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US 12,544,912 B2Granted
Snap-through joint module and soft robot including same
AssigneeSeoul National Unviversity R&DB Foundation
InventorsHo-Young Kim, Ji-Sung Park
Life of this patent
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Abstract
A snap-through joint module is provided. The snap-through joint module includes a first member having a first internal space to which pneumatic pressure is applied, a second member having a second internal space to which pneumatic pressure is applied, a snap joint portion configured to connect the first member to the second member and capable of a snap-through movement by pneumatic pressure applied to the first member and the second member, and a controller configured to control pneumatic pressure applied to the first internal space and the second internal space.
Claims15
A snap-through joint module comprising:
- a first member having a first internal space to which pneumatic pressure is applied;
- a second member having a second internal space to which pneumatic pressure is applied;
- a snap joint portion configured to connect the first member to the second member and capable of a snap-through movement by pneumatic pressure applied to the first member and the second member;
- and
- a controller configured to control pneumatic pressure applied to the first internal space and the second internal space,
- wherein the snap joint portion comprises:
- a first snap shell having a shell structure disposed at an end portion of the first member facing the first internal space;
- a second snap shell having a shell structure disposed at an end portion of the second member facing the second internal space;
- and
- an elastic tendon configured to connect the first snap shell to the second snap shell,
- wherein each of the first snap shell and the second snap shell comprises:
- an elastic cover disposed to face the first internal space and the second internal space, respectively, to which pneumatic pressure is applied;
- and
- an elastic bladder in a shape of a pocket that is formed integrally with the elastic cover and capable of expansion and contraction,
- wherein the elastic tendon has a tubular structure configured to connect the first snap shell to the second snap shell to allow communication between the elastic bladder of the first snap shell and the elastic bladder of the second snap shell.
12 more elements
A soft robot comprising:
- a plurality of drive modules capable of expanding or contracting based on a forward direction through pneumatic pressure and spaced apart from and connected to each other in a direction perpendicular to the forward direction;
- a plurality of snap joint portions configured to connect a pair of adjacent drive modules among the plurality of drive modules and capable of a snap-through movement by pneumatic pressure applied to the plurality of drive modules;
- and
- a controller configured to control pneumatic pressure applied to the plurality of drive modules,
- wherein each of the plurality of snap joint portions comprises:
- a first snap shell having a shell structure disposed at an end portion of one drive module of the connected pair of adjacent drive modules facing an internal space of the one drive module;
- a second snap shell having a shell structure disposed at an end portion of the other drive module of the connected pair of adjacent drive modules facing an internal space of the other drive module;
- and
- an elastic tendon configured to connect the first snap shell to the second snap shell.
6 more elements
A soft robot comprising:
- a plurality of drive modules that perform a bending motion through pneumatic pressure and that are spaced apart from and connected to each other in a direction perpendicular to a forward direction;
- a plurality of snap joint portions configured to connect a pair of adjacent drive modules among the plurality of drive modules and capable of a snap-through movement by pneumatic pressure applied to the plurality of drive modules;
- and
- a controller configured to control pneumatic pressure applied to the plurality of drive modules,
- wherein each of the plurality of snap joint portions comprises:
- a first snap shell having a shell structure disposed at an end portion of one drive module of the connected pair of adjacent drive modules facing an internal space of the one drive module;
- a second snap shell having a shell structure disposed at an end portion of the other drive module of the connected pair of adjacent drive modules facing an internal space of the other drive module;
- and
- an elastic tendon configured to connect the first snap shell to the second snap shell,
- wherein each of the first snap shell and the second snap shell is configured to:
- make a snap-back movement to contract inward when pressure formed in the internal space of the drive module in which each of the first snap shell and the second snap shell is disposed is less than or equal to a first threshold pressure;
- and
- expand outward and make a snap movement when pressure formed in the internal space of the drive module in which each of the first snap shell and the second snap shell is disposed is greater than or equal to a second threshold pressure,
- wherein each of the plurality of drive modules comprise:
- an upper housing having the internal space extending along the forward direction;
- a lower base disposed below the upper housing and configured to form a floor of the internal space;
- and
- a plurality of leg portions formed on and protruding from respective positions on the lower base that are spaced apart from each other along the forward direction.
15 more elements
Dependencies are inferred from the claim text.