Winches for use with inverting and everting robotic limbs

Abstract

Robotic systems including everting devices with everting flexible inflatable structures are disclosed. In some embodiments, a system may include a mandrel with first and second clamping portions that are moved between an open and clamped configuration to retain a portion of an everting device therebetween. The mandrel may be configured to rotate to wind the flexible inflatable structures of the everting device thereon. In some embodiments, an interface between the first and second clamping portions of the mandrel may be corrugated.

Description

MIT 26020J-1-WINCHES FOR USE WITH INVERTING AND EVERTING ROBOTIC LIMBSRELATED APPLICATION

[0001] This patent claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Application No.: 63 / 691,253, filed on September 5, 2024, which is hereby incorporated by reference herein in its entirety.GOVERNMENT SUPPORT

[0002] This invention was made with government support under ITE2344314 awarded by the National Science Foundation. The government has certain rights in the invention.FIELD

[0003] Disclosed embodiments are related to winches for use with inverting and everting robotic limbs.BACKGROUND

[0004] 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 task regularly carried out by caregivers, which is both strenuous and fatiguing on their bodies. This task is also common during 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.12669474.1MIT 26020J-2-SUMMARY

[0005] In some embodiments, a winch system includes a mandrel including a first clamping portion and a second clamping portion. The first clamping portion and second clamping portion are moveable between an open configuration and a clamped configuration to clamp a flexible inflatable structure of an everting device inserted between the first clamping portion and the second clamping portion. The system includes a driveshaft configured to rotate the mandrel to wind the flexible inflatable structure of the everting device onto and off of the mandrel.

[0006] In some embodiments, a clamp system includes a first clamping portion and a second clamping portion. The first clamping portion and the second clamping portion are moveable between an open configuration and a clamped configuration to clamp a flexible inflatable structure of an everting device inserted between the first clamping portion and the second clamping portion. A clamping interface between the first clamping portion and the second clamping portion is a smooth, rounded corrugated interface.

[0007] In some embodiments, a method for operating an everting device includes: inserting a distal end portion of a flexible inflatable structure of the everting device between a first clamping portion and a second clamping portion of a mandrel; clamping the distal end portion of the flexible inflatable structure between the first clamping portion and the second clamping portion; and winding the flexible inflatable structure onto the mandrel.

[0008] 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.

[0009] 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.12669474.1MIT 26020J-3-BRIEF DESCRIPTION OF DRAWINGS

[0010] 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:

[0011] Fig. 1A illustrates an overall structure of a robotic system according to one embodiment;

[0012] Fig. IB illustrates an inverting and everting robotic limb which may be representative of the robotic limb illustrated in Fig. 1A according to one embodiment;

[0013] Fig. 2 illustrates a rotatable clamp according to one embodiment;

[0014] Fig. 3 illustrates a simplified diagram of the clamping forces applied to a vine robot by a clamp prior to winding the vine robot onto the clamp according to one embodiment; and

[0015] Figs. 4A-4E illustrate a process of clamping a distal portion of a vine robot with a rotatable clamp according to one embodiment.DETAILED DESCRIPTION

[0016] Safely harnessing and lifting humans for transfer is a challenging problem for current robots because of the high forces and gentle interaction desired to do so. Traditional flexible robotic limbs are strong but are rigid and unable to conform to the structure of an object the arm is attempting to lift. This reduces the contact points, resulting in larger pressures being applied to the lifted object. 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.

[0017] 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 other supporting surface, 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 to the vine robot.12669474.1MIT 26020J-4-Without an end effector to latch onto a lock or receiver, it is difficult to anchor the distal end portion of the vine robot at a desired location to facilitate applying tensile loads to the vine robot to lift a load supported by the vine robot.

[0018] 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 existing clamps to support the entire weight of the load during operation, the small surface area of the clamp exerts a large force sufficient to generate enough friction to support a load directly on a single portion of the vine robot. This approach is extremely energy inefficient and may damage the vine robot. For example, vine robots may 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 2.5 kg. 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 structures during operation.

[0019] In view of the above, the inventors have recognized the benefits associated with distributing the friction forces used to hold a distal end portion of a vine robot over a larger area. Specifically, in some embodiments, a clamp may be rotatable such that a portion of a flexible inflatable structure of any appropriate everting device, such as a vine robot, may be wound onto the clamp. To facilitate appropriate positioning and engagement of the flexible inflatable structure, a clamping system may include a rotatable mandrel including first and second clamping portions. The first clamping portion and the second clamping portion may be moveable between an open configuration and a clamped configuration to clamp a vine robot inserted between the first portion and the second portion. As used herein, a clamped configuration may be referred to or used interchangeably with a closed configuration or any other similar term. Depending on the embodiment, the first, second, or both of the clamping portions may be moveable relative to each other to move the mandrel between the open and clamped configurations. In the open configuration, an opening disposed between the opposing first and second clamping portions may be configured to receive a distal portion of the flexible inflatable structure of an everting device, such as a vine robot. In some embodiments, a driveshaft may be configured to rotate the mandrel to wind the flexible inflatable structure onto and off of the mandrel. For example, any appropriate actuator capable of rotating the driveshaft may be used.12669474.1MIT 26020J-5-

[0020] The above embodiment may allow a flexible inflatable structure of an everting device to be wound onto the rotatable mandrel. Thus, frictional forces applied between adjacent layers of the vine robot and between a first layer of the vine robot and the exterior surface of the mandrel may support the applied tensile loads. As this frictional force is spread over a larger area, the overall pressures applied to the flexible inflatable structure may be reduced while increasing the overall tensile loads that may be supported by the system.

[0021] To facilitate the clamping of the flexible inflatable structure of an everting device during initial clamping, the inventors have recognized the benefits associated with increasing the surface area at a clamping interface between the first clamping portion and the second clamping portion. For example, the clamping interface may include a corrugated interface with correspondingly shaped and opposing corrugated surfaces formed on each of the first and second clamping portions. In some embodiments, the opposing corrugated surfaces may be complementarily shaped such that the opposing corrugated surfaces mate together in the clamped configuration. Additionally, the corrugated interface may have a surface area that is greater than a projected area normal to a direction of movement of the clamping portions.

[0022] To help avoid damage to the flexible inflatable structure of an everting device, in some embodiments, the disclosed corrugated interface and corresponding corrugated surfaces may include rounded, smooth corrugations. Such an arrangement with a corrugated interface may desirably increase the applied frictional force applied during initial clamping without increasing the size of the clamping system. Such an arrangement may help to avoid puncturing and tearing of the flexible inflatable structure of an everting device when clamped between the clamping portions as compared to corrugations or other structures with sharp interfaces.

[0023] In some applications, it may be desirable to further increase a frictional force applied to a flexible inflatable structure clamped at a corrugated interface. Accordingly, in some embodiments, the corrugated interface may be appropriately sized and shaped to induce capstan friction with the flexible inflatable structure clamped between the clamping portions. Additionally, in some embodiments, the corrugated surface may have a coating with a coefficient of friction that is greater than a coefficient of friction than an underlying material of the clamping portion. The coating may have a textured surface or a flush surface with minimal protrusions.12669474.1MIT 26020J-6-

[0024] In some embodiments, it may be desirable for the one or more actuators used to move the clamping portions between the open and clamped configurations not to be powered while the clamping portions are maintained in the open and clamped configurations. Accordingly, in some embodiments, the one or more actuators configured to move the clamping portions between the open and clamped configurations may be one or more non- backdrivable actuators. Thus, energy may not be used to maintain the clamp in the open and closed configurations. It should be understood that a non-backdrivable actuator may correspond to any appropriate actuator capable of resisting backdriving of the actuator for loads less than threshold load and may be selected based on appropriate combinations of mechanical advantage, internal friction, locking mechanisms, and / or any other appropriate design feature that may be included in a non-backdrivable actuator. Appropriate types of non- backdrivable actuators may include but are not limited to a screw actuator, a linear actuator, a rotary actuator, and / or any actuator suitable non-backdrivable actuator capable of clamping a flexible inflatable structure of an everting device. The actuators may also be hydraulic, pneumatic, electric, and / or powered in any other appropriate manner.

[0025] It should be understood that an everting device, which may also be referred to as a vine robot herein, may correspond to any appropriate type of flexible 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 capable of maintaining a pressure differential relative to the surrounding external environment when inflated. 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.

[0026] Unlike current retention system, which may require a vine robot to have a circular cross-section with a specific diameter, flexible inflatable structures with any transverse cross-sectional shape and size capable of fitting within the opening between the12669474.1MIT 26020J-7- clamping portions may be used with the currently disclosed clamping systems. Accordingly, while in the current application the vine robot is illustrated as a cylindrical structure with a constant diameter, it should be understood that the disclosed systems may be used with other vine robots with inflatable flexible structures having any appropriate type of transverse cross- sectional shape and size in the inflated state. For example, appropriate transverse cross sections shapes may include triangles, squares, ovals, rectangles, or any other suitable shape.

[0027] It should be understood that the various vine robots disclosed herein may have any appropriate length such that they 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 actuators may be appropriately constructure 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.). Of course, the disclosed systems may be sized for use with any desired type of load, and thus, may also be used with loads greater than and / or less than those noted above.

[0028] The clamping portions and one or more associated actuators configured to move the clamping portions between the open and clamped configurations may be configured to apply any appropriate clamping force sufficient to retain a distal portion of a vine robot in the mandrel of a clamping system during initial winding. For example, the applied clamping force may be selected such that the applied frictional force is at least greater than a force needed to support a weight of the flexible inflatable structure of the vine robot. In some applications, the applied clamping force may be greater than or equal to 0.5 Newtons (N), 1 N, 5 N, 10 N, 20 N, 30 N, 40 N, 50 N, 100 N, or any other appropriate clamping force. The applied clamping force may also be less than or equal to 200 N, 100 N, 50 N, 40 N, 30 N, 20 N, and / or any other appropriate clamping force. Combinations of forgoing ranges are contemplated including, for example, a clamping force that is between or equal to 0.5 N and 200 N. Of course, ranges both greater than and less than those noted above are also contemplated.

[0029] As noted above a vine robot can evert from a distal end portion which allows the vine robot to slide in between a patient or other object and a supporting surface (e.g., a bed, chair, etc.) without a using creating a gap and / or through gaps present between the load12669474.1MIT 26020J-8- and the 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 an object, ease of storing 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.

[0030] 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.

[0031] FIG. 1A illustrates the overall structure of one embodiment of a system 10. This system 10 may be mounted proximate to a bed, chair, or any other supporting surface where a patient or other load may be located using any appropriate type of supporting structure (e.g., a stationary base, mobile base, floor, wall, ceiling, etc.). The flexible inflatable structure 14 of the everting device 12 is initially retracted within the illustrated housing. The flexible inflatable structure 14 everts out of the housing 16 and may either be manipulated, or in some instances articulated, around a subject or other object towards the illustrated clamp 100. As elaborated on further below, the clamp 100 may be operated to first grasp and then wind the everting device 14 around an outer surface of the clamp 100 to apply a tensile force thereto. Both the clamp 100 and the housing drum 12, or other appropriately shaped housings, may be appropriately configured to be supported by one or more supporting structures 24 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.

[0032] FIG. IB depicts the inner components and structure of one embodiment of the housing drum 12. The housing drum may include a mandrel 18 and a pump 22, or other pressure source, configured to pressurize an interior of the housing 16 with a pressurized fluid (e.g., a gas or liquid). The mandrel 18 may be operatively coupled with any appropriate12669474.1MIT 26020J-9- actuator that may be configured to rotate the mandrel 18. For example, a driveshaft 20 of a motor or other appropriate actuator is depicted as being connected to the mandrel 18. In the depicted embodiment, the mandrel 18 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 22, or other pressure source, pressurizes the interior volume of the housing 16, a pressure may be applied to the everted portion of the flexible inflatable structure 14 extending out from the housing 16. A first end portion of the flexible inflatable structure 14 may be sealed to an outer portion of the housing 16. The flexible inflatable structure 14 of the everting device 12 may then extend out from this connection to the housing 16 to a distal tip portion of the flexible inflatable structure 14 and then invert through the distal tip portion through an internal channel extending through the flexible inflatable structure 14 of the everting device 12 and into the housing 16 as an inverted portion 14a of the flexible inflatable structure 14. Thus, the pump 22, or other pressure source, may inflate the everted portion of the flexible inflatable structure 14 extending out from the housing 12. In some embodiments, a tether 20 may be attached to the inverted portion 14a such that a length of the tether 20 unwound from the mandrel 18 may control a length of the everted portion of the flexible inflatable structure 14. As mentioned above, the tether 20 may be a string, cable, the inverted portion 14a of the flexible inflatable structure inverted within an internal channel of the flexible inflatable structure 14, and / or any other appropriately flexible and relatively axially inextensible material.

[0033] Fig. 2 illustrates one embodiment of a rotatable clamp 100 capable of winding a flexible inflatable structure 14 of an everting device 12 thereon. The flexible inflatable structure 14 is depicted within the clamp 100. A mandrel, the flexible inflatable structure may be wound onto, may include a first clamping portion 102 and a second clamping portion 104 which are depicted in the open configuration on opposing sides of the flexible inflatable structure 14 of the everting device 12 disposed in the opening formed therebetween. The opposing clamping portions 102 and 104 may include rounded exterior surfaces, though other appropriately shaped exterior surfaces appropriate for winding the flexible inflatable structure 14 thereon when the clamp 100 is rotated may also be used. As also shown in the figure, an interface between the two opposing clamping portions 102 and 104 may be a corrugated interface with corresponding opposing corrugated surfaces formed on the first and second clamping portions 102 and 104. In some embodiments, the corrugated surfaces may include12669474.1MIT 26020J-10- smooth rounded corrugations to help avoid tearing and / or puncturing of the flexible inflatable structure 14.

[0034] In some embodiments, the first clamping portion 102, second clamping portion 104, or both may be configured to move between the open and closed configurations by one or more operatively coupled actuators 112. As noted previously, the one or more actuators 112 may be non-backdrivable, though backdrivable actuators may also be used. As noted previously, while a cylindrical flexible inflatable structure 14 has been illustrated, the everting device may have any appropriate shape and size capable of fitting into the opening between the opposing clamping portions 102 and 104 in the open configuration.

[0035] In some embodiments, two opposing end plates / endcaps 110 may be configured to moveably support the clamping portions 102 and 104 as well as the one or more actuators 112 to permit the clamp 100 to move between the open and clamped configurations. Additionally, in some embodiments, where both clamping portions 102 and 104 are moveable, two opposing actuators 112 may be disposed on opposing endcaps 110 of the clamp 100, as depicted in Fig. 2.

[0036] In some embodiments, the actuator 112 may be disposed on and operatively coupled to an endcap 110a of the first clamping portion and an endcap 110b of the second clamping portion. Additionally, in some embodiments, the winch system may include a second actuator 112 disposed on a second endcap 110c of the first clamping portion and a second endcap 1 lOd of the second clamping portion. Accordingly, the actuator(s) may apply compressive force to the endcaps, which evenly apply the compressive force to the first and second clamping portions.

[0037] As should be appreciated, with the endcaps being disposed at the ends of the first and second clamping portions, and the actuators being disposed on said endcaps, the endcaps may be designed to allow for complete clamping of the device (i.e., the first and second clamp portions touching). Accordingly, in some embodiments, in order to permit such movement, the endcaps disposed on the first clamping portion may be configured to nest within at least a part of the endcaps disposed on the second clamping portion when the first clamping portion and the second clamping portion are in the clamped configuration. Of course, any other endcap geometry that supports the desired first and second clamping portion ranges of motion may be employed in the disclosed system.

[0038] In some embodiments, a rotational driveshaft 108 may be operatively coupled to one of the clamping portions 102 and 104 which function as a mandrel of the clamp 10012669474.1MIT 26020J-11- that the flexible inflatable structure 14 may be wound onto. For example, as shown in the depicted embodiment, the driveshaft 108 is coupled and rotationally fixed relative to first clamping portion 102. Specifically, the driveshaft 108 extends through and is rotationally fixed relative to the two opposing endcaps 110 attached to opposing ends of the first and second clamping portions 102 and 104. For example, in some embodiments, the driveshaft 108 may extend through the first clamping portion 102 and the endcaps disposed on the first clamping portion. The second clamping portion 104 is then moveable relative to the driveshaft 108 and the first clamping portion 102. Thus, when the driveshaft 108 is rotated, the first and second clamping portions 102 and 104 are rotated as well.

[0039] Fig. 3 illustrates a simplified diagram of the clamping forces applied to a flexible inflatable structure 14 by a corrugated interface of the first and second clamping portions 102 and 104 in the clamped configuration with the flexible inflatable structure in a deflated configuration.

[0040] In some embodiments, a high-friction film and a corrugated wave pattern may be incorporated into the clamp 100 to amplify its load capacity relative to the required clamping force. The wave pattern, as illustrated in Fig. 3, forms the everting device 14 inside of the clamp such that the everting device 14 may wrap around a series of curves to generate capstan friction over its wrapped length. The load capacity of one curve is the holding force of the successive curve, and thus this capstan friction may cumulatively amplify the load capacity over the entire series of curves. Amplifying the load capacity may also reduce the clamping force used to assist in retaining the everting device without damaging it. The corrugated pattern may be configured such that an inner surface of the first portion of the clamp 102 may have a complementary shape to the inner surface of the second portion of the clamp 104. This is similarly seen in Fig. 3.

[0041] Figs. 4A-4E illustrate an embodiment of the process of clamping a distal portion of a flexible inflatable structure 14 of an everting device 12 with the clamp 100. The clamp 100 may begin in a first clamped configuration in Fig. 4A. In the clamped configuration, the clamp 100 may be closed wherein the first and second clamping portions 102 and 104 of the clamp 100 are touching.

[0042] The clamp 100 may then be moved to the open configuration as seen in Fig. 4B, to a sufficient distance to allow for a flexible inflatable structure 14 to enter an opening formed between the first and second clamping portions 102 and 104 of the clamp 100. The clamp may be opened by activating linear actuators that move the first and second clamping12669474.1MIT 26020J-12- portions 102 and 104 away from each other. Depending on the size of the flexible inflatable structure 14, the first and second clamping portions 102 and 104 of the clamp 100 may be configured to separate varying lengths in order to accommodate insertion of the flexible inflatable structure 14.

[0043] The flexible inflatable structure 14 may then be inserted into the opening formed between the first and second clamping portions 102 and 104 of the clamp 100, as seen in Fig. 4C. In some embodiments, the flexible inflatable structure 14 may be inserted into the clamp in the inflated configuration. In some embodiments, the clamp 100 may be clamped onto the flexible inflatable structure 14 while the flexible inflatable structure 14 is in the inflated configuration.

[0044] Fig. 4D depicts the clamp 100 in the clamped configuration with the everting device 14 in a deflated configuration. Furthermore, the clamping surface may be a smooth corrugated surface as seen in Fig. 4D. As mentioned above, a rounded corrugated surface as pictured, may induce capstan friction which would reduce the clamping force required to retain the everting device.

[0045] The clamp 100 may then be rotated by an actuator operatively attached to driveshaft 108. Rotating the clamp 100 may cause the mandrel formed by clamping portions 102 and 104 to act as a winch which winds the flexible inflatable structure 14 onto the exterior surfaces of the first and second clamping portions 102 and 104. In these embodiments, wrapping the flexible inflatable structure 14 onto the exterior surface of the clamp may apply a frictional force along a length of the sequentially wound layers of the flexible inflatable structure 14 which may support a tensile load applied to the flexible inflatable structure 14 even when the clamping forces are removed. Accordingly, in some embodiments, the clamping force of the clamp may be decreased after the everting device is wound onto the mandrel by at least one full rotation. Additionally, it should be appreciated that subsequent winding would only further strengthen the everting device's grip on the mandrel, and thus, as the mandrel continues to be wound, the clamping force may continue to decrease. In the depicted embodiment, the exterior surfaces of the first and second clamping portions 102 and 104 may be rounded. However, other shapes may also be used. For example, a combined transverse cross sectional shape of the first and second clamping portions in the clamped configuration may form at least a portion of a circle, a polygon, an oval, and / or any other appropriate shape.12669474.1MIT 26020J-13-

[0046] The inventors have recognized that the friction force present between the flexible inflatable structure 14 and the outer surface of the clamp 100 may reduce the clamping force needed for retaining the everting device 14. Accordingly, in some embodiments, when the clamp has completed greater than one rotation, and the everting device has completely wrapped around a perimeter of the clamp, the clamping force may be reduced. For example, the clamping force may continue to be reduced with subsequent rotations of the clamp until the clamping force is completely removed. Alternatively, in instances in which non-backdrivable actuators are used, the actuators may simply not be powered after the initial clamping of the flexible inflatable structure 14.

[0047] 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.12669474.1

Claims

MIT 26020J-14-CLAIMS1. A winch system comprising: a mandrel including a first clamping portion and a second clamping portion, wherein the first clamping portion and the second clamping portion are moveable between an open configuration and a clamped configuration to clamp a flexible inflatable structure of an everting device inserted between the first clamping portion and the second clamping portion; and a driveshaft configured to rotate the mandrel to wind the flexible inflatable structure of the everting device onto and off of the mandrel.

2. The winch system of claim 1, wherein a transverse cross-sectional shape of the mandrel in the clamped configuration forms at least a portion of a circle, a polygon, or an oval.

3. The winch system of claim 1, wherein a clamping interface between the first clamping portion and the second clamping portion of the mandrel is a corrugated interface.

4. The winch system of claim 3, wherein the corrugated interface includes smooth rounded corrugated surfaces.

5. The winch system of claim 1, further comprising a non-backdrivable actuator configured to move the first and second clamping portions between the open configuration and the clamped configuration.

6. The winch system of claim 5, wherein the non-backdrivable actuator is disposed on an endcap of the first clamping portion and an endcap of the second clamping portion.

7. The winch system of claim 6, further comprising a second non-backdrivable actuator disposed on a second endcap of the first clamping portion and a second endcap of the second clamping portion.

8. The winch system of claim 1, wherein the first clamping portion and the second clamping portion have opposing endcaps.12669474.1MIT 26020J-15-9. The winch system of claim 8, wherein endcaps disposed on the first clamping portion are configured to nest within at least a part of the endcaps disposed on the second clamping portion when the first clamping portion and the second clamping portion are in the clamped configuration.

10. The winch system of claim 8, wherein the driveshaft extends through the first clamping portion and the endcaps disposed on the first clamping portion.

11. The winch system of any one of the preceding claims, further comprising the everting device.

12. A clamp system comprising: a first clamping portion and a second clamping portion, wherein the first clamping portion and the second clamping portion are moveable between an open configuration and a clamped configuration to clamp a flexible inflatable structure of an everting device inserted between the first clamping portion and the second clamping portion, wherein a clamping interface between the first clamping portion and the second clamping portion is a smooth rounded corrugated interface.

13. The clamp system of claim 12, wherein the first clamping portion and the second clamping portion have opposing endcaps.

14. The clamp system of claim 13, wherein endcaps disposed on the first clamping portion are configured to nest within at least a part of endcaps disposed on the second clamping portion when the first clamping portion and the second clamping portion are in the clamped configuration.

15. The clamp system of claim 12, further comprising a non-backdrivable actuator configured to move the first and second clamping portions between the open configuration and the clamped configuration.12669474.1MIT 26020J-16-16. The clamp system of claim 15, wherein the non-backdrivable actuator is disposed on an endcap of the first clamping portion and an endcap of the second clamping portion.

17. The clamp system of claim 16, further comprising a second non-backdrivable actuator disposed on a second endcap of the first clamping portion and a second endcap of the second clamping portion.

18. A method for operating an everting device comprising: inserting a distal end portion of a flexible inflatable structure of the everting device between a first clamping portion and a second clamping portion of a mandrel; clamping the distal end portion of the flexible inflatable structure between the first clamping portion and the second clamping portion; and winding the flexible inflatable structure onto the mandrel.

19. The method of claim 18, wherein a clamping interface between the first portion and the second portion of the mandrel is a corrugated interface.

20. The method of claim 19, wherein the corrugated interface is a smooth rounded corrugated interface.

21. The method of claim 18, wherein a transverse cross-sectional shape of the mandrel in a clamped configuration forms at least a portion of a circle, a polygon, or an oval.

22. The method of claim 18, further comprising decreasing a clamping force when the everting device is wound onto the mandrel by at least one full rotation.12669474.1

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