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1.发明申请公开(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
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.
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公开(公告)号：US20210039250A1
公开(公告)日：2021-02-11
申请号：US17081132
申请日：2020-10-27
Applicant: Soft Robotics, Inc.
Inventor： Joshua Aaron LESSING
Abstract: Exemplary embodiments relate to pressurizable housings for a soft robotic actuator. The pressurized housings may be divided into an upper chamber in fluid communication with an internal void of the actuator, and a lower chamber connected to an inlet and an outlet. The upper chamber and lower chamber may be separated by a piston. By supplying a fluid to the lower chamber via the inlet, the piston is moved into the space previously occupied by the upper chamber, which reduces the volume of the upper chamber and increases the pressure in the internal void. This action allows the actuator to be rapidly inflated, and further simplifies the pressurization system and reduces its weight.
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公开(公告)号：US20190168382A1
公开(公告)日：2019-06-06
申请号：US16208669
申请日：2018-12-04
Applicant: Soft Robotics, Inc.
Inventor： Joshua Aaron LESSING
Abstract: Exemplary embodiments relate to pressurizable housings for a soft robotic actuator. The pressurized housings may be divided into an upper chamber in fluid communication with an internal void of the actuator, and a lower chamber connected to an inlet and an outlet. The upper chamber and lower chamber may be separated by a piston. By supplying a fluid to the lower chamber via the inlet, the piston is moved into the space previously occupied by the upper chamber, which reduces the volume of the upper chamber and increases the pressure in the internal void. This action allows the actuator to be rapidly inflated, and further simplifies the pressurization system and reduces its weight.
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公开(公告)号：US20190039838A1
公开(公告)日：2019-02-07
申请号：US16053213
申请日：2018-08-02
Applicant: Soft Robotics, Inc.
Inventor： Jeffrey CURHAN , Thomas WOMERSLEY , Joshua Aaron LESSING
Abstract: Robotic grippers have been employed to grasp and manipulate target objects. One task posing relatively unique problems is the handling of meat products, which can be difficult to grasp with a conventional gripper due to the surface texture and malleability of the meat, among other factors. Exemplary embodiments described herein provide robotic grippers having one or more fingers and a plate, the plate optionally providing suction capabilities. The actuators apply a small force to the edges of the grasping target. In suctioned embodiments, an array of suction holes within the plate support the center of the grasping target by applying a light vacuum force at many points along the surface thereof In non-suctioned embodiments, the actuators grip the edges of the grasping target and the plate makes conformal contact with the grasping target to prevent it from folding or otherwise deforming or disintegrating from the gripping force of the actuators.
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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.
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.
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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
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.
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公开(公告)号：US20220088796A1
公开(公告)日：2022-03-24
申请号：US17515754
申请日：2021-11-01
Applicant: Soft Robotics, Inc.
Inventor： Ryan KNOPF , Joshua Aaron LESSING , Daniel Vincent HARBURG , Grant SELLERS , Kevin ALCEDO
Abstract: Exemplary embodiments relate to improvements in soft robotic systems that permit a soft robotic end effector to be a self-contained system, without reliance on a tether to deliver inflation fluid to the actuator(s) of the end effector. According to some embodiments, a robotic system may be provided including a soft actuator and a hub. The body of the hub may include an integrated pressure source configured to supply inflation fluid through the actuator interface to the soft actuator. The pressure source may be, for example, a compressor (such as a twin-head compressor) or a reaction chamber configured to vaporize a fuel to create a high-temperature pressurized gas and deliver the pressurized gas to the actuator One or more accumulators may receive inflation fluid (or a partial vacuum) from the compressor over time, and store the inflation fluid under pressure, thus allowing actuation over a relatively short time period.
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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
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.
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公开(公告)号：US20150366695A1
公开(公告)日：2015-12-24
申请号：US14745932
申请日：2015-06-22
Inventor： Kevin C. GALLOWAY , Jobim SANTOS , Ryan KNOPF , Joshua Aaron LESSING , Mitchell R. ZAKIN , Carl E. VAUSE
IPC: A61F5/01
CPC classification number: A61F5/012 , A61F5/0106 , A61F5/0111
Abstract: A limb stabilization device is described, including: two or more collars configured to surround a limb and apply a pressure to the limb at or below a threshold pressure, wherein the collar comprises a pressurized bladder or a compressed memory foam to conform the collar to the limb; at least one beam connecting the two or more collars to support the limb; and optionally a pressure modulator configured to regulate the pressure of the bladder to be at or below a threshold pressure.
Abstract translation: 描述了一种肢体稳定装置，包括：两个或多个套环，其被构造成围绕肢体并在阈值压力或低于阈值压力下向肢体施加压力，其中，套环包括加压囊或压缩记忆泡沫，以使衣领与 肢; 连接所述两个或多个轴环以支撑所述肢体的至少一个梁; 以及可选地，压力调制器被配置为将气囊的压力调节到等于或低于阈值压力。
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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
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.
