Soft Robot Strain-Limiting Layer for Integrated Electronics

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Solution Overview

Problem

Integrating electrical components into soft robot actuators is challenging due to the difficulty of incorporating rigid materials into flexible and stretchable structures, which limits the advancement of soft robotics.

Innovation Solution

A soft robot with integrated electrical circuitry and electronic devices is designed, featuring a flexible and/or stretchable strain limiting layer that minimizes strain on electrical components, allowing for the incorporation of various electronic components such as sensors, batteries, and actuators, while accommodating moderate strains through a combination of extensible and less extensible elastomers.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If rigid electrical components are integrated into soft robot actuators, then functionality is improved, but flexibility and stretchability deteriorate

Engineering Contradiction:

ImprovefunctionalityVSAvoidflexibility

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent applies flexible and stretchable substrates to mount electrical components, allowing the circuit board to deform with the soft actuator body. This resolves the contradiction by enabling rigid electronic components to be integrated while maintaining the overall flexibility of the soft robot through compliant mounting structures.

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The patent uses composite structures combining soft elastomeric materials with flexible circuit board materials. The hybrid construction allows the integration of electrical components while preserving the soft, flexible characteristics of the actuator body, thus improving functionality without sacrificing flexibility.

Inventive Principle:

Principle #40Composite materials

2Adaptability or versatility

If electrical components are integrated into the body of soft actuators, then device functionality is improved, but strain on components during operation increases

Engineering Contradiction:

Improvedevice functionalityVSAvoidstrain on components

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The patent strategically positions electrical components in regions of the actuator body that experience minimal strain during operation. By placing the flexible circuit board and electronic components in low-strain zones, the reliability of the components is maintained while still achieving full device functionality.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The patent distributes electrical components across multiple layers and dimensions of the soft actuator structure. This spatial arrangement in three-dimensional space allows components to be positioned in locations that minimize cumulative strain exposure while maintaining electrical connectivity and functionality.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Data Source

PatentEP3183461B1Soft robot with flexible electronic strain-limited layer

Publication Date: 2022.03.30 PRESIDENT & FELLOWS OF HARVARD COLLEGE

Figure 1A~1C
Figure 2A~2B
Figure 3A

AI summary

A soft robot having an integrated electrical component includes an expandable or collapsible body, the body comprising an inlet that is configured to communicate with a fluid source and a flexible strain limited layer secured to a portion of the expandable or collapsible body, wherein the strain limited layer includes at least one electrical component.