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Soft robotic actuators

  • US 9,464,642 B2
  • Filed: 11/21/2011
  • Issued: 10/11/2016
  • Est. Priority Date: 11/19/2010
  • Status: Active Grant
First Claim
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1. A soft body robotic device, comprising:

  • a flexible molded body having a plurality of interconnected chambers disposed within the molded body, wherein a portion of the molded body is comprised of an elastically extensible material and a portion of the molded body is strain limiting relative to the elastically extensible material, and wherein the thickness of the molded body is at least 1 mm; and

    a pressurizing inlet that is configured to receive fluid for the plurality of interconnected chambers,wherein the molded body is configured to preferentially expand when the plurality of interconnected chambers are pressurized by the fluid, causing a bending motion around the strain limiting portion of the molded body; and

    wherein the strain limiting portion has a wall thickness greater than other portions of the flexible molded body.

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