# US 11,077,562 B2 · User-assisted robotic control systems

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- Number: US 11,077,562 B2
- Document ID: US11077562B2
- Status: Granted
- Kind: B2
- Application number: 15/941,681
- Filed: 2018-03-30
- Published: 2018-10-04
- Granted: 2021-08-03
- Earliest claimed: 2017-03-30
- Assignees: Soft Robotics, Inc.
- Applicants: Soft Robotics, Inc.
- Inventors: Michael Rosenstein; Jeff Curhan; Joshua Aaron Lessing; Ryan Knopf; Daniel Harburg; Mark Chiappetta
- Web page: https://patentgrep.com/patent/US11077562B2

## CPC

- B25J 15/0023: {Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12)}
- B25J 9/0009: {Constructional details, e.g. manipulator supports, bases}
- B25J 9/142: {comprising inflatable bodies}
- B25J 9/1612: {characterised by the hand, wrist, grip control}
- B25J 9/1656: {characterised by programming, planning systems for manipulators}
- B25J 9/1676: {Avoiding collision or forbidden zones}
- B25J 9/1689: {Teleoperation}
- B25J 9/1692: {Calibration of manipulator}
- B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion}
- B25J 9/1697: {Vision controlled systems}
- B25J 15/12: with flexible finger members
- F15B 15/10: the motor being of diaphragm type
- G06F 3/0488: using a touch-screen or digitiser, e.g. input of commands through traced gestures
- G05B 2219/39466: Hand, gripper, end effector of manipulator
- G05B 2219/39554: Gripper is formed by flexible tube, embraces object like a finger
- G05B 2219/40253: Soft arm robot, light, rubber, very compliant
- Y10S 901/09: Closed loop, sensor feedback controls arm movement
- Y10S 901/29: Wrist
- Y10S 901/37: Fluid motor
- Y10S 901/47: Optical
- 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})
- F15B: SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. Systems, methods, apparatuses and computer-readable media instructions are disclosed for interactions with and control of robotic systems, in particular, pick and place systems using soft robotic actuators to grasp, move and release target objects.

## Claims

### Claim 1

A modular gripper comprising:
a hub base comprising a mount at a top end operative to attach to a robotic arm;
a front support detachably connected to the hub base and comprising a port;
a rear support detachably connected to the hub base, wherein the rear support is slidable into one or corresponding slots in the hub base; and
a gripper assembly comprising: an actuator base detachably connected to a bottom side of one or more of the hub base, the front support, or the rear support, and a soft robotic actuator detachably connected to the actuator base.

### Claim 2 (depends on 1)

The modular gripper of claim 1, the port comprising a port through which inflation fluid is supplied to or removed from the soft robotic actuator.

### Claim 3 (depends on 2)

The modular gripper of claim 2, comprising a plurality of soft robotic actuators, the front support comprising a plurality of ports through which inflation fluid is supplied to or removed from the soft robotic actuators.

### Claim 4 (depends on 3)

The modular gripper of claim 3, wherein different ports supply different ones of the soft robotic actuators, and wherein the soft robotic actuators are actuatable independently.

### Claim 5 (depends on 1)

The modular gripper of claim 1, the port comprising a port through which an electrical connection is supplied.

### Claim 6 (depends on 1)

The modular gripper of claim 1, the port comprising a port through which a data connection is supplied.

### Claim 7 (depends on 1)

The modular gripper of claim 1, comprising: a plurality of soft robotic actuators each detachably coupled to the actuator base.

### Claim 8 (depends on 1)

The modular gripper of claim 1, comprising one or more pneumatic or hydraulic lines coupled to the port to supply inflation fluid to the gripper assembly.

### Claim 9 (depends on 1)

The modular gripper of claim 1, comprising a mounting point for a sensor.

### Claim 10 (depends on 1)

The modular gripper of claim 1, comprising a calibration tool, detachably mounted to the hub base in place of the actuator base.

### Claim 11 (depends on 1)

The modular gripper of claim 1, wherein the front support, the rear support, the actuator base, and the soft robotic actuator are detachably connected by one or more of a friction mechanism or a fastening mechanism.

### Claim 12 (depends on 1)

The modular gripper of claim 1, wherein the actuator base is detachably connected by a quick-release fitting.

### Claim 13 (depends on 1)

The modular gripper of claim 1, wherein the hub base is configured to remain attached to the robotic arm when at least one of the front support, the rear support, or the gripper assembly of the modular gripper is removed.

### Claim 14 (depends on 1)

The modular gripper of claim 1, the actuator base comprising a sensor.