Soft robotic actuators for positioning, packaging, and assembling
AssigneeSoft Robotics, Inc.
InventorsJoshua Lessing, Daniel Vincent Harburg, Sarv Parteek Singh, Jeffrey Curhan
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Abstract
Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for fixing target objects and/or receptacles using soft robotic actuators, for positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.
Claims16
A method comprising:
- providing a target object to an input location, the input location being proximal to a soft robotic elastomeric actuator, the soft robotic elastomeric actuator comprising an elastomeric body having a reservoir and configured to be inflated by supplying an inflation fluid to the reservoir and further comprising an elastomeric base having a first side forming a gripping surface and a second side exposed to an internal void of the reservoir;
- transmitting a first control signal to a controller associated with the soft robotic actuator, the first control signal comprising a first command to inflate the soft robotic actuator;
- fixing the target object at the input location using the soft robotic actuator;
- performing an operation on the target object;
- determining that the operation has ended;
- transmitting a second control signal to the controller, the second control signal comprising a second command to deflate the soft robotic actuator;
- and
- providing the target object to an output location.
A fixturing station comprising:
- an input location for receiving a target object;
- a soft robotic elastomeric actuator located within reach of the input location, the soft robotic elastomeric actuator comprising an elastomeric body having a reservoir and configured to be inflated by supplying an inflation fluid to the reservoir and further comprising an elastomeric base having a first side forming a gripping surface and a second side exposed to an internal void of the reservoir;
- a controller programmed with instructions that, when executed by one or more processors, cause the one or more processors to:
- cause the inflation fluid to be delivered to the soft robotic actuator to fix the target object at the input location;
- cause an operation to be performed on the target object;
- determine that the operation has ended;
- cause the soft robotic actuator to be deflated;
- and an output location for receiving the target object after the operation is performed.
Dependencies are inferred from the claim text.