Systems and methods for providing flexible robotic actuators
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Solution Overview
Problem
Conventional robots with rigid skeletons are limited in stability and mobility, especially in demanding environments, while soft robotic actuators based on flexible materials and fluidic actuation are underexplored due to material limitations and actuation challenges.
Innovation Solution
Development of soft robotic systems with flexible bodies and embedded fluid channels that can be pressurized to change shape, including soft tentacles and radial deflection actuators, which use elastomers and strain-limiting layers for efficient actuation and motion control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If hard-bodied robots with rigid skeletons are used, then structural strength and manufacturing precision are improved, but stability and mobility in demanding environments deteriorate
Solution Approach 1:
The patent employs soft elastomeric bodies with embedded fluid channels as flexible shells that can deform and adapt to demanding environments. The elastomeric material provides both flexibility for stable motility in constrained spaces and sufficient structural integrity through its inherent material properties and geometric design.
2Reliability
If soft robotic actuators with flexible materials are used, then stability and mobility in constrained spaces are improved, but actuation precision and control deteriorate
Solution Approach 1:
The soft robotic system is divided into multiple independently controllable segments or regions, each with its own fluid channels. This segmentation allows for localized actuation and independent control of different body parts, enabling precise control despite the overall flexibility of the soft structure.
Solution Approach 2:
The patent incorporates sensors and feedback mechanisms that monitor the state of the soft robotic system and adjust fluid pressure accordingly. This closed-loop control compensates for the compliance of soft materials, maintaining actuation precision through real-time adjustments based on sensed position and environmental interactions.
3Force
If conventional pneumatic actuators with inextensible materials are used, then actuation force is improved, but adaptability and flexibility deteriorate
Solution Approach 1:
The patent replaces traditional inextensible pneumatic actuator materials with flexible elastomeric materials that can stretch and deform. The fluid channels are embedded within these flexible walls, allowing the actuators to generate force while simultaneously adapting their shape and size to match environmental constraints and task requirements.
Solution Approach 2:
The patent uses composite structures combining elastomeric materials with embedded fluid channels, creating a material system that exhibits both the force-generating capabilities of pneumatic actuators and the flexibility of soft materials. The composite design allows simultaneous achievement of high actuation force and adaptability.
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
These soft robotic systems demonstrate improved stability, mobility, and ability to navigate constrained spaces, with capabilities such as complex motion control and object manipulation, enhancing their performance in tasks that hard robots struggle with.
Implementation Method 1
the pressurizing inlet is configured to receive pressurized fluid to inflate a portion of the at least two of the plurality of embedded fluid channels, thereby causing a radial deflection of the flexible body
Implementation Method 2
a flexible body having a plurality of embedded fluid channels
Data Source
Figure 1a~1c
Figure 2a~2e
Figure 3
AI summary
Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.