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1. 发明申请

WO2012030874A3 ELECTROCHEMICALLY FUNCTIONAL MEMBRANES 审中-公开
公开(公告)号：WO2012030874A3
公开(公告)日：2012-03-08
申请号：PCT/US2011/049812
申请日：2011-08-31
申请人： PRESIDENT AND FELLOWS OF HARVARD COLLEGE , RAMANATHAN, Shriram , HARBURG, Daniel, V. , TSUCHIYA, Masaru , JOHNSON, Alexander, C.
发明人： RAMANATHAN, Shriram , HARBURG, Daniel, V. , TSUCHIYA, Masaru , JOHNSON, Alexander, C.
IPC分类号： H01M8/00
摘要： A system includes an electrochemically functional membrane, and a support structure constructed and arranged so as to support the membrane while leaving within the membrane a chemically active area having an area utilization of at least about 50%. In some embodiments, the support structure may include a plurality of grids that are sized and shaped so that the contact area between the grids and the membrane is reduced to less than about 40%. In some embodiments, the support structure may include aerogels, for example PVA-reinforced CNT aerogels having a conductivity that is increased by pyrolysis. The system may be a gas separation system; a gas production system; a gas purification system; or an energy generation system such as an SOFC.

2. 发明申请

WO2016210438A1 FOOD HANDLING GRIPPER 审中-公开
标题翻译：食品处理机
公开(公告)号：WO2016210438A1
公开(公告)日：2016-12-29
申请号：PCT/US2016/039648
申请日：2016-06-27
申请人： SOFT ROBOTICS, INC. , LESSING, Joshua, Aaron , KNOPF, Ryan, Richard , HARBURG, Daniel, Vincent , ALCEDO, Kevin , SELLERS, Grant, Thomas , CHIAPPETTA, Mark
发明人： LESSING, Joshua, Aaron , KNOPF, Ryan, Richard , HARBURG, Daniel, Vincent , ALCEDO, Kevin , SELLERS, Grant, Thomas , CHIAPPETTA, Mark
IPC分类号： B25J15/00 , B25J15/02 , B25J15/04 , B25J15/12 , B25J9/14
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。

3. 发明申请

WO2016172670A1 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：WO2016172670A1
公开(公告)日：2016-10-27
申请号：PCT/US2016/029131
申请日：2016-04-25
申请人： SOFT ROBOTICS, INC. , LESSING, Joshua, A. , KNOPF, Ryan, R. , HARBURG, Daniel, V. , VAUSE, Carl, E.
发明人： LESSING, Joshua, A. , KNOPF, Ryan, R. , HARBURG, Daniel, V. , VAUSE, Carl, E.
IPC分类号： B25J15/12 , B25J9/14 , B25J15/08 , B25J9/06
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整的抓握行为。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。

4. 发明申请

WO2017020047A1 SELF-CONTAINED ROBOTIC GRIPPER SYSTEM 审中-公开
标题翻译：自包装机器人系统
公开(公告)号：WO2017020047A1
公开(公告)日：2017-02-02
申请号：PCT/US2016/045063
申请日：2016-08-01
申请人： SOFT ROBOTICS, INC. , KNOPF, Ryan , LESSING, Joshua , HARBURG, Daniel , SELLERS, Grant
发明人： KNOPF, Ryan , LESSING, Joshua , HARBURG, Daniel , SELLERS, Grant
IPC分类号： B25J9/14 , B25J15/00 , B25J15/10 , B25J15/12 , B25J19/02
CPC分类号： B25J15/0023 , B25J9/142 , B25J15/10 , B25J15/12
摘要： Exemplary embodiments relate to improvements in soft robotic systems that permit a soft robotic end effector to be a self-contained system, without reliance on a tether to deliver inflation fluid to the actuator(s) of the end effector. According to some embodiments, a robotic system may be provided including a soft actuator and a hub. The body of the hub may include an integrated pressure source configured to supply inflation fluid through the actuator interface to the soft actuator. The pressure source may be, for example, a compressor (such as a twin- head compressor) or a reaction chamber configured to vaporize a fuel to create a high- temperature pressurized gas and deliver the pressurized gas to the actuator One or more accumulators may receive inflation fluid (or a partial vacuum) from the compressor over time, and store the inflation fluid under pressure, thus allowing actuation over a relatively short time period.
摘要翻译：示例性实施例涉及软机器人系统的改进，其允许软机器人末端执行器是独立的系统，而不依赖系绳将充气流体输送到末端执行器的致动器。根据一些实施例，可以提供包括软致动器和轮毂的机器人系统。集线器的主体可以包括集成的压力源，其构造成将充气流体通过致动器接口供应到软致动器。压力源可以是例如压缩机（例如双头压缩机）或被配置为蒸发燃料以产生高温加压气体并将加压气体输送到致动器的反应室可以将一个或多个蓄能器从压缩机接收充气流体（或部分真空），并将充气流体存储在压力下，从而允许在较短时间内启动。

5. 发明申请

WO2016201418A1 MODULAR ROBOTIC SYSTEMS 审中-公开
标题翻译：模块化机器人系统
公开(公告)号：WO2016201418A1
公开(公告)日：2016-12-15
申请号：PCT/US2016/037197
申请日：2016-06-13
申请人： SOFT ROBOTICS, INC. , LESSING, Joshua, Aaron , ALCEDO, Kevin , KNOPF, Ryan, Richard , HARBURG, Daniel
发明人： LESSING, Joshua, Aaron , ALCEDO, Kevin , KNOPF, Ryan, Richard , HARBURG, Daniel
IPC分类号： B25J9/14
CPC分类号： B25J15/0023 , B25J15/0061 , B25J15/10
摘要： Exemplary embodiments provide modular robotic systems that allow one or more operation parameters of a robotic actuator, or group of actuators, to be dynamically configured or reconfigured. The operation parameters may be, for example, the X, Y, and/or Z position of the actuator or group of actuators with respect to other actuators, the arrangement of the actuator(s) into an array or matrix, the rotation or pitch of an actuator, the distance between actuators, the grip strength or grip surface of an actuator, etc. Accordingly, the same robotic manipulator(s) may be used for multiple purposes in multiple different contexts, manipulators can be swapped out on-the-fly, and robotic systems may be dynamically reconfigured to perform new tasks.
摘要翻译：示例性实施例提供允许机器人致动器或致动器组的一个或多个操作参数被动态配置或重新配置的模块化机器人系统。操作参数可以是例如致动器或致动器组相对于其他致动器的X，Y和/或Z位置，致动器的布置成阵列或矩阵，旋转或俯仰致动器之间的距离，致动器的抓握强度或抓握表面等。因此，相同的机器人操纵器可以用于多个不同上下文中的多个目的，操纵器可以被交换出来，飞行和机器人系统可以被动态地重新配置以执行新的任务。

6. 发明申请

WO2014201414A1 METHODS FOR FABRICATING MAGNETIC DEVICES AND ASSOCIATED SYSTEMS AND DEVICES 审中-公开
标题翻译：用于制造磁性装置和相关系统和装置的方法
公开(公告)号：WO2014201414A1
公开(公告)日：2014-12-18
申请号：PCT/US2014/042403
申请日：2014-06-13
申请人： THE TRUSTEES OF DARTMOUTH COLLEGE , SULLIVAN, Charles, R. , HARBURG, Daniel, V. , LEVEY, Christopher, G. , YUE, Song
发明人： SULLIVAN, Charles, R. , HARBURG, Daniel, V. , LEVEY, Christopher, G. , YUE, Song
IPC分类号： H01L21/027 , G03F7/20
CPC分类号： H01L43/12 , G03F1/68 , H01F17/0006 , H01F41/046 , H01F2017/0066 , H01F2017/0086 , H01L21/0274 , H01L23/5227 , H01L28/10 , H01L43/02 , H01L2924/0002 , H01L2924/00
摘要： A method for exposing a photoresist material to light includes the following steps: (1) optically coupling the light to an optical mask via a prism and a first liquid layer joining the prism and the optical mask, (2) masking the light using the optical mask, and (3) optically coupling the masked light to the photoresist material. The method is used, for example, to fabricate a magnetic device on a semiconductor substrate. A hybrid semiconductor and magnetic device includes a semiconductor substrate and a top insulating structure deposited on an outer surface of the semiconductor substrate. The top insulating structure has opposing first and second sloping sidewalls, where each sloping sidewall forms an acute angle of at least 30 degrees, relative to an axis normal to the outer surface of the semiconductor substrate. The hybrid semiconductor and magnetic device further includes a magnetic core surrounding the top insulating structure.
摘要翻译：用于将光致抗蚀剂材料曝光的方法包括以下步骤：（1）经由棱镜和连接棱镜和光掩模的第一液体层光学耦合光学掩模，（2）使用光学屏蔽光掩模，和（3）将掩蔽的光光学耦合到光致抗蚀剂材料。该方法例如用于在半导体衬底上制造磁性器件。混合半导体和磁性器件包括沉积在半导体衬底的外表面上的半导体衬底和顶部绝缘结构。顶部绝缘结构具有相对的第一和第二倾斜侧壁，其中每个倾斜侧壁相对于垂直于半导体衬底的外表面的轴线形成至少30度的锐角。混合半导体和磁性器件还包括围绕顶部绝缘结构的磁芯。

7. 发明申请

WO2012030874A2 ELECTROCHEMICALLY FUNCTIONAL MEMBRANES 审中-公开
标题翻译：电化学功能膜
公开(公告)号：WO2012030874A2
公开(公告)日：2012-03-08
申请号：PCT/US2011049812
申请日：2011-08-31
申请人： HARVARD COLLEGE , RAMANATHAN SHRIRAM , HARBURG DANIEL V , TSUCHIYA MASARU , JOHNSON ALEXANDER C
发明人： RAMANATHAN SHRIRAM , HARBURG DANIEL V , TSUCHIYA MASARU , JOHNSON ALEXANDER C
IPC分类号： H01M8/10
CPC分类号： C25B13/02 , H01M4/9066 , H01M8/02 , H01M8/0247 , H01M8/1253 , H01M8/1286 , H01M2008/1293 , Y02E60/525 , Y02P70/56
摘要： A system includes an electrochemically functional membrane, and a support structure constructed and arranged so as to support the membrane while leaving within the membrane a chemically active area having an area utilization of at least about 50%. In some embodiments, the support structure may include a plurality of grids that are sized and shaped so that the contact area between the grids and the membrane is reduced to less than about 40%. In some embodiments, the support structure may include aerogels, for example PVA-reinforced CNT aerogels having a conductivity that is increased by pyrolysis. The system may be a gas separation system; a gas production system; a gas purification system; or an energy generation system such as an SOFC.
摘要翻译：一种系统包括电化学功能膜，以及支撑结构，其构造和布置成在膜内留下具有至少约50％的面积利用率的化学活性区域的同时支撑膜。在一些实施例中，支撑结构可以包括多个格栅，其尺寸和形状使得网格和膜之间的接触面积减小到小于约40％。在一些实施例中，支撑结构可以包括气凝胶，例如具有通过热解增加的导电性的PVA增强的CNT气凝胶。该系统可以是气体分离系统; 天然气生产系统; 气体净化系统; 或诸如SOFC的能量产生系统。

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