End of arm tools for soft robotic systems
AssigneeSoft Robotics, Inc.
InventorsJeffrey Curhan, Craig Demello, Thomas Womersley, William Gunner
Life of this patent
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Abstract
Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). In particular, exemplary embodiments provide structures allowing a displacement fluid to be discharged from a distal end of a robotic finger. The discharge may be used to displace a target object, such as an object that is adjacent to another blocking object or the side of a container. After the target object is displaced, the EOAT may be better able to maneuver into a gripping posture and may be able to secure a better grasp on the target object.
Claims19
A soft robotic end effector comprising:
- a gripper hub;
- a soft robotic finger supported by the hub, the soft robotic finger including an elastomeric outer surface surrounding an internal void, and configured to curl when a pressure change occurs within the internal void, wherein the soft robotic finger comprises:
- an inlet located at a proximal end of the soft robotic finger,
- an outlet located at a distal end of the soft robotic finger, and
- a channel connecting the inlet to the outlet;
- a sensor configured to detect when a target object is located in close proximity to a blocking object;
- and
- a controller configured to provide a displacement fluid to the inlet to cause a discharge of the displacement fluid through the outlet, wherein the gripper hub is a manifold comprising a first fluid flow path for supplying an inflation fluid to the soft robotic finger, and a second fluid flow path for supplying the displacement fluid to the inlet.
A soft robotic end effector comprising:
- a gripper hub;
- a soft robotic finger supported by the hub, the soft robotic finger including an elastomeric outer surface surrounding an internal void, and configured to curl when a pressure change occurs within the internal void, wherein the soft robotic finger comprises:
- an outer porous surface;
- an inlet located at a proximal end of the soft robotic finger for receiving a lubrication fluid, and
- a channel connecting the inlet to the outer porous surface;
- and
- a controller configured to provide the lubrication fluid to the inlet to cause the lubrication fluid to be expelled through the porous surface, wherein the gripper hub is a manifold comprising a first fluid flow path for supplying an inflation fluid to the soft robotic finger, and a second fluid flow path for supplying the lubrication fluid to the inlet.
Dependencies are inferred from the claim text.