Soft Poly-Limb System Using Ring-Reinforced Actuators
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Solution Overview
Problem
Traditional robotic appendages face limitations due to rigid designs, excessive weight, and challenging interactions with human tissue, which hinder their adoption and effectiveness in supplementing human limbs for tasks such as object manipulation and daily assistance.
Innovation Solution
A soft poly-limb system comprising fluid-driven, ring-reinforced actuators with modular connectors, allowing for flexible and wearable robotic limbs with multiple degrees of freedom, controlled by a motion controller and pressure regulation system, enabling safe and compliant interaction with human users.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If traditional robotic appendages use rigid designs, then structural strength and stability are improved, but weight increases and interaction with human tissue becomes difficult
Solution Approach 1:
The patent employs soft robotic actuators with flexible polymer structures instead of rigid metallic components. The actuators use elastomeric materials that can bend and conform while maintaining structural integrity, eliminating the need for heavy rigid frameworks while preserving strength through material properties rather than geometric rigidity.
Solution Approach 2:
The robotic appendage utilizes composite construction combining lightweight polymers, elastomers, and reinforcement layers. This composite approach provides sufficient structural strength and durability while keeping the overall weight minimal, allowing the device to be worn comfortably on human limbs without excessive burden.
2Stability of the object's composition
If traditional robotic appendages use rigid designs, then structural stability is improved, but adaptability to different tasks and environments deteriorates
Solution Approach 1:
The robotic appendage employs dynamically adjustable soft actuators that can change their stiffness and shape in real-time based on task requirements. The flexible structure allows continuous adaptation of mechanical properties, enabling the same device to perform multiple functions from gentle manipulation to more forceful interactions without compromising structural stability.
Solution Approach 2:
The system utilizes variable parameter actuators where physical properties such as pressure, volume, and material stiffness can be adjusted to match different operational demands. This allows the robotic appendage to maintain stable performance across varying tasks by dynamically tuning its mechanical parameters rather than relying on fixed rigid structures.
3Productivity
If traditional robotic appendages are designed for object manipulation, then manipulation capability is improved, but ease of interaction with human tissue deteriorates
Solution Approach 1:
The robotic appendage uses homogeneous soft materials throughout its structure, eliminating hard edges and rigid surfaces that could harm or discomfort human skin. The uniform compliance of the elastomeric construction allows safe direct contact with human tissue while maintaining effective grip and manipulation forces for object handling.
Solution Approach 2:
The system employs pneumatic or hydraulic soft actuators that provide controlled, compliant force delivery. The fluid-driven mechanism allows smooth, adjustable interaction forces that can gently manipulate objects while being equally gentle on human skin, combining effective manipulation capability with extreme ease and safety of interaction.
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
The soft poly-limb system provides enhanced object manipulation capabilities, safety, and ease of use, addressing the limitations of traditional robotic systems by being lightweight, adaptable, and capable of complex three-dimensional motion, thus promoting psychological acceptance and effective assistance in various tasks.
Implementation Method 1
fluid-driven, ring-reinforced actuators
Implementation Method 2
The plurality of rings may be configured to restrain radial expansion and promote linear extension motion
Data Source
AI summary
The present disclosure provides a soft poly-limb system, comprising a first actuator segment, a second actuator segment, and a third actuator segment forming the soft poly-limb. Each of the first actuator segment, the second actuator segment, and the third actuator segment may comprise a plurality of ring reinforced actuators. The soft poly-limb system may further comprise a control system whereby a user may control the soft poly-limb.