公开(公告)号：US20190009415A1

公开(公告)日：2019-01-10

申请号：US16119097

申请日：2018-08-31

Applicant: SOFT ROBOTICS, INC.

Inventor： Joshua Aaron LESSING ,  Ryan Richard KNOPF ,  Daniel Vincent HARBURG ,  Carl Everett VAUSE

IPC: B25J15/00 ,  B25J15/12 ,  B25J9/14

CPC classification number: B25J15/0023 ,  B25J9/142 ,  B25J15/12

Abstract: Exemplary embodiments relate to various improvements in soft robotic actuators, and more specifically the integration of stiff or rigid bodies into soft actuators to provide adjustable gripping behaviors. These actuators may be used as robotic end effectors to, for example, automate material handling processes. According to some embodiments, the actuators may be deployed in combination with a static or dynamic rigid structure, such as a rod. The rigid structure may extend beside or within the actuator. Multiple rigid structures may be deployed on the sides of an actuator, or multiple actuators may be deployed on the sides of a rigid structure. In further embodiments, an array or matrix of actuators may be integrated into a rigid structure, providing a low-profile gripper that can be maneuvered into tight spaces.

公开(公告)号：US20180326597A1

公开(公告)日：2018-11-15

申请号：US16037744

申请日：2018-07-17

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron LESSING ,  Ryan Richard KNOPF ,  Carl Everett VAUSE ,  Kevin ALCEDO

IPC: B25J15/12 ,  B25J19/02 ,  B25J15/10 ,  B25J15/06 ,  B25J15/00

CPC classification number: B25J15/12 ,  B25J9/142 ,  B25J15/0023 ,  B25J15/0085 ,  B25J15/04 ,  B25J15/0608 ,  B25J15/10 ,  B25J19/02

Abstract: A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body.

公开(公告)号：US20190168398A1

公开(公告)日：2019-06-06

申请号：US16148170

申请日：2018-10-01

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron LESSING ,  Ryan Richard KNOPF ,  Daniel Vincent HARBURG ,  Kevin ALCEDO ,  Grant Thomas SELLERS ,  Mark CHIAPPETTA

IPC: B25J15/12 ,  B25J15/10 ,  B25J15/00

Abstract: Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.

公开(公告)号：US20210354317A1

公开(公告)日：2021-11-18

申请号：US17391483

申请日：2021-08-02

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron LESSING ,  Ryan Richard KNOPF ,  Carl Everett VAUSE ,  Kevin ALCEDO

IPC: B25J15/12 ,  B25J15/06 ,  B25J15/00 ,  B25J15/10 ,  B25J9/14 ,  B25J15/04 ,  B25J19/02

Abstract: A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body.

公开(公告)号：US20190099897A1

公开(公告)日：2019-04-04

申请号：US16205453

申请日：2018-11-30

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron LESSING ,  Ryan Richard KNOPF ,  Carl Everett VAUSE ,  Daniel Vincent HARBURG

IPC: B25J15/00 ,  F15B15/10 ,  B32B5/24 ,  B32B38/10 ,  B32B3/26 ,  B32B3/18 ,  B32B3/16 ,  B32B3/10 ,  B32B27/12 ,  B32B7/12 ,  B32B27/06 ,  B32B27/40 ,  B32B5/18 ,  B32B5/02 ,  B32B5/26 ,  B25J9/14 ,  B29C65/18 ,  B29C65/00 ,  B32B38/00 ,  B32B37/10 ,  B32B37/06 ,  B32B37/18 ,  B29C65/50 ,  B29C65/48 ,  B32B37/26 ,  B32B37/04

Abstract: Exemplary embodiments relate to various improvements in soft robotic actuators, and techniques for manufacturing the improvements. For example, techniques for manufacturing a rigidizing layer for reinforcing a soft robotic actuator is provided. In another embodiment, a soft robotic actuator having integrated sensors is described. A flexible electroadhesive pad for achieving a conformal grip is also described. Still further, exemplary embodiments provide hydraulically-actuated soft robotic grippers, which allows for a reduction in the size of the actuation system and improved underwater operation.

公开(公告)号：US20220219339A1

公开(公告)日：2022-07-14

申请号：US17584983

申请日：2022-01-26

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron LESSING ,  Ryan Richard KNOPF ,  Daniel Vincent HARBURG ,  Kevin ALCEDO ,  Grant Thomas SELLERS ,  Mark CHIAPPETTA

IPC: B25J15/12 ,  B25J15/00 ,  B25J15/10 ,  B25J9/14 ,  B25J19/00 ,  B25J15/04

Abstract: Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.

公开(公告)号：US20180325507A1

公开(公告)日：2018-11-15

申请号：US16034677

申请日：2018-07-13

Applicant: Soft Robotics, Inc.

Inventor： Joshua Aaron LESSING ,  Ryan Richard KNOPF ,  Marc GRAHAM ,  Carl VAUSE

IPC: A61B17/02 ,  A61B34/00 ,  A61B17/00

CPC classification number: A61B17/02 ,  A61B17/0218 ,  A61B34/70 ,  A61B2017/00017 ,  A61B2017/00557 ,  A61B2017/0225

Abstract: Exemplary embodiments describe soft robotic actuators for medical use, such as during surgeries and other medical procedures. According to one embodiment, a soft robotic incision retractor provided. According to another embodiment, a soft robotic body tissue retractor is provided. The incision retractor and body tissue retractor may be used together, for example by using the incision retractor to hold open an incision while the body tissue retractor manipulates biological matter or an object accessible through the incision. Described embodiments offer the ability to conform to a given space, reduced risk of damage to surrounding structures as compared to traditional retractors, the ability to deliver varying amounts of force, the ability to be made from medically safe materials, and the potential for re-use or disposability.