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1. WO2013148340 - SYSTEMS AND METHODS FOR PROVIDING FLEXIBLE ROBOTIC ACTUATORS

Publication Number WO/2013/148340
Publication Date 03.10.2013
International Application No. PCT/US2013/032297
International Filing Date 15.03.2013
IPC
B25J 9/10 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
B25J 9/14 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
14fluid
CPC
A47L 9/2836
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
9Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
2836characterised by the parts which are controlled
B25J 9/1075
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
1075with muscles or tendons
B25J 9/142
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
14fluid
142comprising inflatable bodies
B25J 9/1697
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
1697Vision controlled systems
Y10S 901/22
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
10TECHNICAL SUBJECTS COVERED BY FORMER USPC
STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
901Robots
19Drive system for arm
22Fluid motor
Y10T 74/20305
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
10TECHNICAL SUBJECTS COVERED BY FORMER USPC
TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
74Machine element or mechanism
20Control lever and linkage systems
20207Multiple controlling elements for single controlled element
20305Robotic arm
Applicants
  • PRESIDENT AND FELLOWS OF HARVARD COLLEGE [US]/[US]
Inventors
  • MORIN, Stephen, A.
  • SHEPHERD, Robert, F.
  • STOKES, Adam
  • ILIEVSKI, Filip
  • MARTINEZ, Ramses, V.
  • BRANCH, Jamie, L.
  • FISH, Carina, R.
  • JIN, Lihua
  • NUNES, Rui, M.D.
  • SUO, Zhigang
  • WHITESIDES, George, M.
Agents
  • SCOZZAFAVA, Mary Rose
Priority Data
61/615,66526.03.2012US
61/673,00318.07.2012US
61/698,43607.09.2012US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SYSTEMS AND METHODS FOR PROVIDING FLEXIBLE ROBOTIC ACTUATORS
(FR) SYSTÈMES ET MÉTHODES FOURNISSANT DES ACTIONNEURS ROBOTIQUES FLEXIBLES
Abstract
(EN)
Systems and methods for providing flexible robotic actuators are disclosed. Thanks to the concentrical positioning of a plurality of inflatable channels, the claimed soft robot is capable of providing a radial deflection motion. A method for operating the disclosed robotic systems is also disclosed.
(FR)
L'invention concerne des systèmes et méthodes fournissant des actionneurs robotiques flexibles. Certains modes de réalisation de l'invention comprennent un robot souple capable de fournir des mouvements de fléchissement radial : un actionneur tentacule souple capable d'effectuer une variété de mouvements et offrant des moyens de transport de différents types de matériaux; et un système robotique hybride qui conserve les caractéristiques souhaitables des robots souples et des robots rigides. Certains modes de réalisation de l'invention comprennent aussi des méthodes d'actionnement des systèmes robotiques de l'invention.
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