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91. 发明申请

US20170036355A1 ENHANCEMENT OF SOFT ROBOTIC GRIPPERS THROUGH INTEGRATION OF STIFF STRUCTURES 审中-公开
标题翻译：柔性机器人通过整合结构的增强
公开(公告)号：US20170036355A1
公开(公告)日：2017-02-09
申请号：US15137356
申请日：2016-04-25
申请人： Joshua Aaron Lessing , Ryan Richard Knopf , Daniel Vincent Harburg , Carl Everett Vause
发明人： Joshua Aaron Lessing , Ryan Richard Knopf , Daniel Vincent Harburg , Carl Everett Vause
IPC分类号： B25J15/00
CPC分类号： B25J15/0023 , B25J9/142 , B25J15/12
摘要： Exemplary embodiments relate to various improvements in soft robotic actuators, and more specifically the integration of stiff or rigid bodies into soft actuators to provide adjustable gripping behaviors. These actuators may be used as robotic end effectors to, for example, automate material handling processes. According to some embodiments, the actuators may be deployed in combination with a static or dynamic rigid structure, such as a rod. The rigid structure may extend beside or within the actuator. Multiple rigid structures may be deployed on the sides of an actuator, or multiple actuators may be deployed on the sides of a rigid structure. In further embodiments, an array or matrix of actuators may be integrated into a rigid structure, providing a low-profile gripper that can be maneuvered into tight spaces.
摘要翻译：示例性实施例涉及软式机器人致动器的各种改进，更具体地说，将刚性或刚性体整合到柔性致动器中以提供可调节的抓握行为。这些致动器可以用作例如自动化材料处理过程的机器人末端执行器。根据一些实施例，致动器可以与诸如杆的静态或动态刚性结构组合地展开。刚性结构可以在致动器的旁边或内部延伸。多个刚性结构可以部署在致动器的侧面上，或者多个致动器可以部署在刚性结构的侧面上。在另外的实施例中，致动器的阵列或矩阵可以集成到刚性结构中，从而提供可以被操纵到狭窄空间的低轮廓的夹持器。

92. 发明申请

US20160375590A1 FOOD HANDLING GRIPPER 审中-公开
标题翻译：食品处理机
公开(公告)号：US20160375590A1
公开(公告)日：2016-12-29
申请号：US15194283
申请日：2016-06-27
申请人： Joshua Aaron Lessing , Ryan Richard Knopf , Daniel Vincent Harburg , Kevin Alcedo , Grant Thomas Sellers , Mark Chiappetta
发明人： Joshua Aaron Lessing , Ryan Richard Knopf , Daniel Vincent Harburg , Kevin Alcedo , Grant Thomas Sellers , Mark Chiappetta
IPC分类号： B25J15/12 , B25J15/10 , B25J15/00
CPC分类号： B25J15/12 , B25J15/0023 , B25J15/10 , Y10S901/39
摘要： Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.
摘要翻译：示例性实施例涉及机器人系统的改进以减少系统上的生物或化学港口点。例如，在示例性实施例中，机器人致动器，轮毂或整个机器人系统可以被配置为允许沿着接头或紧固件附近的缝隙被减少或消除，硬的角部被替换为圆形边缘，某些部件或要消除的密封点，要重新配置为更平滑或平坦的形状，和/或表面可重构以便更简单的清洁。

93. 发明申请

US20160279803A1 SOFT ROBOTIC ACTUATORS AND METHODS OF MANUFACTURING THE SAME 审中-公开
标题翻译：软手动执行器及其制造方法
公开(公告)号：US20160279803A1
公开(公告)日：2016-09-29
申请号：US15078966
申请日：2016-03-23
申请人： Joshua Aaron Lessing , Ryan Richard Knopf , Carl Everett Vause , Dan Harburg
发明人： Joshua Aaron Lessing , Ryan Richard Knopf , Carl Everett Vause , Dan Harburg
IPC分类号： B25J15/00 , B29C65/00 , B32B3/18 , B32B5/02 , B32B37/18 , B32B27/40 , B32B27/06 , B32B38/00 , B32B37/10 , B32B37/06 , B29C65/18 , B32B5/18
CPC分类号： B25J15/0023 , B25J9/142 , B29C65/18 , B29C65/4815 , B29C65/5057 , B29C66/1122 , B29C66/3474 , B29C66/433 , B29C66/45 , B29C66/71 , B29C66/712 , B29C66/727 , B29C66/729 , B29C66/7392 , B29C66/8322 , B29C66/91221 , B29C66/91231 , B29C2793/0009 , B29C2793/009 , B32B3/10 , B32B3/16 , B32B3/18 , B32B3/266 , B32B5/02 , B32B5/18 , B32B5/245 , B32B5/26 , B32B7/12 , B32B27/065 , B32B27/12 , B32B27/40 , B32B37/04 , B32B37/06 , B32B37/10 , B32B37/182 , B32B38/0004 , B32B38/10 , B32B2037/268 , B32B2250/03 , B32B2262/0215 , B32B2262/0253 , B32B2262/0261 , B32B2262/0269 , B32B2262/0276 , B32B2262/062 , B32B2266/0207 , B32B2274/00 , B32B2305/022 , B32B2305/34 , B32B2307/306 , B32B2309/02 , B32B2319/00 , B32B2367/00 , B32B2375/00 , B32B2377/00 , B32B2457/00 , F15B15/103 , F15B2215/305 , B29K2077/00 , B29K2021/00 , B29K2075/00 , B29K2021/003
摘要： Exemplary embodiments relate to various improvements in soft robotic actuators, and techniques for manufacturing the improvements. For example, techniques for manufacturing a rigidizing layer for reinforcing a soft robotic actuator is provided. In another embodiment, a soft robotic actuator having integrated sensors is described. A flexible electroadhesive pad for achieving a conformal grip is also described. Still further, exemplary embodiments provide hydraulically-actuated soft robotic grippers, which allows for a reduction in the size of the actuation system and improved underwater operation.
摘要翻译：示例性实施例涉及软式机器人致动器的各种改进，以及用于制造改进的技术。例如，提供了用于制造用于加强软式机器人致动器的刚性层的技术。在另一个实施例中，描述了具有集成传感器的软的机器人致动器。还描述了用于实现共形握把的柔性电粘合垫。更进一步地，示例性实施例提供了液压致动的软式机器人夹持器，其允许致动系统的尺寸减小和改进的水下操作。

94. 发明申请

US20160136820A1 SOFT ROBOTIC ACTUATOR ENHANCEMENTS 审中-公开
标题翻译：软手动执行机构增强
公开(公告)号：US20160136820A1
公开(公告)日：2016-05-19
申请号：US14944999
申请日：2015-11-18
申请人： Joshua Aaron Lessing , Ryan Knopf , Carl Vause
发明人： Joshua Aaron Lessing , Ryan Knopf , Carl Vause
IPC分类号： B25J15/00 , B25J15/12
CPC分类号： B25J15/12 , B25J15/0023 , B25J15/0071 , B25J15/10
摘要： Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.
摘要翻译：示例性实施例为软的机器人致动器提供增强。在一些实施例中，角度调节系统被提供用于改变致动器与轮毂之间或两个致动器之间的角度。角度调节系统也可用于改变致动器之间的相对距离或间距。根据另外的实施例，提供刚性层，用于在相对高应变的一个或多个位置处增强致动器的一个或多个部分。根据另外的实施例，提供了力放大结构，用于增加致动器施加到目标的力的量。力放大结构可以用于缩短在充气时经受弯曲的致动器的长度。根据另外的实施例，提供夹持垫用于定制致动器的夹紧轮廓以更好地符合要夹紧的物品的表面。

95. 发明申请

US20150266186A1 LOW STRAIN PNEUMATIC NETWORKS FOR SOFT ROBOTS 审中-公开
标题翻译：用于软运动的低应变气动网络
公开(公告)号：US20150266186A1
公开(公告)日：2015-09-24
申请号：US14464396
申请日：2014-08-20
申请人： President and Fellows of Harvard College
发明人： Bobak MOSADEGH , Robert F. SHEPHERD , George M. WHITESIDES
IPC分类号： B25J15/00 , F15B15/08 , B29C65/70
CPC分类号： B25J15/0023 , B25J9/142 , B25J15/12 , B25J18/06 , B29C65/70 , B29L2009/00 , F15B15/08 , F15B15/103
摘要： 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.
摘要翻译：致动器包括由可伸展材料构成的多个室，所述室具有内侧壁和外壁，其中内侧壁的至少一部分与相邻室的内侧壁分离; 和应变限制基; 以及使所述多个室流体互连的通道，其中所述内壁被配置为比所述外壁更顺从。

96. 发明授权

US09061422B2 Device for handling objects 有权
标题翻译：用于处理对象的设备
公开(公告)号：US09061422B2
公开(公告)日：2015-06-23
申请号：US14006360
申请日：2012-02-28
申请人： Jörg Ruschulte , Christoph Riethmueller
发明人： Jörg Ruschulte , Christoph Riethmueller
IPC分类号： B66C1/46 , B25J15/00 , B65G47/90 , B25J15/06
CPC分类号： B25J15/00 , B25J15/0023 , B25J15/008 , B25J15/0608 , B65G47/90
摘要： A device for handling objects is provided, comprising at least one inflatable air chamber and a retaining unit for objects, which is attached to the air chamber, to a robot or manipulator, characterized by at least one device for handling objects. Also provided is a method for handling objects using the aforementioned device, characterized by the steps of: moving the device with the side thereof comprising the retaining unit to the object to be handled in a first position; establishing an adhesive connection between the retaining unit and the object to be handled, thus retaining the object; moving the device to a desired second position, and releasing the object from the retaining unit by inflating the at least one air chamber.
摘要翻译：提供了一种用于处理物体的装置，其包括至少一个可充气气室和用于附着到空气室的物体的保持单元，该机器人或操纵器的特征在于至少一个用于处理物体的装置。还提供了一种使用上述装置处理物体的方法，其特征在于以下步骤：将包括保持单元的侧面的装置移动到待处理物体处于第一位置; 在保持单元和待处理物体之间建立粘合连接，从而保持物体; 将装置移动到期望的第二位置，并且通过使至少一个气室膨胀来将物体从保持单元释放。

97. 发明申请

US20140203582A1 ROBOT HAND AND ROBOT 有权
标题翻译：机器手和机器人
公开(公告)号：US20140203582A1
公开(公告)日：2014-07-24
申请号：US14157528
申请日：2014-01-17
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Toshiyuki HARADA , Kenichi MOTONAGA , Keigo ISHIBASHI
IPC分类号： B25J15/00
CPC分类号： B25J15/0023 , B25J15/00 , B25J15/0028 , Y10S901/31
摘要： A robot hand is provided. The robot hand includes a plurality of holding parts provided to be holdable of a plurality of workpieces, respectively, and a pneumatic drive for protruding one of the holding parts, when the holding part holds one of the workpieces, toward the workpiece with respect to one or more remaining holding parts by pneumatic pressure.
摘要翻译：提供机器人手。机器人手包括分别设置成能够保持多个工件的多个保持部件和用于使保持部件中的一个保持部件保持一个工件时的气动驱动件相对于一个工件朝向工件或更多的剩余保持部件。

98. 发明授权

US08727410B2 Method and device for manipulating an object 有权
标题翻译：用于操纵物体的方法和装置
公开(公告)号：US08727410B2
公开(公告)日：2014-05-20
申请号：US12711983
申请日：2010-02-24
申请人： Christopher Vernon Jones , Erik Edward Steltz , Annan Michael Mozeika
发明人： Christopher Vernon Jones , Erik Edward Steltz , Annan Michael Mozeika
IPC分类号： A61F2/54
CPC分类号： B25J15/0023 , B25J5/005 , B66C1/04 , B66C1/44 , B66C1/445 , B66F11/044 , B66F11/048
摘要： A method for manipulating an object with a remote vehicle having a manipulator attached to a manipulator arm. The manipulator comprises a jamming or other phase change material in a housing. The method comprises pressing the manipulator housing to the object, activating the jamming or other phase change material to cause the manipulator to grasp the object, and moving one or more of the manipulator arm and the remote vehicle to manipulate the object.
摘要翻译：一种用具有附接到操纵臂的操纵器的远程车辆来操纵物体的方法。机械手包括壳体中的干扰或其它相变材料。该方法包括将操纵器壳体按压到物体上，启动卡住或其它相变材料，使操纵器抓住物体，并移动操纵器臂和远程车辆中的一个或多个以操纵物体。

99. 发明授权

US08651543B2 Grasping apparatus having bag members filled by a granular substance 有权
标题翻译：具有由颗粒物质填充的袋构件的抓取装置
公开(公告)号：US08651543B2
公开(公告)日：2014-02-18
申请号：US13641534
申请日：2011-04-19
申请人： Hirofumi Matsuoka , Masayuki Tamura
发明人： Hirofumi Matsuoka , Masayuki Tamura
IPC分类号： B66C1/44
CPC分类号： B25J15/12 , B25J15/0023 , B65G47/90 , B66C1/42
摘要： The grasping apparatus includes a grasping portion for grasping a workpiece. This grasping portion has i) pawl portions having squeezing portions that squeeze the workpiece, and ii) contact portions, each of which has an inner bag made of elastic material, and a granular substance that is filled in the inner bag. The contact portions are attached to portions of the squeezing portions that contact the workpiece, and harden the granular substance while keeping it in an appropriate shape by increasing a volume ratio of the granular substance to an inner volume of the inner bags. Retaining portions that have concavo-convex shapes are formed on the attaching surfaces that are portions of the squeezing portions that the contact portions attach to.
摘要翻译：把持装置包括用于把持工件的把持部。该抓持部具有：i）具有挤压工件的挤压部的棘爪部，以及ii）具有由弹性材料制成的内袋的接触部和填充在内袋中的粒状物。接触部附着在与工件接触的挤压部的部分上，通过增加粒状物质与内袋的内容积的体积比，使颗粒状物质保持适当的形状，使其硬化。具有凹凸形状的保持部形成在作为接触部附着的挤压部的部分的安装面上。

100. 发明申请

US20140010628A1 DEVICE FOR HANDLING OBJECTS 有权
标题翻译：处理对象的设备
公开(公告)号：US20140010628A1
公开(公告)日：2014-01-09
申请号：US14006360
申请日：2012-02-28
申请人： Jörg Ruschulte , Christoph Riethmueller
发明人： Jörg Ruschulte , Christoph Riethmueller
IPC分类号： B25J15/00 , B25J15/06
CPC分类号： B25J15/00 , B25J15/0023 , B25J15/008 , B25J15/0608 , B65G47/90
摘要： The invention relates to a device for handling objects, comprising at least one inflatable air chamber and a retaining unit for objects, which is attached to the air chamber, to a robot or manipulator, characterized by at least one device for handling objects, and to a method for handling objects using the aforementioned device, characterized by the steps of: moving the device with the side thereof comprising the retaining unit to the object to be handled in a first position; establishing an adhesive connection between the retaining unit and the object to be handled, thus retaining the object; moving the device to a desired second position, and releasing the object from the retaining unit by inflating the at least one air chamber.
摘要翻译：本发明涉及一种用于处理物体的装置，其包括至少一个可充气气室和用于附着到空气室的物体的保持单元到机器人或操纵器，其特征在于至少一个用于处理物体的装置，以及一种使用上述装置处理物体的方法，其特征在于以下步骤：将包括保持单元的侧面的装置移动到待处理物体处于第一位置; 在保持单元和待处理物体之间建立粘合连接，从而保持物体; 将装置移动到期望的第二位置，并且通过使至少一个气室膨胀来将物体从保持单元释放。

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