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1. 发明申请

WO2016011345A1 SOFT ACTUATORS AND SOFT ACTUATING DEVICES 审中-公开
标题翻译：软执行器和软启动装置
公开(公告)号：WO2016011345A1
公开(公告)日：2016-01-21
申请号：PCT/US2015/040896
申请日：2015-07-17
申请人： PRESIDENT AND FELLOWS OF HARVARD COLLEGE , YANG, Dian
发明人： YANG, Dian , WHITESIDES, George, M.
IPC分类号： B66F3/35 , F15B15/10
CPC分类号： F15B15/103 , A61F2/08 , A61F2/50 , A61F2/68 , A61F2002/0894 , A61F2002/5066 , A61F2002/74 , B25J9/1075
摘要： A soft buckling linear actuator is described, including: a plurality of substantially parallel bucklable, elastic structural components each having its longest dimension along a first axis; and a plurality of secondary structural components each disposed between and bridging two adjacent bucklable, elastic structural components; wherein every two adjacent bucklable, elastic structural components and the secondary structural components in-between define a layer comprising a plurality of cells each capable of being connected with a fluid inflation or deflation source; the secondary structural components from two adjacent layers are not aligned along a second axis perpendicular to the first axis; and the secondary structural components are configured not to buckle, the bucklable, elastic structural components are configured to buckle along the second axis to generate a linear force, upon the inflation or deflation of the cells. Methods of actuation using the same are also described.
摘要翻译：描述了柔软的弯曲线性致动器，包括：多个基本上平行的可弯曲的弹性结构部件，每个具有沿着第一轴线的最长尺寸; 以及多个第二结构部件，每个二次结构部件设置在两个相邻的可弯曲的弹性结构部件之间并桥接两个相邻的可弯曲弹性结构部件。其中每两个相邻的可屈曲弹性结构部件和二次结构部件之间限定包括多个能够与流体充气或放气源连接的多个电池的层; 来自两个相邻层的次要结构部件不沿着垂直于第一轴线的第二轴线排列; 并且所述次级结构部件构造成不会弯曲，所述可屈曲的弹性结构部件构造成沿着所述第二轴线弯曲以在所述电池的充气或放气时产生线性力。还描述了使用该方法的致动方法。

2. 发明申请

WO2017083350A1 ACTUATORS 审中-公开
标题翻译：动器
公开(公告)号：WO2017083350A1
公开(公告)日：2017-05-18
申请号：PCT/US2016/061078
申请日：2016-11-09
申请人： PRESIDENT AND FELLOWS OF HARVARD COLLEGE
发明人： YANG, Dian , WHITESIDES, George, M.
IPC分类号： B25J9/10 , B25J9/14 , B25J11/00 , C12M3/06
CPC分类号： B25J9/144 , B25J9/1075 , B25J9/142 , C12M35/04
摘要： A shear force actuator is described, including: two substantially parallel first structural components disposed along a first axis; a plurality of substantially parallel second structural components disposed between and bridging the two first structural components; a plurality of joint sections each joining the second structural component with the first structural components at an oblique angle of between 0 and 90 degrees to define a plurality of cells, each capable of being connected with a fluid inflation or deflation source; an elastic surface covering the remaining surfaces of the cells in a fluid-tight manner, wherein at least one of the joint section, the first structural components, and the second structural components is elastic so that cell collapses upon removal of fluid from the cell to generate a linear force along the first axis.
摘要翻译：描述了剪切力致动器，其包括：沿第一轴设置的两个基本上平行的第一结构部件; 多个基本上平行的第二结构部件，其设置在两个第一结构部件之间并桥接两个第一结构部件; 多个接合部分，每个接合部分将第二结构部件与第一结构部件以0和90度之间的倾斜角度接合以限定多个单元，每个单元能够与流体膨胀或放气源连接; 弹性表面以流体密封的方式覆盖单元的其余表面，其中接合部分，第一结构部件和第二结构部件中的至少一个是弹性的，从而在将流体从单元去除到沿着第一轴产生线性力。

3. 发明申请

WO2016029143A1 SENSORS FOR SOFT ROBOTS AND SOFT ACTUATORS 审中-公开
标题翻译：软运动和软执行器的传感器
公开(公告)号：WO2016029143A1
公开(公告)日：2016-02-25
申请号：PCT/US2015/046350
申请日：2015-08-21
申请人： PRESIDENT AND FELLOWS OF HARVARD COLLEGE , LESSING, Joshua, Aaron , WHITESIDES, George, M. , MARTINEZ, Ramses, V. , YANG, Dian , MOSADEGH, Bobak , GALLOWAY, Kevin, C. , GUDER, Firat , TAYI, Alok, Suryavamsee
发明人： LESSING, Joshua, Aaron , WHITESIDES, George, M. , MARTINEZ, Ramses, V. , YANG, Dian , MOSADEGH, Bobak , GALLOWAY, Kevin, C. , GUDER, Firat , TAYI, Alok, Suryavamsee
IPC分类号： B25J9/00 , B25J9/14 , G06F19/00
CPC分类号： B25J18/06 , B25J9/142 , B25J13/085 , B25J13/087 , B25J13/088 , B25J15/0009 , B25J15/12
摘要： A soft robotic device with one or more sensors is described. The sensor may be embedded in the soft body of the soft robotic device, attached to the soft body of the soft robotic device, or otherwise linked to the soft body of the soft robotic device.
摘要翻译：描述了具有一个或多个传感器的软的机器人装置。传感器可以嵌入在软的机器人装置的软体中，附着在软的机器人装置的软体上，或以其它方式连接到软的机器人装置的软体上。

4. 发明申请

WO2017023903A1 PHASE-TRANSFORMING AND SWITCHABLE METAMATERIALS 审中-公开
标题翻译：相变和可切换元件
公开(公告)号：WO2017023903A1
公开(公告)日：2017-02-09
申请号：PCT/US2016/045107
申请日：2016-08-02
申请人： PRESIDENT AND FELLOWS OF HARVARD COLLEGE
发明人： YANG, Dian , JIN, Lihua , MARTINEZ, Ramses, V. , BERTOLDI, Katia , WHITESIDES, George, M. , SUO, Zhigang
IPC分类号： C08F291/02 , C08K5/5419
CPC分类号： C22F1/006
摘要： A new soft structure that uses a meso- or macro-scale elastic instability to generate a shape-memory effect similar to that of a ferroelastic material is described. The soft metastructure exhibits phase transition, switching of variants, and shape-memory. The class of materials presented are useful, since they are "shape-memory alloys" of arbitrarily low modulus and arbitrarily large remnant strain.
摘要翻译：描述了使用中等或宏观尺度的弹性不稳定性来产生类似于铁弹材料的形状记忆效应的新的软结构。软质结构表现出相变，变形和形状记忆的切换。所提供的材料类别是有用的，因为它们是任意低模量和任意大的残余应变的“形状记忆合金”。

5. 发明申请

WO2015160717A9 SOFT BUCKLING ACTUATORS 审中-公开
公开(公告)号：WO2015160717A9
公开(公告)日：2015-10-22
申请号：PCT/US2015/025603
申请日：2015-04-13
申请人： PRESIDENT AND FELLOWS OF HARVARD COLLEGE
发明人： YANG, Dian , WHITESIDES, George, M.
IPC分类号： F15B7/06
摘要： A soft actuator is described, including: a rotation center having a center of mass; a plurality of bucklable, elastic structural components each comprising a wall defining an axis along its longest dimension, the wall connected to the rotation center in a way that the axis is offset from the center of mass in a predetermined direction; and a plurality of cells each disposed between two adjacent bucklable, elastic structural components and configured for connection with a fluid inflation or deflation source; wherein upon the deflation of the cell, the bucklable, elastic structural components are configured to buckle in the predetermined direction. A soft actuating device including a plurality of the soft actuators and methods of actuation using the soft actuator or soft actuating device disclosed herein are also described.

6. 发明公开

EP3183099A1 SENSORS FOR SOFT ROBOTS AND SOFT ACTUATORS 有权
标题翻译：软机器人和软驱动器传感器
公开(公告)号：EP3183099A1
公开(公告)日：2017-06-28
申请号：EP15834529.8
申请日：2015-08-21
申请人： President and Fellows of Harvard College
发明人： LESSING, Joshua Aaron , WHITESIDES, George M. , MARTINEZ, Ramses V. , YANG, Dian , MOSADEGH, Bobak , GALLOWAY, Kevin C. , GUDER, Firat , TAYI, Alok Suryavamsee
IPC分类号： B25J9/00 , B25J9/14 , G06F19/00
CPC分类号： B25J18/06 , B25J9/142 , B25J13/085 , B25J13/087 , B25J13/088 , B25J15/0009 , B25J15/12
摘要： A soft robotic device with one or more sensors is described. The sensor may be embedded in the soft body of the soft robotic device, attached to the soft body of the soft robotic device, or otherwise linked to the soft body of the soft robotic device.
摘要翻译：描述了具有一个或多个传感器的软机器人装置。传感器可以嵌入软机器人装置的软体中，附接到软机器人装置的软体，或者以其他方式连接到软机器人装置的软体。

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