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1. 发明申请

WO2016044654A1 SOFT ROBOTIC ACTUATOR ATTACHMENT HUB AND GRASPER ASSEMBLY, REINFORCED ACTUATORS, AND ELECTROADHESIVE ACTUATORS 审中-公开
标题翻译：软手动执行器附件集线器和砂轮组件，加强执行器和电动执行器
公开(公告)号：WO2016044654A1
公开(公告)日：2016-03-24
申请号：PCT/US2015/050793
申请日：2015-09-17
申请人： SOFT ROBOTICS, INC. , LESSING, Joshua, Aaron , KNOPF, Ryan, Richard , ALCEDO, Kevin , VAUSE, Carl, Everett
发明人： LESSING, Joshua, Aaron , KNOPF, Ryan, Richard , ALCEDO, Kevin , VAUSE, Carl, Everett
IPC分类号： B25J15/04 , B25J15/12 , B25J9/14
CPC分类号： B25J15/12 , B25J9/142 , B25J15/0023 , B25J15/0085 , B25J15/04 , B25J15/0608 , B25J15/10 , B25J19/02
摘要： A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body.
摘要翻译：描述了一种用于将包括各种构造的软致动器的不同的夹紧组件联接到机械机器人部件的轮毂组件。进一步描述的是具有各种加强件的柔性致动器。进一步描述的是具有用于改进抓地力的电粘合垫的软致动器和/或用于与夹持物体上的互补表面相互作用的嵌入式电磁铁。还进一步描述的是具有用于减少或消除应变限制层中的弯曲或者用于增强软致动器主体中的折叠槽的加强机构的软致动器。

2. 发明申请

WO2015191585A1 SOFT ROBOTIC ACTUATORS UTILIZING ASYMMETRIC SURFACES 审中-公开
标题翻译：使用不对称表面的软式机器人执行器
公开(公告)号：WO2015191585A1
公开(公告)日：2015-12-17
申请号：PCT/US2015/034911
申请日：2015-06-09
申请人： SOFT ROBOTICS, INC. , LESSING, Joshua, Aaron , KNOPF, Ryan, Richard , McLELLAN, Noel
发明人： LESSING, Joshua, Aaron , KNOPF, Ryan, Richard , McLELLAN, Noel
IPC分类号： F15B15/10
CPC分类号： B25J9/142 , A61B34/30 , A61B34/70 , B25J15/0023 , B25J15/0616 , B25J15/083 , B25J15/10 , B25J15/12 , F15B15/103
摘要： A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased. The present invention addresses the needs described above by providing actuators that are configured to perform new fundamental motions through the inclusion of design elements which can be configured, through the manipulation of a relatively short list of parameters, to undergo specific pressure-actuated changes which can be designed using quantitative modeling techniques.
摘要翻译：公开了一种软的机器人致动器。致动器包括具有基本恒定轮廓的第一部分和具有规则变化轮廓的第二部分，并且当致动器内的内部压力增加或减小时，以压力方式弯曲。本发明通过提供致动器来解决上述需要，该致动器被配置为通过包括设计元件来执行新的基本运动，所述设计元件可以通过相对较短的参数列表的操作来配置，以经历特定的压力致动的变化，使用定量建模技术进行设计。

3. 发明申请

WO2015138649A1 SOFT CONFORMAL LAPAROSCOPIC INSTRUMENT 审中-公开
标题翻译：软性一致性仪器仪表
公开(公告)号：WO2015138649A1
公开(公告)日：2015-09-17
申请号：PCT/US2015/020030
申请日：2015-03-11
申请人： SOFT ROBOTICS, INC. , VAUSE, Carl, Everett , LESSING, Joshua, Aaron , KNOPF, Ryan, Richard
发明人： VAUSE, Carl, Everett , LESSING, Joshua, Aaron , KNOPF, Ryan, Richard
IPC分类号： B25J9/14 , B25J15/12 , A61B17/29 , A61B17/00 , A61B17/22 , B25J15/00
CPC分类号： F21V33/0076 , A61B17/22032 , A61B17/221 , A61B17/29 , A61B34/30 , A61B2017/00535 , A61B2017/00539 , A61B2017/00557 , A61B2017/2215 , A61B2017/2217 , A61B2017/306 , A61B2090/0427 , A61B2090/0817 , B25J15/0023 , B25J15/12 , F21L4/00 , F21V14/085 , F21V23/0414
摘要： A soft robotic instrument that is capable of changing its form factor (e.g., expanding and contracting) during use to facilitate minimally invasive surgery. The instrument may be formed wholly or partly of an elastomeric, electrically insulating material for mitigating the risk of injuring tissue and for mitigating the risk of electrical arcing during electrosurgery.
摘要翻译：一种柔软的机器人仪器，其能够在使用过程中改变其形状因素（例如扩张和收缩）以促进微创手术。该仪器可以全部或部分地由弹性体电绝缘材料形成，以减轻损伤组织的风险并减轻电外科手术期间电弧的风险。

4. 发明申请

WO2015138597A1 SOFT CONFORMAL COMPRESSION DEVICES AND METHODS 审中-公开
标题翻译：软件一致的压缩设备和方法
公开(公告)号：WO2015138597A1
公开(公告)日：2015-09-17
申请号：PCT/US2015/019944
申请日：2015-03-11
申请人： SOFT ROBOTICS, INC. , VAUSE, Carl, Everett , LESSING, Joshua, Aaron , KNOPF, Ryan, Richard , ZAKIN, Mitchell, Ross
发明人： VAUSE, Carl, Everett , LESSING, Joshua, Aaron , KNOPF, Ryan, Richard , ZAKIN, Mitchell, Ross
IPC分类号： A61F13/00 , A61F13/06
CPC分类号： A61H9/0007 , A61F5/34 , A61F13/00059 , A61F13/00068 , A61F13/06 , A61F2013/00174 , A61F2013/0028
摘要： A soft conformal compression device for treatment of a wound on a patient's limb, the device including a network of pneumatic actuators and a wound dressing. The pneumatic actuators may be activated by applying a source of a gas to an inlet on the device, which may cause the device to curve, bend, or otherwise deform in a predetermined manner to encircle a patient's limb and urge the wound dressing toward the wound.
摘要翻译：一种用于治疗患者肢体上的伤口的柔性共形压缩装置，该装置包括气动致动器网络和伤口敷料。可以通过将气体源施加到装置上的入口来激活气动致动器，这可以使装置以预定的方式弯曲，弯曲或以其它方式变形以包围患者肢体并将伤口敷料推向伤口。

5. 发明申请

WO2015196206A3 LIMB STABILIZATION DEVICE 审中-公开
标题翻译： LIMB稳定装置
公开(公告)号：WO2015196206A3
公开(公告)日：2016-03-31
申请号：PCT/US2015037011
申请日：2015-06-22
申请人： HARVARD COLLEGE , KNOPF RYAN , LESSING JOSHUA AARON , ZAKIN MITCHELL R , VAUSE CARL E
发明人： KNOPF RYAN , LESSING JOSHUA AARON , ZAKIN MITCHELL R , VAUSE CARL E , GALLOWAY KEVIN C , SANTOS JOBIM
IPC分类号： A61F5/058
CPC分类号： A61F5/012 , A61F5/0106 , A61F5/0111
摘要： A limb stabilization device is described, including: two or more collars configured to surround a limb and apply a pressure to the limb at or below a threshold pressure, wherein the collar comprises a pressurized bladder or a compressed memory foam to conform the collar to the limb; at least one beam connecting the two or more collars to support the limb; and optionally a pressure modulator configured to regulate the pressure of the bladder to be at or below a threshold pressure.
摘要翻译：描述了一种肢体稳定装置，包括：两个或多个套环，其被构造成围绕肢体并在阈值压力或低于阈值压力下向肢体施加压力，其中，套环包括加压囊或压缩记忆泡沫，以使衣领与肢; 连接所述两个或多个轴环以支撑所述肢体的至少一个梁; 以及可选地，压力调制器被配置为将气囊的压力调节到等于或低于阈值压力。

6. 发明申请

WO2015196206A2 LIMB STABILIZATION DEVICE 审中-公开
标题翻译： LIMB稳定装置
公开(公告)号：WO2015196206A2
公开(公告)日：2015-12-23
申请号：PCT/US2015/037011
申请日：2015-06-22
申请人： PRESIDENT AND FELLOWS OF HARVARD COLLEGE , KNOPF, Ryan , LESSING, Joshua, Aaron , ZAKIN, Mitchell, R. , VAUSE, Carl, E.
发明人： KNOPF, Ryan , LESSING, Joshua, Aaron , ZAKIN, Mitchell, R. , VAUSE, Carl, E. , GALLOWAY, Kevin, C. , SANTOS, Jobim
IPC分类号： A61F5/01
CPC分类号： A61F5/012 , A61F5/0106 , A61F5/0111
摘要： A limb stabilization device is described, including: two or more collars configured to surround a limb and apply a pressure to the limb at or below a threshold pressure, wherein the collar comprises a pressurized bladder or a compressed memory foam to conform the collar to the limb; at least one beam connecting the two or more collars to support the limb; and optionally a pressure modulator configured to regulate the pressure of the bladder to be at or below a threshold pressure.
摘要翻译：描述了一种肢体稳定装置，包括：两个或多个套环，其被构造成围绕肢体并在阈值压力或低于阈值压力下向肢体施加压力，其中，套环包括加压囊或压缩记忆泡沫，以使衣领与肢; 连接所述两个或多个轴环以支撑所述肢体的至少一个梁; 以及可选地，压力调制器被配置为将气囊的压力调节到等于或低于阈值压力。

7. 发明申请

WO2015143404A1 SOFT ROBOTIC ORTHOPEDIC DEVICE 审中-公开
标题翻译：软手动矫正器
公开(公告)号：WO2015143404A1
公开(公告)日：2015-09-24
申请号：PCT/US2015/021881
申请日：2015-03-20
申请人： SOFT ROBOTICS, INC. , VAUSE, Carl, Everett , LESSING, Joshua, Aaron , KNOPF, Ryan, Richard
发明人： VAUSE, Carl, Everett , LESSING, Joshua, Aaron , KNOPF, Ryan, Richard
IPC分类号： A61F5/058
CPC分类号： A61F5/05816 , A61F5/05841 , A61F5/0585
摘要： A compact, portable, easily implemented soft robotic orthopedic stabilization device for adjustably and selectively stabilizing a fractured or otherwise injured limb of a patient while providing convenient access to portions of the limb for treatment thereof.
摘要翻译：一种紧凑的，便携式的，容易实施的软的机器人矫形器稳定装置，用于可调节地和选择性地稳定患者的骨折或其他受伤的肢体，同时提供方便地进入肢体的部分以进行治疗。

8. 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。

9. 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。

10. 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。

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