Mechanically programmed soft actuators with conforming sleeves

• US 9,492,930 B2
• Filed: 10/16/2014
• Issued: 11/15/2016
• 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:
  US15/028,993
• Publication Number:
  US 20160263751A1
• Time in Patent Office: 761 Days
• Field of Search: 92/92
• US Class Current: 1/1
• 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

A mechanically programmed actuator includes at least one soft actuator body configured to bend, linearly extend, contract, twist, or combinations thereof when actuated without constraint; an activation mechanism (e.g., a fluid pump) configured to actuate the soft actuator body; and at least one sleeve wrapped around part of the soft actuator body and configured to constrain the soft actuator body inside the sleeve when actuated and to cause the soft actuator body to deform where not covered by the sleeve.

Claims

1. A mechanically programmed actuator comprising:

at least one soft actuator body configured to bend, linearly extend, contract, twist, or combinations thereof when actuated without constraint;

an activation mechanism configured to actuate the soft actuator; and

at least one sleeve wrapped around at least a part of the soft actuator body and configured to constrain the soft actuator body inside the sleeve when actuated and to enable the soft actuator body to deform where the soft actuator body is not covered by the sleeve.

2. The mechanically programmed actuator of claim 1, wherein the soft 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 soft actuator body.

3. The mechanically programmed actuator of claim 2, wherein the soft 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.

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

5. The mechanically programmed actuator of claim 1, where a plurality of sleeves are wrapped around respective parts of the soft 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.

6. The mechanically programmed actuator of claim 5, wherein a gap is provided between at least two of the sleeves, causing the soft body actuator to deform at the gap between the sleeves.

7. The mechanically programmed actuator of claim 1, wherein the sleeve defines an aperture, causing the soft actuator body to deform at the aperture.

8. The mechanically programmed actuator of claim 1, wherein the sleeve includes a plurality of apertures, causing the soft actuator body to deform at the apertures.

9. The mechanically programmed actuator of claim 8, wherein the apertures are defined at different longitudinal and radial positions in the sleeve.

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

11. The mechanically programmed actuator of claim 1, wherein the sleeve serves as a coupler between a plurality of the soft actuator bodies.

12. The mechanically programmed actuator of claim 1, wherein a plurality of sleeves are coupled together and contain parts of respective soft actuator bodies.

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

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

15. The mechanically programmed actuator of claim 1, wherein the sleeve secures rigid parts to the actuator body.

16. The mechanically programmed actuator of claim 1, wherein the sleeve is removable.

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

18. The mechanically programmed actuator of claim 1, wherein the actuator includes inner and outer sleeves concentrically wrapped around the soft actuator body, wherein gaps or apertures are provided at the outer sleeves, exposing a portion of the inner sleeve.

19. A method for mechanical actuation, comprising:

using a mechanically programmed actuator including at least one soft actuator body that defines a chamber and at least one sleeve wrapped around part of the soft actuator body; and

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

20. The method of claim 19, wherein the actuator includes at least two soft actuator bodies, each with at least one sleeve wrapped around part of each soft actuator body.

21. The method of claim 20, further comprising actuating the soft actuator bodies to grasp an object between the soft actuator bodies.