Actuators with conforming sleeves

• US 10,189,165 B2
• Filed: 09/26/2016
• Issued: 01/29/2019
• Est. Priority Date: 10/18/2013
• Status: Active Grant

• Current Assignee: President and Fellows of Harvard College (Harvard Corporation)
• Original Assignee: President and Fellows of Harvard College (Harvard Corporation)
• Inventors: Galloway, Kevin
• Primary Examiner(s): Lazo, Thomas E
• Application Number:
  US15/276,244
• Publication Number:
  US 20170239818A1
• Time in Patent Office: 855 Days
• Field of Search: 92 92
• CPC Class Codes: B25J 15/0023 Gripper surfaces directly activated by a fluid flexible fingers B25J15/12
• CPC Class Codes: B25J 15/12 with flexible finger members
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 9/142 comprising inflatable bodies
• CPC Class Codes: F15B 15/103 using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators

Abstract

An actuator includes at least one actuator body and a sleeve covering a portion of the actuator body. The actuator body comprises a first material, and the sleeve comprises a second material that is more rigid than the first material. The sleeve constrains bending of the actuator body where the sleeve covers the actuator body.

Claims

1. An actuator, comprising:

an actuator body comprising a first material; and

a sleeve comprising a second material and covering a portion of the actuator body,

wherein the second material is more rigid than the first material, and

wherein the sleeve constrains bending of the actuator body where the sleeve covers the actuator body.

2. The actuator of claim 1, wherein the sleeve defines an aperture, and a portion of the actuator body extends through the aperture.

3. The actuator of claim 1, wherein the sleeve is configured to be removable from the actuator body.

4. The actuator of claim 1, wherein the sleeve comprises a fixture that secures the sleeve to the actuator body.

5. The actuator of claim 4, wherein the fixture is selected from at least one pinch clamp, lace, rubber band, zip tie, hook-and-loop attachment, glue, and thread.

6. The actuator of claim 1, wherein the sleeve is anchored to the actuator body through a mechanical feature on a surface of the actuator body.

7. The actuator of claim 6, wherein the mechanical feature comprises bellows.

8. The actuator of claim 1, further comprising an activation mechanism configured to actuate the actuator.

9. The actuator of claim 8, wherein the actuator body defines an internal chamber, and wherein the activation mechanism includes a pump configured to pump fluid into the internal chamber to deform the actuator body.

10. The actuator of claim 9, wherein the actuator body comprises at least one material that is at least one of flexible and elastomeric and that is selected from hyper-elastic silicone, thermoplastic urethane, thermoplastic elastomer, rubber, nylon, woven materials, non-woven materials, elastic polyurethane, and polyethylene.

11. The actuator of claim 1, wherein the actuator body includes a strain-limiting layer along a side of the actuator body, and wherein the actuator body is configured to produce bending of the actuator body by restricting expansion of that side of the actuator body.

12. The actuator of claim 1, where a plurality of sleeves cover respective parts of the actuator body, and wherein at least one of the sleeves (a) has a composition distinct from that of another of the sleeves and (b) has anisotropic mechanical properties distinct from that of another of the sleeves.

13. The actuator of claim 12, wherein a gap is provided between at least two of the sleeves, causing the actuator body to deform at the gap between the sleeves.

14. The actuator of claim 1, wherein the sleeve defines a plurality of apertures configured to cause the actuator body to deform at the apertures when actuated.

15. The actuator of claim 14, wherein the apertures are defined at different longitudinal and radial positions in the sleeve.

16. The actuator of claim 1, wherein the sleeve includes an interface selected from electronics, sensors, magnets, routing, and coupling mechanisms.

17. The actuator of claim 1, wherein the sleeve serves as a coupler between a plurality of the actuator bodies.

18. The actuator of claim 1, wherein a plurality of sleeves are coupled together and contain parts of respective actuator bodies.

19. The actuator of claim 1, wherein the sleeve is configured to have an adjustable length to alter the amount of the actuator body contained by the sleeve.

20. The actuator of claim 1, wherein at least a portion of the sleeve is made rigid with a hardening material or agent.

21. The actuator of claim 1, wherein the sleeve secures rigid parts to the actuator body.

22. The actuator of claim 1, wherein at least one element having a stiffness greater than the actuator body is placed on or inside the sleeve so as to further control deformation of the actuator body.

23. The actuator of claim 1, wherein the actuator includes inner and outer sleeves concentrically positioned around the actuator body, wherein gaps or apertures are provided at the outer sleeve, exposing a portion of the inner sleeve.

24. A method for mechanical actuation, comprising:

using an actuator including at least one actuator body that defines a chamber and at least one sleeve covering part of the actuator body; and

pumping fluid into the chamber defined by the actuator body, causing the actuator body to deform where the actuator body is not covered by the sleeve, while the sleeve limits the actuator body from deforming where the sleeve covers the actuator body.

25. The method of claim 24, wherein the actuator includes at least two soft actuator bodies, each with at least one sleeve covering part of each actuator body.

26. The method of claim 25, further comprising actuating the actuator bodies to grasp an object between the actuator bodies.