# US 10,767,024 B2 · Soft actuator and methods of fabrication > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,767,024 B2 - Document ID: US10767024B2 - Status: Granted - Kind: B2 - Application number: 15/303,044 - Filed: 2015-04-09 - Published: 2017-02-02 - Granted: 2020-09-08 - Earliest claimed: 2014-04-09 - Assignees: Cornell University - Applicants: Cornell University - Inventors: Robert F. Shepherd; Benjamin C. MacMurray; Huichan Zhao - Web page: https://patentgrep.com/patent/US10767024B2 ## CPC - C08J 9/26: by elimination of a solid phase from a macromolecular composition or article, e.g. leaching out - C08J 9/08: developing carbon dioxide - C08J 9/10: developing nitrogen {, the blowing agent being a compound containing a nitrogen-to-nitrogen bond} - C08J 9/365: {Coating} - F15B 15/103: {using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators} - C08J 2201/026: Crosslinking before of after foaming - C08J 2201/0444: Salts - C08J 2201/0446: Elimination of NaCl only - C08J 2203/02: CO2-releasing, e.g. NaHCO3 and citric acid - C08J 2203/04: N2 releasing, ex azodicarbonamide or nitroso compound - C08J 2203/10: Water or water-releasing compounds - C08J 2205/05: Open cells, i.e. more than 50% of the pores are open - C08J 2205/06: Flexible foams - C08J 2207/00: Foams characterised by their intended use - C08J 2300/26: Elastomers - C08J 2383/04: Polysiloxanes - C08J: WORKING-UP; GENERAL PROCESSES OF COMPOUNDING; AFTER-TREATMENT NOT COVERED BY SUBCLASSES C08B, C08C, C08F, C08G or C08H (working, e.g. shaping, of plastics B29) - F15B: SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR ## Abstract Soft actuators are fabricated from materials that enable the actuators to be constructed with an open-celled architecture such as an interconnected network of pore elements. The movement of a soft actuator is controlled by manipulating the open-celled architecture, for example inflating/deflating select portions of the open-celled architecture using a substance such as compressed fluid. ## Claims ### Claim 1 A method for producing a soft actuator, comprising the steps of: combining two or more materials into a mixture, wherein a first material is an elastomer material and a second material is an additive material; curing the mixture to obtain a cured mixture that produces an elastomeric foam structure with an open-celled architecture in the form of an interconnected network of pore elements with each pore element defined by a wall; and sealing the structure of the soft actuator by coating it in a sealant material, wherein the actuator is configured to be operated by fluid inflation and deflation; and wherein the coated sealant material is configured to seal the elastomeric foam structure and prevent release of fluid into a surrounding environment during fluidic inflation and deflation. ### Claim 2 (depends on 1) The method for producing a soft actuator according to claim 1, further comprising the step of: removing some or all of the additive material from the cured mixture. ### Claim 3 (depends on 1) The method for producing a soft actuator according to claim 1, wherein the sealant material includes a strain-limiting element. ### Claim 4 (depends on 1) The method for producing a soft actuator according to claim 1, further comprising the step of: actuating the structure by applying pressure to one or more select portions of the interconnected network of pore elements. ### Claim 5 (depends on 1) The method for producing a soft actuator according to claim 1, wherein said curing step further comprising the step of: setting the mixture at room temperature for a specific duration of time. ### Claim 6 (depends on 1) The method for producing a soft actuator according to claim 1, wherein said curing step further comprising the step of: heating the mixture at a certain temperature for a specific duration of time. ### Claim 7 (depends on 1) The method for producing a soft actuator according to claim 1, wherein said curing step further comprising the step of: forming the mixture using a mold. ### Claim 8 (depends on 2) The method for producing a soft actuator according to claim 2, wherein said removing step further comprising the step of: decomposing the additive material. ### Claim 9 (depends on 2) The method for producing a soft actuator according to claim 2, wherein said removing step further comprising the step of: dissolving the additive material. ### Claim 10 (depends on 1) The method for producing a soft actuator according to claim 1, wherein the elastomer material includes a silicone material. ### Claim 11 (depends on 1) The method for producing a soft actuator according to claim 1, wherein the elastomer material includes polydimethylsiloxane (PDMS). ### Claim 12 (depends on 1) The method for producing a soft actuator according to claim 1, wherein the additive material includes sodium chloride. ### Claim 13 (depends on 1) The method for producing a soft actuator according to claim 1, wherein the additive material includes ammonium bicarbonate. ### Claim 14 (depends on 1) The method for producing a soft actuator according to claim 1, wherein the sealant material includes polydimethylsiloxane (PDMS). ### Claim 15 (depends on 3) The method for producing a soft actuator according to claim 3, wherein the strain-limiting element includes a nylon mesh. ### Claim 16 (depends on 3) The method for producing a soft actuator according to claim 3, wherein the strain-limiting element includes glass fibers. ### Claim 17 (depends on 1) The method for producing a soft actuator according to claim 1, wherein said curing step further comprising the step of: forming the mixture into an unmolded configuration. ### Claim 18 (depends on 17) The method for producing a soft actuator according to claim 17, wherein said forming step further comprises 3D printing the mixture into the unmolded configuration. ### Claim 19 (depends on 1) The method for producing a soft actuator according to claim 1, wherein the additive material is a salt material. ### Claim 20 (depends on 1) The method for producing a soft actuator according to claim 1, wherein the additive material is a foaming agent configured to generate gas during a curing process. ### Claim 21 (depends on 1) The method for producing a soft actuator according to claim 1, wherein the additive material is removable by decomposition or evaporation. ### Claim 22 (depends on 1) The method for producing a soft actuator according to claim 1, wherein the soft actuator is fabricated to a geometry with a shape of organs. ### Claim 23 (depends on 1) The method for producing a soft actuator according to claim 1, wherein the fluid is gas or liquid.