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1. 发明申请

WO2016029130A1 FLEXIBLE AND STRETCHABLE ELECTRONIC STRAIN-LIMITED LAYER FOR SOFT ACTUATORS 审中-公开
标题翻译：柔性和可拉伸的电子应变有限层软驱动器
公开(公告)号：WO2016029130A1
公开(公告)日：2016-02-25
申请号：PCT/US2015/046319
申请日：2015-08-21
申请人： PRESIDENT AND FELLOWS OF HARVARD COLLEGE
发明人： LESSING, Joshua Aaron , MARTINEZ, Ramses V. , TAYI, Alok, Suryavamsee , TING, Jason Ming , WHITESIDES, George, M.
IPC分类号： F15B15/10
CPC分类号： B25J9/142 , B25J9/0012 , B25J13/08 , B25J15/0009 , B25J15/12 , B25J18/06 , B25J19/028 , Y10S901/22
摘要： A soft robot having an integrated electrical component includes an expandable or collapsible body, the body comprising an inlet that is configured to communicate with a fluid source and a flexible strain limited layer secured to a portion of the expandable or collapsible body, wherein the strain limited layer includes at least one electrical component.
摘要翻译：具有集成电气部件的软的机器人包括可膨胀或可折叠主体，所述主体包括被配置为与流体源连通的入口和固定到可膨胀或可折叠主体的一部分的柔性应变限制层，其中应变限制层包括至少一个电组件。

2. 发明申请

WO2017085589A1 CONTROL SYSTEM FOR SELF-MOVING PLATFORMS 审中-公开
标题翻译：自走平台的控制系统
公开(公告)号：WO2017085589A1
公开(公告)日：2017-05-26
申请号：PCT/IB2016/056707
申请日：2016-11-08
申请人： TORNESE, Riccardo
发明人： TORNESE, Riccardo
IPC分类号： B25J5/00 , B25J11/00 , B25J19/02 , B25J9/16
CPC分类号： B25J5/007 , B25J9/1633 , B25J11/00 , B25J19/028
摘要： The preferred field of application of the present invention concerns the control of the ambulation of the self-moving platforms, suitable to move in environments which are not necessarily known. In particular it is disclosed a technical solution that allows at the same time the manual control of the movements of such self- moving platforms (with good precision of control) and the management of the possible accidental collisions. This solution provides that the self-moving robotized platform is covered, at least partially and in its lateral surfaces with a particular coverage that acts simultaneously as a pressure sensor and as a shock-absorbing layer. They are therefore indicated some essential characteristics that make possible the definition of a set of manual intuitive commands, which are suitable to control the ambulation of such a platform. The system conceived in this way, in addition to ensuring a limitation of the damage in cases of collision, allows an operator to move a platform, irrespective of its weight, just by exerting slight thrusts in the desired directions; It will be also possible to give commands for movements along curved trajectories, or to impart rotations to the same platform.
摘要翻译：本发明的优选应用领域涉及对自移动平台的移动的控制，适于在不一定已知的环境中移动。特别是公开了一种技术方案，该方案同时允许手动控制这种自动移动平台的移动（具有良好的控制精度）以及可能的意外碰撞的管理。该解决方案规定，自动移动的机器人平台至少部分地覆盖并且在其侧面具有特定的覆盖范围，该覆盖范围同时作为压力传感器和减震层。因此，它们被指定为一些基本特征，使得可以定义一组手动直觉命令，这些命令适合于控制这种平台的移动。以这种方式构思的系统，除了确保碰撞情况下的损坏限制之外，还允许操作员在不考虑其重量的情况下移动平台，只需在期望的方向上施加轻微的推力; 也可以给出沿着弯曲轨迹移动的命令，或者将旋转赋予相同的平台。

3. 发明申请

WO1988007438A1 DIRECT-DRIVE ACTIVE COMPLIANT END-EFFECTOR 审中-公开
标题翻译：直接驱动有源合并终端效应器
公开(公告)号：WO1988007438A1
公开(公告)日：1988-10-06
申请号：PCT/US1988001076
申请日：1988-03-30
申请人： REGENTS OF THE UNIVERSITY OF MINNESOTA
发明人： REGENTS OF THE UNIVERSITY OF MINNESOTA , KAZEROONI, Homayoon
IPC分类号： B25J11/00
CPC分类号： B25J9/106 , B24B9/00 , B25J9/12 , B25J13/088 , B25J15/0019 , B25J17/0208 , B25J19/028 , Y10S414/13 , Y10T74/20207
摘要： A direct-drive active compliant end-effector (10) comprises a planar five bar linkage (28) having input links (30, 44) driven by motors (24, 26). A force sensor (52) is connected between the output link (36) and a tool mount (48) for measuring tool interaction forces, signals representative of which together with those representative of angular displacement and velocity of the input links (30, 44) are used by a controller (82) for controlling the drive motors (24, 26) to provided electronic compliancy.

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