Abstract: Examples described herein are directed to methods, computer-readable media, and systems for controlling an end of arm tool with one or more suction zones to pick up an item. Sensor data regarding the item is obtained. The sensor data is used to determine which of the one or more suction zones should be used to pick up the item. A rotational orientation is also determined that orients the determined suction zone(s) with the item. The end of arm tool is then instructed to create a suction force at the one or more suction zones and to pick up the item using the suction force.

Abstract: Aspects described herein include an end effector having an interface system that includes a body member attached to a mounting plate, and a plurality of strength-varying features at a plurality of regions of the interface system. The plurality of strength-varying features encourage the body member to repeatably deform into a deformed configuration. The end effector further comprises a vacuum port in fluid communication with an inner recess of the body member, and a plurality of actuators that apply a force to the mounting plate to pivot a portion of the mounting plate and deform the body member into the deformed configuration.

Abstract: Aspects described herein include an end effector that includes a pliable body member defining an inner recess and having a sealing surface at a distal end. The sealing surface forms a seal with items and defines a first suction area. The end effector also includes an inflatable bladder that expands into the inner recess. When the bladder is in an inflated state, the bladder defines a second suction area smaller than the first suction area. The end effector also includes a vacuum port in fluid communication with the inner recess.

Abstract: Aspects described herein include an end effector capable of prehending items using impactive and astrictive forces. The end effector includes an interface system having a deformable mounting plate and a pliable body member attached to the mounting plate. The end effector further includes a linkage system between a plurality of actuators and the interface system. The linkage system connects to lateral portions of the mounting plate.

Abstract: Aspects described herein include an end effector capable of prehending items using impactive and astrictive forces. The end effector includes an interface system having a deformable mounting plate and a pliable body member attached to the mounting plate. The end effector further includes a linkage system between a plurality of actuators and the interface system. The linkage system connects to lateral portions of the mounting plate.

Abstract: A soft actuator for a suction-cup end effector bends or deforms in response to air pressure within bladders in the actuator. The walls of the air bladders, upon pressurization, expand to contact adjacent structure, such as other expanding air bladders, to move a constraining layer of the actuator from a rest position toward an actuated position. A gripper for engaging items is formed by the soft actuator and a suction cup.

Abstract: Examples described herein are directed to an item manipulation system that includes an end of arm tool. The end of arm tool includes a suction manifold including multiple independently controllable asymmetrical suction zones. The end of arm tool is also configured to rotate about a tool axis to selectively align the independently controllable asymmetrical suction zones with target items for manipulation.

Abstract: An actuator for a suction-cup end effector bends or deforms in response to air pressure within bladders in the actuator. Air bladders of the actuator apply bending moments to rigid flange structures, which transmit the moments to a base layer of the actuator. Grasping elements may be used.

Abstract: An adapter system can include a set of adapters operably adapted to a set of microsurgical tools. Each adapter in the set of adapters can be formed for a complimentary surgical tool in the set of surgical tools. Each adapter can have a setback feature designed to orient a corresponding tool tip at a common tip distance. An adapter receptacle can include a joint or joints having a rotary motion and/or translation mechanism and a setback stop feature.

Abstract: An adapter system can include a set of adapters operably adapted to a set of microsurgical tools. Each adapter in the set of adapters can be formed for a complimentary surgical tool in the set of surgical tools. Each adapter can have a setback feature designed to orient a corresponding tool tip at a common tip distance. An adapter receptacle can include a joint or joints having a rotary motion and/or translation mechanism and a setback stop feature.