# US 11,027,436 B2 · Soft robotic assistive gripping device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,436 B2 - Document ID: US11027436B2 - Status: Granted - Kind: B2 - Application number: 15/958,744 - Filed: 2018-04-20 - Published: 2018-12-20 - Granted: 2021-06-08 - Earliest claimed: 2017-06-19 - Applicants: Alekh Rajesh Beri - Inventors: Alekh Rajesh Beri - Web page: https://patentgrep.com/patent/US11027436B2 ## CPC - B25J 15/0009: {comprising multi-articulated fingers, e.g. resembling a human hand} - A61H 1/02: Stretching or bending {or torsioning} apparatus for exercising - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - B25J 13/084: {Tactile sensors (in general G01L5/16, G01L5/22)} - B25J 15/0023: {Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12)} - B25J 15/12: with flexible finger members - A61H 1/0285: {Hand} - A61H 2201/0103: inflatable - A61H 2201/0153: hand-held - A61H 2201/1238: with hydraulic or pneumatic drive - A61H 2201/1635: Hand or arm, e.g. handle - A61H 2201/1638: Holding means therefor - A61H 2201/165: Wearable interfaces - A61H 2201/5058: Sensors or detectors - A61H 2201/5071: Pressure sensors - A61H 2201/5082: Temperature sensors - B25J 9/142: {comprising inflatable bodies} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) ## Abstract This invention is directed to offer a customizable, cost effective, and comfortable soft gripping solution for patients with chronic disabilities, such as diabetic neuropathy, allowing the patients to function independently and perform routine daily tasks. A soft robotic gripper has been developed with one or more inflatable systems actuated by aft to assist a user to grip an object. The main body of the gripper bends with air actuation while the fingertip actuation helps functionality in the extremities. The gripper is further enhanced by adding sensors that integrate feedback for sensitivity to touch, conformability, and grip ability. The modular design modifications allow for gripper adjustments as the disease progresses or rescinds. The gripper also works as a training aid for routine physical therapy exercises. Data collected by a microprocessor can also help learn more about these chronic diseases and use artificial intelligence to customize treatment regimens for individual patients. ## Claims ### Claim 1 A soft robotic assistive gripping device, comprising: a) a flexible molded body comprising a plurality of actuatable arms ending in a tip, wherein the flexible molded body comprises: i) a main channel disposed within the molded body, wherein a plurality of interconnected channels branch out from the main channel, the plurality of interconnected channels comprise a first row of channels on a first side of the main channel and a second row of channels on a second side of the main channel, wherein the second side is opposite to the first side of the main channel, wherein the molded body comprises an elastically extensible material and a strain-limiting material having a higher elastic modulus relative to the elastically extensible material; and ii) a pressurizing inlet connected to a fluid source, wherein the pressuring inlet is configured to receive fluid from the fluid source into the plurality of interconnected channels, wherein the molded body is configured to expand when the plurality of interconnected channels are pressurized by the fluid, thereby causing a bending motion around the strain-limiting material of the molded body; b) at least one sensor affixed or integrated into at least one of the plurality of actuatable arms; and c) a skin covering each said tip, wherein a region between the skin and each said tip comprises a plurality of interconnected microchannels configured to receive fluid from a second pressurizing inlet wherein each channel of the plurality of interconnected microchannels has a width of from 100 μM to about 500 μM. ### Claim 2 (depends on 1) The gripping device of claim 1, wherein the at least one sensor is configured to detect temperature, pressure, flexure, or motion. ### Claim 3 (depends on 1) The gripping device of claim 1, further comprising a microprocessor, wherein the microprocessor is programmed with artificial intelligence software and/or is connected to the sensor. ### Claim 4 (depends on 1) The gripping device of claim 1, further comprising a peripheral device, wherein the peripheral device is a cellular phone or tablet and/or comprises an LED display that displays information collected by the at least one sensor. ### Claim 5 (depends on 1) The gripping device of claim 1, wherein: a) a modular component is affixed to at least one of the plurality of actuatable arms. ### Claim 6 (depends on 1) The gripping device of claim 1, wherein: (a) the gripping device is integrated into a glove or configured to be affixed to a hand, (b) the gripping device is configured to be affixed to the hand with at least one strap; and/or (c) the device is configured to be positioned between the hand and an object. ### Claim 7 (depends on 1) The gripping device of claim 1, wherein the gripping device is configured to replace a function of a hand, wherein the function is touch or grip. ### Claim 8 (depends on 1) A method of assisting a subject to grip an object comprising providing the gripping device of claim 1 and initiating a series of pressurizations and depressurizations that bring the gripping device in gripping contact with a target object. ### Claim 9 (depends on 8) The method of claim 8, wherein the gripping device is used as an assistive device for the subject, wherein the subject suffers from a peripheral dysfunction. ### Claim 10 (depends on 9) The method of claim 9, wherein the peripheral dysfunction is a peripheral neuropathy. ### Claim 11 (depends on 10) The method of claim 10, wherein the peripheral neuropathy is a diabetic neuropathy. ### Claim 12 (depends on 8) The method of claim 8, wherein the method comprises affixing the gripping device to a hand of the subject, whereby the gripping device assists the subject with a daily activity of life. ### Claim 13 (depends on 8) The method of claim 8, wherein the subject inputs a defined range of a parameter sensed by the at least one sensor, and wherein the gripping device alerts the subject when the at least one sensor detects that the parameter is outside the defined range. ### Claim 14 (depends on 13) The method of claim 13, wherein the parameter is selected from temperature, pressure, and flexure. ### Claim 15 (depends on 8) The method of claim 8, wherein the method comprises affixing the gripping device to a hand of the subject, whereby the gripping device assists the subject with a rehabilitation exercise by providing an assistive gripping force. ### Claim 16 (depends on 15) The method of claim 15, wherein the subject uses the gripping device for a first rehabilitation exercise and a second gripping device for a second rehabilitation exercise, wherein the gripping device provides increased or decreased assistive gripping force as compared to the second gripping device. ### Claim 17 (depends on 8) The method of claim 8, wherein the gripping device is modularly altered to provide an increased or decreased assistive gripping force. ### Claim 18 (depends on 17) The method of claim 17, wherein the gripping device comprises a center restraint module. ### Claim 19 (depends on 8) The method of claim 8, wherein the method comprises affixing the gripping device to a hand of the subject, whereby the gripping device is used to monitor progression of a disease by tracking an increase or decrease of the subject's gripping ability over time. ### Claim 20 (depends on 19) The method of claim 19, wherein the disease is diabetes and/or wherein the subject is a human. ### Claim 21 (depends on 1) A method of monitoring progress of a peripheral neuropathy in a subject comprising affixing the gripping device of claim 1 to a hand of the subject and assessing indicia of the subject selected from one or more of gripping strength, temperature sensitivity, pressure sensitivity, and flexure sensitivity, wherein changes in the indicia indicate the progress of the peripheral neuropathy. ### Claim 22 (depends on 1) The device of claim 1, wherein each region between the skin and each said tip is configured to be independently actuatable. ### Claim 23 (depends on 1) The gripping device of claim 1, wherein the plurality of actuatable arms comprise four actuatable arms. ### Claim 24 (depends on 1) The gripping device of claim 1, wherein the device is configured to be affixed to a subject's palm.