (e.g., a gas or liquid). The mandrel 54 may be operatively coupled with any appropriate actuator that may be configured to rotate the mandrel 54. For example, a driveshaft 56 of a motor or other appropriate actuator is depicted as being connected to the mandrel 54. In the depicted embodiment, the mandrel 54 has an approximately cylindrical shape with a rounded or circular geometry. However, other appropriate shapes capable of winding material thereon may be used. When the pump 52, or other pressure source, pressurizes the interior volume of the housing drum 12, or otherhousing, a pressure may be applied to the everted portion of the vine robot 110 extending out from the housing drum 12. For example, as noted previously, the vine robot may comprise a flexible tube material. A first end portion of the flexible tube of the vine robot 110 may be sealed to an outer portion of the housing drum 12, or other housing. The flexible tube of the vine robot may then extend out from this connection to the housing drum 12 to a distal tip portion of the vine robot 110 and then invert through the distal tip portion through a channel extending through the flexible tube of the vine robot 110 and into the drum housing as an inverted portion 110a of the vine robot 110. Thus, the pump 52, or other pressure source may inflate the everted portion of the vine robot 110 extending out from the housing drum 12. In some embodiments, a tether 58 may be attached to the inverted portion 110a such that a length of the tether unwound from the mandrel 54 may control a length of the everted portion of the vine robot 1 lOAs mentioned above, the tether 58 may be a string, cable, the inverted portion 58 of the flexible inflatable structure inverted within an internal channel of the vine robot, and / or any other appropriately flexible and relatively axially inextensible material.

[0026] FIG. 2 depicts the inner components and structure of the winch 100. The winch 100 may include a housing such as the depicted receiving drum 102 or other appropriately shaped housing, and all of the components housed within. The drum houses a mandrel 106, and a clamp 108 within the mandrel 106. The mandrel may be operatively coupled with any appropriate actuator that may be configured to rotate the mandrel. For example, a driveshaft 120 of a motor or other appropriate actuator is depicted as being connected to the mandrel. In the depicted embodiment, the mandrel has an approximately cylindrical shape with a rounded or circular geometry. However, other appropriate shapes capable of winding material thereon may be used.

[0027] As noted previously, the inventors have recognized it is desirable to apply a frictional retaining force along a length of a vine robot 110 wound onto the mandrel 108 of the winch 100. Additionally, the inventors have recognized that the distal tip of the vine robot may be retained by a clamp disposed in the cavity. The clamp may retain the distal tip of the vine robot while the remaining portions are positioned for retraction. This feature will be expended on further below. The vine robot is positioned for retraction by coiling around a center mandrel 106 which may provide a majority of the retaining force.

[0028] The mandrel 106 is sized relative to the drum such that the initial transverse dimension of the drum path 114 is larger than the diameter of the vine robot 110 when inflated. In some preferred embodiments the drum path transverse dimension 114 is between1.2 and 2 times the maximum possible inflated vine robot diameter 112, or other transverse cross section dimension perpendicular to a longitudinal axis of the vine robot. The drum path 114 being larger than the inflated vine robot transverse dimension 112 allows for the vine robot 110 to wrap around the mandrel greater than 1 time. The vine robot 110 may be guided by the drum interior surface 104 which directs the vine robot into the cavity 116. This process is further discussed below.

[0029] As noted above, a cavity 116 may be formed in, or otherwise associated with, the mandrel 106. The cross-sectional area of the cavity 116 may be equal to or greater than a minimum size that the vine robot 110 can pass through. The minimum size may differ depending on the material used for the vine robot. Additionally, a minimum transverse cross sectional dimension pf a depth of the slot extending into the mandrel (e.g., a width or height of the cavity) may be smaller than a maximum transverse dimension of the fully inflated vine robot 112. The cavity may be offset from a tangent line of where the vine robot first enters the mandrel by approximately l°-60°. The minimum offset may differ depending on the size of the cavity and the mandrel. The vine robot everts into the cavity and if the offset is greater than 60° the vine robot may not be able to navigate into the cavity. The angular position of the cavity may be configured to align with a region of the drum where the vine robot is forced into the pocket.

[0030] A clamp 108 is disposed in the mandrel 106 and is configured such that it may apply a clamping force to a distal end portion of the vine robot 110 inserted into the cavity 116. The inventors have identified that although using only a clamp may not be feasible, the distal tip of the vine robot being clamped while the remainder of the vine robot is positioned may improve the functionality of the device. The clamp may transition between actuated and unactuated configurations to selectively apply a clamping force to the distal portion of the vine robot in the cavity. The cavity 116 is sufficiently deep to accommodate the clamp 108 and to give the clamp 108 sufficient space to secure the distal tip of the vine robot 110. The clamp may retain at least a portion of the weight of the vine robot. This portion may be significantly less than the portion of the vine robot, and load which is retained by the friction of the vine robot wound onto itself. The clamp is configured to retain a distal tip of the vine robot 118 while the vine robot 110 is deflated and wound onto the mandrel 106. Once the vine robot 110 is wound onto the mandrel 106, the friction present between the layers of the vine robot, and between the outer surface of the mandrel is sufficient to retain the weight ofthe vine robot and the applied load as the shaft 120 of the associated actuator applies a desired tension to the vine robot.

[0031] As noted above, it may be desirable to apply lower clamping forces to a distal end portion of the vine robot 110 to avoid damage to the vine robot 110 and / or to provide a more efficient overall robotic system. Accordingly, in some embodiments the clamp 108 may be configured to apply a clamping force to a distal end portion of the vine robot 110 disposed in the cavity 116 that is between or equal to 0.5 Newtons (N) and 100 N. The force may be sufficient to retain the vine robot 110 in the cavity without the full expected operating load applied and may allow the vine robot 110 to transition from the inflated configuration to the deflated configuration and subsequent winding of the vine robot 110 onto the mandrel 106. As noted previously, the clamp may be any device which is capable of applying a linear clamping force. This includes but is not limited to a linear actuator, a cam clamp, hydraulics, or pneumatics.

[0032] FIGs. 3A-3F depict an embodiment of the process of inserting the vine robot 110 into the winch 100. This process may be completed without operator intervention or may be initiated by an operator. FIG. 3A depicts one embodiment of the start of the process wherein the vine robot 110 may be positioned at the inlet of the receiving drum 102, or other housing. FIG. 3B illustrates the vine robot 110 everting through a gap formed between the curved interior surface of the receiving drum 102 and the outer surface of the mandrel 106. As can clearly be seen in this embodiment, the maximum transverse dimension of the gap is greater than the diameter of the inflated vine robot 110. This may allow the vine robot 110 to complete at least one rotation around the mandrel 106 prior to insertion into the cavity 116. As stated above, this overlap may assist in retaining the vine robot 110 along with the load.

[0033] FIG. 3B also illustrates how the vine robot 110 may evert in a straight line into the interior space of the receiving drum 102 until it contacts the curved interior surface of the receiving drum 102 which may be configured to direct the vine robot 110 to curve along the interior wall of the receiving drum 102, around the mandrel 104. FIG. 3C further depicts the vine robot 110 everting against the interior surface of the receiving drum 102 around the mandrel 106 with a gap present between the interior surface of the vine robot 110 oriented towards the mandrel 106.

[0034] In FIG. 3C the distal tip of the vine robot 110 has circumscribed the exterior surface of the mandrel 106. Therefore, any additional eversion would result in the distal tip of the vine robot 110 coming into contact with and being redirected by the body of the vinerobot 110 itself rather than the interior surface of the receiving drum 102. In portions of the interior volume where the gap between the mandrel 106 and the previously extended portion of the vine robot 110 is less than a maximum inflated transverse dimension of the vine robot 110, the currently everting portion of the vine robot 110 at the distal tip may evert with a transverse dimension that that is less than a maximum possible transverse dimension of the vine robot 110 as shown in FIG. 3D. This extension of the vine robot 110 around the mandrel 106 may continue until the distal end of the vine robot 110 is inserted into the cavity 116 formed in the mandrel 106. As noted above, this eversion process around the mandrel may continue until the vine robot 110 is at least partially overlapped by another portion of the vine robot 110 and preferably overlapped by a half a turn, 1 turn, 2 turns, 3 turns, combinations of the forgoing, and / or any number of turns around the mandrel 106. As also shown in FIG. 3D, during insertion the cavity 116 may be located at a predetermined angular position that is selected to permit insertion of the vine robot is into the cavity 116 during the eversion process into the housing. This may be determined based on an expected location along an outer perimeter of the mandrel 106 where the vine robot makes contact with the mandrel during the eversion process such that reduced gap, or lack of any gap, between the mandrel 106 and the vine robot 110 may force the distal tip of the everting vine robot 110 into the cavity 116.

[0035] In FIG. 3E the distal tip has entered the cavity 116. The cross-sectional area of the cavity may be smaller than the maximum possible cross-sectional area of the inflated vine robot to ensure that the vine robot fills the space. In some embodiments the cross-sectional area of the cavity 116 may be between or equal to 5% and 50% or any other appropriate amount that is less than or equal to a maximum possible cross-sectional area of the vine robot 110 when fully inflated. Inserting the distal tip of the vine robot 110 into the cavity 116 assists in the next step of clamping the distal tip within the cavity as seen in FIG. 3F where the distal tip is clamped by actuating the clamp 108 from an unclamped configuration to a clamped configuration to apply a retaining force to retain the distal tip of the vine robot 110 within the cavity 116 during the process outlined in FIGs. 4A-4C.

[0036] FIGs. 4A-4C depict the process of retracting a vine robot 110 with the winch 100. This process may be implemented after the steps outlined in FIGs. 3A-3F are completed. First, the vine robot 110 may be deflated. The vine robot 110 may now act as a tether and may have more flexibility than when inflated. When the vine robot 110 is in the deflated configuration, the weight of the vine robot 110 and / or winding of the mandrel 106 may tighten the coiled portion of the vine robot 110 around the mandrel 106 as can be seen in FIG.4B. As can more clearly be seen in FIG. 4B, the weight of the vine robot 110 produces a tensile force 304 which may tighten the coil of the vine robot 110 around the mandrel 106. As the deflated vine robot 106 is tightened onto the mandrel 106, a normal force applied to the overlapped portions of the vine robot 110 wound onto the mandrel 106 may apply a corresponding friction force which may act to retain the vine robot on the mandrel. Specifically, there is friction between adjacent windings of the vine robot 110 and between the vine robot 110 and the outer surface of the mandrel 106 which assist in retaining the vine robot 110 wound thereon. Accordingly, when the winch is used to support larger loads, the corresponding increased tensile forces in the deflated vine robot may result in correspondingly larger frictional forces that may help to maintain the vine robot 110 on the mandrel 106 of the winch 100. It should be understood that other embodiments may have multiple vine robot layers or may even rely on just the friction between the vine and the out surface of mandrel 106. FIG. 4C depicts how the winch 100 may be used to wind and unwind the vine robot 110 onto and off of the mandrel 106 by rotating the mandrel 106 in the corresponding direction.

[0037] The following examples are representative of possible winch components and methods of operation.

[0038] Exemplary Embodiments

[0039] Embodiment 1A. A device for grasping a vine robot comprising: a drum housing; a winch within the drum housing, wherein the winch is configured to rotate; and a pocket for inserting a tip of the vine robot housed within a portion of the winch, and wherein the pocket comprises a means for pinching the tip of the vine robot; wherein the drum housing is configured to guide the vine robot around the winch and into the pocket.

[0040] Embodiment IB. The device of embodiment 1A, wherein a pinching force secures the tip of the vine robot when no load is applied.

[0041] Embodiment 1C. The device of embodiment 1A, wherein the means for pinching the tip of the vine robot is housed within the pocket.

[0042] Embodiment ID. The device of embodiment 1A, wherein a retaining force is created by friction from wrapping pressure of the vine robot.

[0043] Embodiment IE. The device of embodiment 1A, wherein the winch is configured to wind up the vine robot into the drum housing and lift a payload.

[0044] Embodiment IF. The device of embodiment 1A, wherein the pay load is supported by the retaining force.

[0045] Embodiment 2A. A method of gathering a vine robot, the method comprising: a. inserting the vine robot having a tip into a winch and a drum housing, wherein the tip of vine robot enters the drum and begins navigating around its housing; b. contacting the vine robot with the winch, wherein the vine robot circles the winch; c. inserting a tip of the vine robot into a pocket of the winch; d. actuating a pinching means that pinches the tip of the vine robot; e. deflating the vine robot; f. applying a weight to the vine robot; g. tightening the vine robot around the winch; and h. rotating the winch to wind the vine robot around the winch.

[0046] Embodiment 2B. The method of Embodiment 2A, further comprising lifting a payload attached to the vine robot.

[0047] Embodiment 3A. A device for gathering a vine robot, wherein the device comprises a winch and a drum housing, wherein the winch is enclosed in the drum housing; wherein the drum housing is cylindrical having an outer wall and parallel side walls; wherein the winch is configured to rotate; wherein the vine robot comprises a tip and a loose end; wherein the winch comprises a pocket for inserting the tip of the vine robot, and wherein the pocket comprises a means for pinching the tip of the vine robot within the pocket.

[0048] Embodiment 3B. The device of embodiment 3 A, wherein the winch is separated from the outer wall of the drum housing by 1.2X- 2-X and the parallel side walls of the drum housing are separated by 1.2X-1.5X, wherein X is the thickness of the vine robot when inflated.

[0049] Embodiment 3C. The device of embodiment 3A, wherein the vine robot is deflated and wrapped around the winch.

[0050] Embodiment 3D. The device of embodiment 3A, wherein the vine robot wraps around the winch twice by growing forward without rotating the winch.

[0051] Embodiment 3E. The device of embodiment 3 A, wherein a clutching force is created by the friction from wrapping pressure of the vine robot the winch, wherein the clutching force is caused by a load applied onto the loose end of the vine robot body.

[0052] Embodiment 3F. The device of embodiment 3A, wherein the clutching force does not comprise an active mechanical force.

[0053] Embodiment 3G. The device of embodiment 3A, wherein the clutching force counteracts the force of the payload on the vine robot.

[0054] Embodiment 3H. The device of embodiment 3A, wherein the winch is configured to wind up the vine robot into the drum housing and lift a payload attached to the loose end of the vine robot.

[0055] Embodiment 31. The device of embodiment 3A, wherein the vine robot tip inserts into the pocket of the winch and is pinched by the pinching mechanism.

[0056] Embodiment 3 J. The device of embodiment 3 A, wherein the pinching mechanism is a solenoid linear actuator.

[0057] While the present teachings have been described in conjunction with various embodiments and examples, it is not intended that the present teachings be limited to such embodiments or examples. On the contrary, the present teachings encompass various alternatives, modifications, and equivalents, as will be appreciated by those of skill in the art. Accordingly, the foregoing description and drawings are by way of example only.

Claims

CLAIMS1. A robotic system comprising: a housing; a mandrel disposed in the housing, wherein the mandrel is configured to rotate; and a cavity formed in the mandrel, wherein the cavity is sized and shaped to receive a distal end portion of a vine robot inserted therein; and a clamp configured to selectively retain the distal end portion of the vine robot in the cavity, and wherein a curved internal surface of the housing is configured to guide the vine robot around the mandrel and into the cavity when the vine robot is inserted into the housing.

2. The robotic system of claim 1, wherein the clamp is configured to apply a clamping force to the distal end portion of the vine robot in the cavity.

3. The robotic system of claim 1, wherein the mandrel is configured to wind up the vine robot into the housing to apply a tensile force to the vine robot.

4. The robotic system of claim 3, wherein when the mandrel winds the vine robot onto the mandrel, a friction force is applied to the vine robot to maintain the vine robot on the mandrel.

5. The robotic system of claim 1, wherein a gap between the internal surface of the housing and the mandrel is between or equal to 1.2 and 2 times a maximum transverse dimension of the vine robot that is perpendicular to a longitudinal axis of the vine robot.

6. The robotic system of claim 1, wherein a maximum transverse dimension of the cavity perpendicular to a direction of insertion of the distal end portion of the vine robot is smaller than a maximum transverse dimension of the distal end portion of the vine robot in a fully expanded configuration.

7. The robotic system of claim 1, wherein the clamp is configured to clamp the distal end portion of the vine robot in the cavity.

8. The robotic system of claim 1, wherein the mandrel is rotatable.

9. The robotic system of claim 1, wherein the clamp is configured to apply a clamping force between 0.5 N and 100 N.

10. The robotic system of claim 1, wherein the clamp is at least one selected from a linear actuator, a cam clamp, a hydraulic clamp, and a pneumatic clamp.

11. The robotic system of any one of the preceding claims, further comprising the vine robot.

12. A method for operating a robotic system comprising: inserting a distal end portion of the vine robot into an interior of a housing; guiding the distal end portion of the vine robot around a mandrel with a curved internal surface of the housing to overlap the distal end portion of the vine robot with a proximal portion of the vine robot; and inserting the distal end portion of the vine robot into a cavity of the mandrel; clamping the distal end portion of the vine robot in the cavity.

13. The method of claim 12, further comprising anchoring the vine robot with the friction force present between overlapping portions of the vine robot.

14. The method of claim 12, further comprising winding the mandrel to lift a load supported by the vine robot.

15. The method of claim 12, further comprising actuating the mandrel to apply a tensile force to the vine robot.

16. The method of claim 12, wherein guiding the distal end portion of the vine robot around a mandrel with a curved internal surface of the housing to overlap the distal endportion of the vine robot with a proximal portion of the vine robot comprises wrapping the vine robot around the mandrel at least once.

17. The method of claim 12, wherein clamping the distal end portion of the vine robot in the cavity comprises clamping with a force between 0.5 N and 100 N.

18. The method of claim 12, wherein clamping the distal end portion of the vine robot in the cavity comprises clamping with the clamp which is at least one selected from a linear actuator, a cam clamp, a hydraulic clamp, and a pneumatic clamp.

19. The method of claim 12, wherein inserting the distal end portion of the vine robot into a cavity of the mandrel comprises inserting the distal end into the cavity wherein a maximum transverse dimension of the cavity perpendicular to a direction of insertion of the distal end portion of the vine robot is smaller than a maximum transverse dimension of the distal end portion of the vine robot in a fully expanded configuration.

20. The method of claim 12, wherein inserting a distal end portion of the vine robot into an interior of a housing comprising inserting the distal end portion of the vine robot into a gap between the internal surface of the housing and the mandrel and wherein the gap is between or equal to 1.2 and 2 times a maximum transverse dimension of the vine robot that is perpendicular to a longitudinal axis of the vine robot.

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