Soft actuators with tapered or skewed structures
AssigneeSoft Robotics, Inc.
InventorsJoshua Aaron Lessing, Ryan Richard Knopf, Daniel Vincent Harburg, Kevin Alcedo, Grant Thomas Sellers, Mark Chiappetta
Life of this patent
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Abstract
Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.
Claims14
A soft actuator comprising:
- an elastomeric body that extends from a proximal end to a distal end, the elastomeric body:
- surrounding a void configured to receive an inflation fluid,
- comprising a plurality of accordion extensions, and
- having first and second substantially straight sides that define a breadth of the elastomeric body and third and fourth substantially straight sides that define a thickness direction, the first, second, third, and fourth substantially straight sides extending a length of the elastomeric body and being tapered from the proximal end to the distal end in the breadth direction and the thickness direction,
- the elastomeric body being substantially trapezoidal in cross-section.
A soft actuator comprising:
- an elastomeric body that has a substantially oval shape that extends along a major axis from a proximal end to a distal end and a minor axis extending in an axial direction of the soft actuator, the elastomeric body:
- surrounding a plurality of teardrop-shaped internal chambers configured to receive an inflation fluid,
- comprising a plurality of accordion extensions, and
- configured to bend along the major axis and the minor axis when inflated to create a cupping shape.
Dependencies are inferred from the claim text.