Modular Soft Robot Voxels With Regulated Multi-Axis Deformation

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Solution Overview

Problem

Existing soft modular robots with pneumatically controlled silicone voxels have limited degrees of freedom due to simple expansion or contraction deformations.

Innovation Solution

A modular soft robot comprising polyhedral-shaped casings with deformation-regulating members that control deformation in specific axis directions, allowing for contraction, bending, shear deformation, or no deformation based on fluid discharge, and connected by fluid-communicating connectors.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If simple pressurization or depressurization of silicone voxels is used, then the robot structure is simple, but the degree of freedom of movement is low

Engineering Contradiction:

Improverobot structureVSAvoiddegree of freedom of movement

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The robot body is divided into multiple modular voxel units, each capable of independent deformation control. This segmentation allows complex collective movements to be achieved through simple individual voxel operations, resolving the contradiction between structural simplicity and movement freedom.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent introduces deformation-regulating members that enable dynamic control over deformation directions and modes. These members allow voxels to switch between different deformation patterns (contraction, bending, shear) based on control signals, transforming static simple structures into dynamically versatile systems.

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If deformation-regulating members are added to regulate voxel deformation, then the degree of freedom of movement increases, but the device complexity increases

Engineering Contradiction:

Improvedegree of freedom of movementVSAvoidrobot structure

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

Deformation-regulating members are nested within the voxel structure, with internal components housed inside the modular units. This nesting approach integrates complexity within individual modules rather than adding external complexity, maintaining overall system simplicity while enabling advanced functionality.

Inventive Principle:

Principle #7Nested doll (Nesting)

Solution Approach 2:

The patent controls deformation by changing physical parameters such as internal pressure and material elasticity characteristics. By regulating these parameters through simple actuators, complex deformation patterns are achieved without proportionally increasing mechanical complexity.

Inventive Principle:

Principle #35Parameter changes

3Adaptability or versatility

If multiple deformation modes (contraction, bending, shear) are enabled, then the functionality of the robot improves, but the manufacturing precision requirements increase

Engineering Contradiction:

ImprovefunctionalityVSAvoiddeformation control precision

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

Different regions of the voxel structure are designed with different local properties - some areas have higher elasticity for bending, others have specific geometric features for shear deformation. This local differentiation enables multiple deformation modes through material and geometric design rather than precise control, reducing manufacturing precision requirements.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The patent uses composite structural designs combining materials with different elastic properties within the same voxel. This allows different parts of the voxel to deform in different modes simultaneously, achieving complex functionality through material composition rather than precise geometric control.

Inventive Principle:

Principle #40Composite materials

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 robot achieves a high degree of freedom of movement through regulated deformations, enabling complex shapes and functionalities.

Implementation Method 1

a polyhedral-shaped casing contractable according to discharge of a working fluid from an internal space thereof

Methodology Applied

Scientific EffectPressure differential: Pressure Gradient

Implementation Method 2

a deformation-regulating member housed in the casing to regulate deformation of the robot component module

Methodology Applied

Scientific EffectElastic deformation: Elasticity

Data Source

PatentUS12496717B2Robot component module, robot

Publication Date: 2025.12.16 YAMAGATA UNIVERSITY

AI summary

It is intended to realize a modular soft robot having a high degree of freedom of movement. A voxel 10 constituting at least a portion of a robot comprises: a polyhedral-shaped casing 100 contractable according to discharge of a working fluid from an internal space thereof; and a deformation-regulating member 200 housed in the casing 100 and configured to regulate deformation of the voxel 10 when the working fluid in the casing 100 is discharged, wherein a plurality of the voxels 10 can be coupled together to constitute at least a portion of a robot.