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1. 发明申请

WO2016081605A1 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：WO2016081605A1
公开(公告)日：2016-05-26
申请号：PCT/US2015/061352
申请日：2015-11-18
申请人： SOFT ROBOTICS, INC.
发明人： LESSING, Joshua, Aaron , KNOPF, Ryan , VAUSE, Carl
IPC分类号： F03G7/06 , F15B15/10 , B25J9/10 , B25J15/02
CPC分类号： B25J15/12 , B25J9/142 , B25J15/0023 , F15B15/103
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加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。

2. 发明申请

WO2015157560A1 SOFT ACTUATOR AND METHODS OF FABRICATION 审中-公开
标题翻译：软执行器和制造方法
公开(公告)号：WO2015157560A1
公开(公告)日：2015-10-15
申请号：PCT/US2015/025183
申请日：2015-04-09
申请人： CORNELL UNIVERSITY
发明人： SHEPHERD, Robert F. , MAC MURRAY, Benjamin C. , ZHAO, Huichan
IPC分类号： B32B15/06
CPC分类号： C08J9/26 , C08J9/08 , C08J9/10 , C08J9/365 , C08J2201/026 , C08J2201/0444 , C08J2201/0446 , C08J2203/02 , C08J2203/04 , C08J2203/10 , C08J2205/05 , C08J2205/06 , C08J2207/00 , C08J2300/26 , C08J2383/04 , F15B15/103
摘要： Soft actuators are fabricated from materials that enable the actuators to be constructed with an open-celled architecture such as an interconnected network of pore elements. The movement of a soft actuator is controlled by manipulating the open-celled architecture, for example inflating/ deflating select portions of the open-celled architecture using a substance such as compressed fluid.
摘要翻译：柔性致动器由能够使致动器构造成具有开孔结构的材料制成，诸如孔元件的互连网络。柔性致动器的移动通过操纵开孔结构来控制，例如使用诸如压缩流体的物质来充气/放气开放式结构的选择部分。

3. 发明申请

WO2015040138A1 AKTOR MIT MÖGLICHKEIT DER POSITIONSBESTIMMUNG 审中-公开
标题翻译：与可能性定位单元演员
公开(公告)号：WO2015040138A1
公开(公告)日：2015-03-26
申请号：PCT/EP2014/069945
申请日：2014-09-18
申请人： FRAUNHOFER-GESELLSCHAFT ZUR FÖRDERUNG DER ANGEWANDTEN FORSCHUNG E.V.
发明人： SCHÄCHTELE, Jonathan , VAN POELGEEST, Auguste , MEHMETI, Besart
IPC分类号： F15B15/10 , F15B15/28
CPC分类号： F15B15/103 , A61B34/30 , A61B90/06 , A61B2017/00398 , A61B2017/00539 , A61B2090/061 , F15B15/2861
摘要： Die Erfindung berifft einen Aktor mit einem flexiblen Schlauch (1), einem Anschluss (2), über den Fluid in den Schlauch einbringbar ist und/oder aus dem Schlauch ableitbar ist, und einem Geflecht (6), welches den Schlauch entlang dessen Umfang auf zumindest einem Teil dessen Länge umgibt, wobei das Geflecht leitfähigen Draht aufweist oder daraus besteht, wobei der Aktor mit einer Vorrichtung zur Messung einer Induktivität des Geflechtes verschaltbar ist.
摘要翻译：有柔性软管本发明还作为致动器（1），连接件（2），通过该流体可被引入到所述软管和/或可从软管中导出，和一个编织物（6），其上沿其圆周的软管至少围绕其长度，其特征在于，所述编织物包括导线或由其组成的一部分所述致动器包括一个装置，用于测量所述网格的电感互连。

4. 发明申请

WO2013130760A2 APPARATUS, SYSTEM, AND METHOD FOR PROVIDING FABRIC-ELASTOMER COMPOSITES AS PNEUMATIC ACTUATORS 审中-公开
标题翻译：用于提供织物 - 弹性体复合材料作为气动执行器的装置，系统和方法
公开(公告)号：WO2013130760A2
公开(公告)日：2013-09-06
申请号：PCT/US2013/028250
申请日：2013-02-28
申请人： PRESIDENT AND FELLOWS OF HARVARD COLLEGE
发明人： MARTINEZ, Ramses, V , WHITESIDES, George, M.
IPC分类号： F15B15/10
CPC分类号： F15B15/103 , B25J9/142 , F15B2215/305 , F21V1/12 , F21V17/02 , Y10T29/4998
摘要： Soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible are described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twistmg, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into three-dimensional structures following the principles of origami: these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while keeping them light in weight.
摘要翻译：描述了基于由具有柔性但不可伸长的嵌入片材或纤维结构（例如纸或织物）的弹性体组成的复合材料的软气动执行器。在气动膨胀时，这些致动器基于其复合结构可触及的运动而各向异性地移动。它们便宜，制造简单，重量轻，易于起动。这类结构是通用的：相同的设计原理导致致动器响应加压与广泛的运动（弯曲，伸展，收缩，扭曲等）。当用于将各向异性引入弹性体时，纸可以容易地折叠成按照折纸原理的三维结构：这些折叠结构增加了弹性致动器的刚性和各向异性，同时保持其重量轻。

5. 发明申请

WO2010034964A1 ROBOTIC MUSCLES 审中-公开
标题翻译：机器人音乐
公开(公告)号：WO2010034964A1
公开(公告)日：2010-04-01
申请号：PCT/GB2009/002062
申请日：2009-08-21
申请人： THE SHADOW ROBOT COMPANY LTD , GREENHILL, Richard, Martin , GODDEN, Matthew , ELIAS, Hugo
发明人： GREENHILL, Richard, Martin , GODDEN, Matthew , ELIAS, Hugo
IPC分类号： A61F2/50 , B25J9/10 , B25J9/14 , F15B15/10
CPC分类号： B25J9/1075 , A61F2/68 , A61F2/70 , A61F2002/5066 , A61F2002/74 , A61F2002/747 , A61F2002/7625 , A61F2002/7635 , B25J9/142 , F15B15/103
摘要： A fluid actuated muscle (300) for a robotic limb, the fluid actuated muscle comprising: an expandable tube; a braided layer surrounding the expandable tube; a fluid inlet and outlet device provided at a first end of the expandable tube; and an attachment device (400) attached to a second end of the expandable tube, opposite to the first end, the attachment device having curved surface, and wherein the second end of the expandable tube wraps around at least a portion of the curved surface.
摘要翻译：用于机器人肢体的流体致动肌肉（300），所述流体致动肌肉包括：可扩张管; 围绕可膨胀管的编织层; 设置在所述可膨胀管的第一端的流体入口和出口装置; 以及附接装置（400），其附接到所述可扩张管的与所述第一端相对的第二端，所述附接装置具有弯曲表面，并且其中所述可扩张管的第二端围绕所述弯曲表面的至少一部分。

6. 发明申请

WO2009108273A3 SINGLE-AXIS DRIVE SYSTEM AND METHOD 审中-公开
标题翻译：单轴驱动系统和方法
公开(公告)号：WO2009108273A3
公开(公告)日：2009-11-05
申请号：PCT/US2009000825
申请日：2009-02-10
申请人： CBE GLOBAL HOLDINGS INC , CHILDERS PETER , BLITZ JONATHAN N , CARUCCI JAMES , DRAPER RONALD
发明人： CHILDERS PETER , BLITZ JONATHAN N , CARUCCI JAMES , DRAPER RONALD
IPC分类号： F16M11/18 , F16M11/10 , F16M11/42 , F24J2/52 , H01L31/04
CPC分类号： F16M11/10 , F15B9/14 , F15B15/08 , F15B15/103 , F16M11/08 , F16M11/18 , F16M11/2014 , F16M11/42 , F24J2/38 , F24J2/541 , F24J2/542 , F24J2002/5437 , F24J2002/5482 , H02S20/10 , H02S20/32 , Y02E10/46 , Y02E10/47
摘要： A system for moving an object in one axis that creates highly dispersed but precisely controlled mechanical force to support, manipulate, and maintain an object, tool or application in precise alignment or orientation with respect to a stationary or moving target is disclosed. The system includes one or more fluid containers within a cylindrical enclosure or drum, and a shaft running through longitudinal axis of the drum. The shaft is coupled to the drum by rotating assemblies so that the drum may rotate around the shaft or the draft may rotate inside the drum. The fluid inflatable containers are arranged in a inside the drum around the shaft so that each container exerts expansive force between a vane fixed to the drum and a vane fixed to the shaft. A volume of the fluid may be placed in the one or more fluid containers by control systems. By changing the volume of fluid in the one or more containers, forces are exerted on the vanes and the object is moved.
摘要翻译：公开了一种用于在一个轴上移动物体的系统，该系统产生高度分散但精确控制的机械力，以相对于静止或移动的目标支撑，操纵和维持精确对准或定向的物体，工具或应用。该系统包括在圆柱形外壳或滚筒内的一个或多个流体容器以及贯穿滚筒的纵向轴线的轴。轴通过旋转组件而联接到鼓上，使得鼓可以围绕轴旋转或者抽吸可以在鼓内旋转。流体可膨胀容器围绕轴布置在滚筒内部，使得每个容器在固定到滚筒的叶片和固定到轴的叶片之间施加膨胀力。一定体积的流体可以通过控制系统放置在一个或多个流体容器中。通过改变一个或多个容器中的流体的体积，力施加在叶片上并且物体被移动。

7. 发明申请

WO2007014980A2 DEVICES FOR ACHIEVING WORKING MOVEMENT 审中-公开
标题翻译：用于实现工作运动的装置
公开(公告)号：WO2007014980A2
公开(公告)日：2007-02-08
申请号：PCT/FI2006000269
申请日：2006-08-01
申请人： IPRBOX OY , VIRTA VEIKKO
发明人： VIRTA VEIKKO
IPC分类号： B25J9/14 , B25J15/12 , F15B20060101 , F15B15/10
CPC分类号： B25J9/142 , B25J15/12 , F15B15/103
摘要： The device for achieving working movements embodied by this invention consists of two or more moving tubes (1 ,2), inside of which is a flexible pressurisable container (6) whose lateral expansion is prevented. The lateral expansion of the container (6) is prevented by the threads of a coil spring (5), preferably made of steel, that surround the container (6) inside the tubes (1 ,2). The invention can be applied as a pushing device, wherein the tube sections move telescopically or as a joint, in which between the moving tubes (1 ,2) are one or more joint sections, from which the tubes (1 ,2) can be turned relative to each other.
摘要翻译：用于实现由本发明体现的工作运动的装置由两个或更多个移动管（1,2）组成，其内部是可防止其侧向膨胀的柔性可加压容器（6）。容器（6）的横向膨胀通过围绕容器（6）内部的管（1,2）的螺旋弹簧（5）的螺纹来防止，优选地由钢制成。本发明可以用作推动装置，其中管部分可伸缩地或作为关节移动，其中在移动管（1,2）之间是一个或多个接头部分，管（1,2）可以从该连接部分相互转动。

8. 发明申请

WO2005028166A8 DEVICE AND METHOD FOR CONTROLLING ELASTIC-BODY ACTUATOR 审中-公开
标题翻译：用于控制弹性体驱动器的装置和方法
公开(公告)号：WO2005028166A8
公开(公告)日：2005-10-13
申请号：PCT/JP2004013788
申请日：2004-09-22
申请人： MATSUSHITA ELECTRIC IND CO LTD , OKAZAKI YASUNAO , YAMAMOTO MASAKI , ADACHI YUJI , ASAI KATSUHIKO
发明人： OKAZAKI YASUNAO , YAMAMOTO MASAKI , ADACHI YUJI , ASAI KATSUHIKO
IPC分类号： B25J9/14 , F15B9/09 , F15B11/20 , F15B15/10 , B25J13/00
CPC分类号： F15B11/20 , B25J9/142 , F15B9/09 , F15B15/103
摘要： An internal pressure of a fluid pressure drive actuator is measured by pressure measuring means (9), the amount of displacement of a movable mechanism is measured, a target value and a measurement value of displacement are inputted and a positional error is compensated by positional error compensating means (12), a target value of a pressure difference of the actuator antagonistically driven is calculated from the target value by target pressure difference calculating means (14), each output from the positional error compensating means, target pressure difference calculating means, and pressure measuring means is inputted and a pressure difference error is compensated by pressure difference compensating means (15).
摘要翻译：通过压力测量装置（9）测量流体压力驱动致动器的内部压力，测量可移动机构的位移量，输入目标值和位移测量值，并通过位置误差补偿位置误差根据目标压力差计算装置（14）的目标值，从位置误差补偿装置输出的每个目标压力差计算装置和目标压力差计算装置计算对抗驱动的致动器的压力差的目标值，输入压力测量装置并通过压差补偿装置（15）补偿压差误差。

9. 发明申请

WO2004074692A3 FLEXIBLE HOSE APPARATUS 审中-公开
标题翻译：柔性软管装置
公开(公告)号：WO2004074692A3
公开(公告)日：2005-01-20
申请号：PCT/US2004003730
申请日：2004-02-09
申请人： HARRIS RICHARD K
发明人： HARRIS RICHARD K
IPC分类号： F01B19/04 , F04B9/12 , F15B15/10 , F01B19/00 , F04B17/00
CPC分类号： F15B15/103 , F01B19/04 , F04B9/12
摘要： Described is a drive assembly (20) and a production assembly (22) for use in producing reciprocating motion. In one embodiment, the drive assembly is formed as a flexible hose hydraulic cylinder that uses a source of fluid pressure to extend and retract a flexible hose. One or more valves are available to regulate the pressure within the flexible hose. A reciprocating member is connected to the flexible hose. Extension and retraction of the hose cause corresponding translation in the reciprocating member. In one embodiment, the reciprocating member is a piston rod that is biased in one direction.
摘要翻译：描述了用于产生往复运动的驱动组件（20）和生产组件（22）。在一个实施例中，驱动组件形成为使用流体压力源来延伸和缩回柔性软管的柔性软管液压缸。一个或多个阀门可用于调节软管内的压力。往复运动件连接到柔性软管上。软管的延伸和缩回导致往复运动件中相应的平移。在一个实施例中，往复运动构件是沿一个方向偏置的活塞杆。

10. 发明申请

WO2004015312A1 PRESSURIZABLE STRUCTURES COMPRISING DIFFERENT SURFACE SECTIONS 审中-公开
标题翻译：包含不同表面部分的可压缩结构
公开(公告)号：WO2004015312A1
公开(公告)日：2004-02-19
申请号：PCT/NL2002/000534
申请日：2002-08-08
申请人： TECHNISCHE UNIVERSITEIT DELFT , KOUSSIOS, Sotiris , BERGSMA, Otto, Korneles , BEUKERS, Adriaan
发明人： KOUSSIOS, Sotiris , BERGSMA, Otto, Korneles , BEUKERS, Adriaan
IPC分类号： F16J3/06
CPC分类号： F17C1/06 , B29C53/586 , B29C70/222 , B29K2019/00 , B29K2021/00 , B29K2075/00 , B29K2105/101 , B29K2995/0067 , B29K2995/0069 , B29L2022/025 , B29L2023/18 , B29L2031/10 , B29L2031/703 , B29L2031/712 , B29L2031/7172 , B29L2031/755 , B29L2031/774 , B66F3/35 , F15B15/103 , F16F9/0418 , F16J3/06 , F16L11/085 , F17C2201/0128 , F17C2201/0147 , F17C2201/054 , F17C2201/056 , F17C2203/0604 , F17C2203/0619 , F17C2203/0665 , F17C2203/0668 , F17C2203/0685 , F17C2205/013 , F17C2205/0142 , F17C2209/2154 , F17C2209/225 , F17C2209/232 , F17C2221/03 , F17C2223/0123 , F17C2223/035 , F17C2223/036 , F17C2260/011 , F17C2260/012 , F17C2260/013 , F17C2260/018 , F17C2260/036 , F17C2270/0168 , F17C2270/0194 , F17C2270/05 , F17C2270/0554 , F17C2270/0563 , Y10T428/1369
摘要： The invention relates to composite pressurizable structures which are overwound with fibres or are braided. The pressurizable structures comprise axial sections which in turn comprise both concave and convex surfaces. The shape characteristics are related to geodesic as well as non-geodesic trajectories in regard of the fibres. Axial sections of the pressurizable structures can be rotated, expanded or bended with respect to the longitudinal axis of the pressurizable structure. Examples of uses of the pressurizable structure relate to pressure vessels and flexible pipelines, spring elements, robotic actuators and adaptable buildings. In another aspect, the invention relates to a method of production by means of braiding, which in principle allows for the construction of very large structures.
摘要翻译：本发明涉及与纤维缠绕或编织的复合加压结构。可加压结构包括轴向部分，其又包括凹面和凸面。形状特征与光线相关，以及关于光纤的非测地轨迹。可加压结构的轴向部分可相对于可加压结构的纵向轴线旋转，膨胀或弯曲。可加压结构的使用实例涉及压力容器和柔性管道，弹簧元件，机器人致动器和适应性建筑物。在另一方面，本发明涉及通过编织的生产方法，其原则上允许构造非常大的结构。

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