Distributed Pressurization for Soft Robot Actuation Speed

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Solution Overview

Problem

Conventional soft robotic systems face challenges with weight, speed, and the limited number of actuation chambers due to the use of long and narrow tubes for pneumatic or hydraulic control, leading to cumbersome robots with restricted actuation speed and limited articulation.

Innovation Solution

A distributed pressurization and exhaust system where a common fluid pressurization unit is embedded within the flexible body, with fluid chambers connected through a network of valves, allowing for pressurized fluid to flow into or out of the chambers for actuation, reducing the need for multiple tubes and enhancing actuation speed and articulation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If long and narrow tubes are used to connect actuation chambers to pneumatic control units, then the robot can be controlled, but the robot becomes heavier and more cumbersome

Engineering Contradiction:

Improvecontrol capabilityVSAvoidrobot weight

Core Design Contradiction:

ReliabilityVSWeight of moving object

Solution Approach 1:

The patent divides the pneumatic control system into distributed segments by placing multiple miniaturized pneumatic control units throughout the robot body, each serving local actuation chambers. This eliminates the need for long connecting tubes and reduces overall system weight while maintaining control capability.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent transitions from a centralized control architecture (single control unit connected via tubes) to a distributed three-dimensional network of control units embedded within the robot body. This spatial redistribution eliminates long tube connections and reduces weight.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Ease of operation

If long and narrow tubes are used for fluid supply, then actuation chambers can be reached, but tubular resistance increases and actuation speed decreases

Engineering Contradiction:

Improveactuation reachabilityVSAvoidactuation speed

Core Design Contradiction:

Ease of operationVSSpeed

Solution Approach 1:

The patent segments the fluid supply system into multiple distributed control units positioned close to actuation chambers, replacing long narrow tubes with short local connections. This reduces tubular resistance and enables faster actuation response.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent introduces miniaturized pneumatic control units as intermediary elements between the fluid source and actuation chambers. These intermediaries are positioned strategically to minimize fluid path length and resistance, improving actuation speed.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Adaptability or versatility

If multiple separate tubes are used for each actuation chamber, then each chamber can be independently controlled, but the number of tubes increases and the robot becomes more cumbersome

Engineering Contradiction:

Improveindependent actuation controlVSAvoidtube network complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent merges multiple pneumatic control functions into integrated miniaturized control units that are distributed throughout the robot body. Each unit combines pressure regulation, flow control, and actuation chamber connection, reducing the overall number of separate tube connections while maintaining independent control capability.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The patent creates universal miniaturized control units that can serve multiple actuation chambers or functions. These multi-functional units reduce the total number of components and tube connections needed while preserving independent control of each actuation chamber.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

This design reduces the weight and tubular resistance of the robot, enabling faster actuation and increased articulation by allowing more independently addressable actuation chambers, while maintaining efficient fluid storage and supply.

Implementation Method 1

a pneumatic pump configured to pressurize air and deliver the pressurized air to the accumulating chamber

Methodology Applied

Scientific EffectCompression: Compression

Implementation Method 2

a common fluid pressurization unit in the form of an accumulating chamber in fluidic communication with the pneumatic pump and configured to hold the pressurized air for a predetermined time; a plurality of connection tubes, only two of which are needed per actuator, each connected to a different one of the fluid chambers and configured to allow the pressurized air to flow from the accumulating chamber into the fluid chambers

Methodology Applied

Scientific EffectPressure gradient: Pressure Gradient

Data Source

PatentUS10828788B2Distributed pressurization and exhaust systems for soft robots

Publication Date: 2020.11.10 PRESIDENT & FELLOWS OF HARVARD COLLEGE

AI summary

A soft robot is described, including: a flexible and/or stretchable body; a common fluid pressurization unit; and a plurality of fluid chambers each embedded in the flexible and/or stretchable body and capable of fluidic connection with the common fluid pressurization unit through a pressurizing valve; wherein the pressurizing valve is capable of being activated to allow the pressurized fluid to flow from the common fluid pressurization unit into the fluid chamber to result in actuation. Methods of using the soft robot are also described.