Soft robotic actuators and methods of manufacturing the same
First Claim
Patent Images
1. A rigidizing layer for a soft robotic actuator, the rigidizing layer formed by:
- disposing a fabric sheet on a bottom plate of a hot press;
disposing a layer of thermoplastic material on the fabric sheet, the layer of thermoplastic material having a plurality of slots formed in it;
disposing a rigid slat in each of the slots in the layer of thermoplastic material;
disposing a compliant supportive layer on the layer of thermoplastic material and the slats;
disposing a top plate of the hot press on the compliant supportive layer;
operating the hot press to bond the fabric sheet, the layer of thermoplastic material, and the compliant supportive layer together to form a bonded sheet; and
cutting the rigidizing layer from the bonded sheet.
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Abstract
Exemplary embodiments relate to various improvements in soft robotic actuators, and techniques for manufacturing the improvements. For example, techniques for manufacturing a rigidizing layer for reinforcing a soft robotic actuator is provided. In another embodiment, a soft robotic actuator having integrated sensors is described. A flexible electroadhesive pad for achieving a conformal grip is also described. Still further, exemplary embodiments provide hydraulically-actuated soft robotic grippers, which allows for a reduction in the size of the actuation system and improved underwater operation.
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Citations
9 Claims
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1. A rigidizing layer for a soft robotic actuator, the rigidizing layer formed by:
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disposing a fabric sheet on a bottom plate of a hot press; disposing a layer of thermoplastic material on the fabric sheet, the layer of thermoplastic material having a plurality of slots formed in it; disposing a rigid slat in each of the slots in the layer of thermoplastic material; disposing a compliant supportive layer on the layer of thermoplastic material and the slats; disposing a top plate of the hot press on the compliant supportive layer; operating the hot press to bond the fabric sheet, the layer of thermoplastic material, and the compliant supportive layer together to form a bonded sheet; and cutting the rigidizing layer from the bonded sheet. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A soft robotic actuator assembly comprising:
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a soft robotic actuator comprising a plurality of accordion extensions extending outwards in a radial direction; a camshaft connected to a first end of a follower; a piston, connected to a second end of the follower, wherein the follower and the camshaft drive the piston, for supplying hydraulic fluid to a tube connected to the soft actuator to pressurize the soft actuator; and an oblong lobe connected to the camshaft, wherein a pressure profile delivered by the piston is a function of a shape of the oblong lobe. - View Dependent Claims (8, 9)
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Specification