公开(公告)号：US09962832B2

公开(公告)日：2018-05-08

申请号：US14768389

申请日：2014-03-04

申请人： President and Fellows of Harvard College

发明人： Sen Wai Kwok ,  Stephen A. Morin ,  Bobak Mosadegh ,  Ju-Hee So ,  Robert F. Shepherd ,  George M. Whitesides

IPC分类号： B25J15/06 ,  B25J9/14 ,  B25J9/08 ,  B25J15/12 ,  B62D57/032 ,  B23P19/04 ,  B25J15/00 ,  A63H3/46

CPC分类号： B25J9/14 ,  A63H3/46 ,  B23P19/04 ,  B25J9/08 ,  B25J9/142 ,  B25J15/0023 ,  B25J15/0608 ,  B25J15/12 ,  B62D57/032 ,  Y10S901/27 ,  Y10S901/37 ,  Y10S901/39

摘要： Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks.