Abstract: A tool for inserting into a cavity is provided. The tool includes a plurality of segments moveably coupled to one another, each segment moveable relative to an adjacent segment between a bent position and a coupled position, the plurality of segments including a first segment, the first segment including: a core formed of a first material; and a shell formed of a second material and comprising or defining a guide feature, a drive feature, a line guide, or a combination thereof; wherein the first material defines a greater stiffness than the second material.

Abstract: An insertion tool with a flexible spine and a method for forming thereof are provided. A method includes placing a plurality of links, a flexible spine, and a line assembly into a channel of a fixturing assembly, pulling, via the line assembly, the plurality of links into a tensioned state in the channel, and affixing the flexible spine to each of the plurality of links while in the tensioned state. An insertion tool comprising a plurality of links arranged in a sequence, a flexible spine affixed to three or more links of the plurality of links, and a line assembly inserted through line guides in each of the plurality of links, the line assembly being configured to actuate the plurality of links from a free state to a tensioned state.

Abstract: A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained cond

Abstract: An insertion tool with a flexible spine and a method for forming thereof are provided. A method includes placing a plurality of links, a flexible spine, and a line assembly into a channel of a fixturing assembly, pulling, via the line assembly, the plurality of links into a tensioned state in the channel, and affixing the flexible spine to each of the plurality of links while in the tensioned state. An insertion tool comprising a plurality of links arranged in a sequence, a flexible spine affixed to three or more links of the plurality of links, and a line assembly inserted through line guides in each of the plurality of links, the line assembly being configured to actuate the plurality of links from a free state to a tensioned state.

Abstract: A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained cond

Abstract: A tool for inserting into a cavity is provided. The tool includes a plurality of segments moveably coupled to one another, each segment moveable relative to an adjacent segment between a bent position and a coupled position, the plurality of segments including a first segment, the first segment including: a core formed of a first material; and a shell formed of a second material and comprising or defining a guide feature, a drive feature, a line guide, or a combination thereof; wherein the first material defines a greater stiffness than the second material.

Abstract: A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained cond

Abstract: A tool for inserting into a cavity is provided. The tool includes a plurality of segments moveably coupled to one another, each segment moveable relative to an adjacent segment between a bent position and a coupled position, the plurality of segments including a first segment, the first segment including: a core formed of a first material; and a shell formed of a second material and comprising or defining a guide feature, a drive feature, a line guide, or a combination thereof; wherein the first material defines a greater stiffness than the second material.

Abstract: A tool for inserting into a cavity is provided. The tool includes a plurality of segments moveably coupled to one another, each segment moveable relative to an adjacent segment between a bent position and a coupled position, the plurality of segments including a first segment, the first segment including: a core formed of a first material; and a shell formed of a second material and comprising or defining a guide feature, a drive feature, a line guide, or a combination thereof; wherein the first material defines a greater stiffness than the second material.

Abstract: A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained cond

Abstract: A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained cond

Abstract: A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained cond