LOW STRAIN PNEUMATIC NETWORKS FOR SOFT ROBOTS
First Claim
Patent Images
1. An actuator, comprising:
- a plurality of chambers comprised of an extensible material, the chambers having interior side walls and exterior walls, wherein at least a portion of the interior side wall of a first chamber is separated from an interior side wall of a second chamber;
a strain limiting base;
a channel that fluidically interconnects the plurality of chambers; and
an inlet port for receiving a pressurizing fluid.
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Accused Products
Abstract
An actuator includes a plurality of chambers comprised of an extensible material, the chambers having interior side walls and exterior walls, wherein at least a portion of the interior side wall is separated from an interior side wall of an adjacent chamber; and a strain limiting base; and a channel that fluidically interconnects the plurality of chambers, wherein the interior walls are configured to be more compliant than the exterior walls.
26 Citations
33 Claims
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1. An actuator, comprising:
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a plurality of chambers comprised of an extensible material, the chambers having interior side walls and exterior walls, wherein at least a portion of the interior side wall of a first chamber is separated from an interior side wall of a second chamber; a strain limiting base; a channel that fluidically interconnects the plurality of chambers; and an inlet port for receiving a pressurizing fluid. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33)
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29. A method of making an actuator comprising:
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molding an extensible layer comprising a plurality of chambers comprised of an extensible material, the chambers having interior side walls and exterior walls, wherein at least a portion of the interior side wall is separated from an interior side wall of an adjacent chamber; molding a strain limiting layer comprises of a material having a greater stiffness than the extensible layer; and joining the extensible layer to the strain limiting layer at predetermined locations to define chambers having a pneumatic channel that fluidically interconnects the plurality of chambers.
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Specification