Patents by Inventor Robert F. Shepherd
Robert F. Shepherd has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20190091858Abstract: Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.Type: ApplicationFiled: May 25, 2018Publication date: March 28, 2019Inventors: Stephen A. MORIN, Robert F. SHEPHERD, Adam STOKES, Filip ILIEVSKI, Ramses V. MARTINEZ, Jamie L. BRANCH, Carina R. FISH, Lihua JIN, Rui M.D. NUNES, Zhigang SUO, George M. WHITESIDES
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Patent number: 10233910Abstract: Some embodiments of the disclosed subject matter includes a laminated robotic actuator. The laminated robotic actuator includes a strain-limiting layer comprising a flexible, non-extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the strain-limiting layer, wherein the inflatable layer is selectively adhered to the strain-limiting layer, and wherein a portion of an un-adhered region between the strain-limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non-extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non-extensible under actuation conditions.Type: GrantFiled: November 28, 2016Date of Patent: March 19, 2019Assignee: President and Fellows of Harvard CollegeInventors: Aaron D. Mazzeo, Stephen A. Morin, Robert F. Shepherd, George M. Whitesides, William B. Kalb
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Publication number: 20180363683Abstract: Systems and methods for providing a soft robot is provided. In one system, a robotic device includes a flexible body having a fluid chamber, where a portion of the flexible body includes an elastically extensible material and a portion of the flexible body is strain limiting relative to the elastically extensible material. The robotic device can further include a pressurizing inlet in fluid communication with the fluid chamber, and a pressurizing device in fluid communication with the pressurizing inlet, the pressurizing device including a reaction chamber configured to accommodate a gas-producing chemical reaction for providing pressurized gas to the pressurizing inlet.Type: ApplicationFiled: April 13, 2018Publication date: December 20, 2018Inventors: Robert F. SHEPHERD, Adam STOKES, Stephen A. MORIN, Ludovico CADEMARTIRI, Jacob FREAKE, Rui NUNES, Xin CHEN, George M. WHITESIDES
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Publication number: 20180326578Abstract: Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks.Type: ApplicationFiled: May 8, 2018Publication date: November 15, 2018Inventors: Sen Wai KWOK, Stephen A. MORIN, Bobak MOSADEGH, Ju-Hee SO, Robert F. SHEPHERD, George M. WHITESIDES
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Publication number: 20180323400Abstract: A light emitting capacitor can include a first and second electrode, an electroluminescent layer, and at least one elastomeric layer. The electroluminescent layer, which can include an elastomeric material doped with semiconducting nanoparticles, can be disposed between the first and second electrodes. The elastomeric layer can encapsulate the first electrode, second electrode, and electroluminescent layer. The first and second electrodes can be hydrogel or conductive electrodes. The light emitting capacitor can provide dynamic coloration or sensory feedback. The light emitting capacitor can be used in, for example, robotics, wearables (displays, sensors, textiles), and fashion.Type: ApplicationFiled: November 3, 2016Publication date: November 8, 2018Inventors: Chris M. Larson, Robert F. Shepherd, Bryan N. Peele, Sanlin S. Robinson, Shuo Li
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Patent number: 9981377Abstract: Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.Type: GrantFiled: September 8, 2014Date of Patent: May 29, 2018Assignee: President and Fellows of Harvard CollegeInventors: Stephen A. Morin, Robert F. Shepherd, Adam Stokes, Filip Ilievski, Ramses V. Martinez, Jamie L. Branch, Carina R. Fish, Lihua Jin, Rui M. D. Nunes, Zhigang Suo, George M. Whitesides
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Patent number: 9962832Abstract: Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks.Type: GrantFiled: March 4, 2014Date of Patent: May 8, 2018Assignee: President and Fellows of Harvard CollegeInventors: Sen Wai Kwok, Stephen A. Morin, Bobak Mosadegh, Ju-Hee So, Robert F. Shepherd, George M. Whitesides
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Patent number: 9945397Abstract: Systems and methods for providing a soft robot is provided. In one system, a robotic device includes a flexible body having a fluid chamber, where a portion of the flexible body includes an elastically extensible material and a portion of the flexible body is strain limiting relative to the elastically extensible material. The robotic device can further include a pressurizing inlet in fluid communication with the fluid chamber, and a pressurizing device in fluid communication with the pressurizing inlet, the pressurizing device including a reaction chamber configured to accommodate a gas-producing chemical reaction for providing pressurized gas to the pressurizing inlet.Type: GrantFiled: April 2, 2014Date of Patent: April 17, 2018Assignee: President and Fellows of Harvard CollegeInventors: Robert F. Shepherd, Adam Stokes, Stephen A. Morin, Ludovico Cademartiri, Jacob Freake, Rui Nunes, Xin Chen, George M. Whitesides
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Publication number: 20170314538Abstract: Some embodiments of the disclosed subject matter includes a laminated robotic actuator. The laminated robotic actuator includes a strain-limiting layer comprising a flexible, non-extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the strain-limiting layer, wherein the inflatable layer is selectively adhered to the strain-limiting layer, and wherein a portion of an un-adhered region between the strain-limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non-extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non-extensible under actuation conditions.Type: ApplicationFiled: November 28, 2016Publication date: November 2, 2017Inventors: Aaron D. MAZZEO, Stephen A. MORIN, Robert F. SHEPHERD, George M. WHITESIDES, William B. KALB
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Publication number: 20170097021Abstract: A soft robotic device includes a flexible body having a width, a length and a thickness, wherein the thickness is at least 1 mm, the flexible body having at least one channel disposed within the flexible body, the channel defined by upper, lower and side walls, wherein at least one wall is strain limiting; and a pressurizing inlet in fluid communication with the at least one channel, the at least one channel positioned and arranged such that the wall opposite the strain limiting wall preferentially expands when the soft robotic device is pressurized through the inlet.Type: ApplicationFiled: October 10, 2016Publication date: April 6, 2017Inventors: Filip ILIEVSKI, Xin CHEN, Aaron D. MAZZEO, George M. WHITESIDES, Robert F. SHEPHERD, Ramses V. MARTINEZ, Won Jae CHOI, Sen Wai KWOK, Stephen A. MORIN, Adam STOKES, Zhihong NIE
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Publication number: 20170030381Abstract: Systems and methods for providing a soft robot is provided. In one system, a robotic device includes a flexible body having a fluid chamber, where a portion of the flexible body includes an elastically extensible material and a portion of the flexible body is strain limiting relative to the elastically extensible material. The robotic device can further include a pressurizing inlet in fluid communication with the fluid chamber, and a pressurizing device in fluid communication with the pressurizing inlet, the pressurizing device including a reaction chamber configured to accommodate a gas-producing chemical reaction for providing pressurized gas to the pressurizing inlet.Type: ApplicationFiled: April 2, 2014Publication date: February 2, 2017Applicant: President and Fellows of Harvard CollegeInventors: Robert F. SHEPHERD, Adam STOKES, Stephen A. MORIN, Ludovico CADEMARTIRI, Jacob FREAKE, Rui NUNES, Xin CHEN, George M. WHITESIDES
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Publication number: 20170029592Abstract: 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.Type: ApplicationFiled: April 9, 2015Publication date: February 2, 2017Inventors: Robert F. Shepherd, Benjamin C. MacMurray, Huichan Zhao
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Patent number: 9506455Abstract: Some embodiments of the disclosed subject matter includes a laminated robotic actuator. The laminated robotic actuator includes a strain-limiting layer comprising a flexible, non-extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the strain-limiting layer, wherein the inflatable layer is selectively adhered to the strain-limiting layer, and wherein a portion of an un-adhered region between the strain-limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non-extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non-extensible under actuation conditions.Type: GrantFiled: July 11, 2014Date of Patent: November 29, 2016Assignee: President and Fellows of Harvard CollegeInventors: Aaron D. Mazzeo, Stephen A. Morin, Robert F. Shepherd, George M. Whitesides, William B. Kalb
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Patent number: 9464642Abstract: A soft robotic device includes a flexible body having a width, a length and a thickness, wherein the thickness is at least 1 mm, the flexible body having at least one channel disposed within the flexible body, the channel defined by upper, lower and side walls, wherein at least one wall is strain limiting; and a pressurizing inlet in fluid communication with the at least one channel, the at least one channel positioned and arranged such that the wall opposite the strain limiting wall preferentially expands when the soft robotic device is pressurized through the inlet.Type: GrantFiled: November 21, 2011Date of Patent: October 11, 2016Assignee: President and Fellows of Harvard CollegeInventors: Filip Ilievski, Xin Chen, Aaron D. Mazzeo, George M. Whitesides, Robert F. Shepherd, Ramses V. Martinez, Won Jae Choi, Sen W. Kwok, Stephen Morin, Adam Stokes, Zhihong Nie
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Publication number: 20160221302Abstract: Composite materials that are configurable, their preparation, and their uses are described. A composite article includes a plurality of sheets positioned to interleave and partially overlap with each other and held together by interactions between the plurality of sheets and a compressive force across the plurality of sheets, wherein each of the plurality of sheets is infused with an elastomer and forms at least one smooth surface, wherein each of the plurality of sheets is in close contact with adjacent ones of the plurality of sheets, wherein an overlapping area of the plurality of sheets provides resistance to a shear force applied to the composite article.Type: ApplicationFiled: October 2, 2014Publication date: August 4, 2016Inventors: Alok Suryavamsee TAYI, Ju-Hee SO, Frank WITTBRACHT, Rui M.D. NUNES, Robert F. SHEPHERD, George M. WHITESIDES
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Publication number: 20160001444Abstract: Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks.Type: ApplicationFiled: March 4, 2014Publication date: January 7, 2016Inventors: Sen Wai KWOK, Stephen A. MORIN, Bobak MOSADEGH, Ju-Hee SO, Robert F. SHEPHERD, George M. WHITESIDES
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Publication number: 20150375817Abstract: A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65 meter long soft body with modified Pneumatic network actuators capable of operating at the elevated pressures (up to 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. The soft robot is safe to handle, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile.Type: ApplicationFiled: June 30, 2015Publication date: December 31, 2015Inventors: Michael T. TOLLEY, Robert F. SHEPHERD, Bobak MOSADEGH, Robert J. WOOD, George M. WHITESIDES
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Publication number: 20150283699Abstract: Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.Type: ApplicationFiled: September 8, 2014Publication date: October 8, 2015Inventors: Stephen A. MORIN, Robert F. SHEPHERD, Adam STOKES, Filip ILIEVSKI, Ramses V. MARTINEZ, Jamie L. BRANCH, Carina R. FISH, Lihua JIN, Rui M.D. NUNES, Zhigang SUO, George M. WHITESIDES
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Publication number: 20150266186Abstract: An actuator includes a plurality of chambers comprised of an extensible material, the chambers having interior side walls and exterior walls, wherein at least a portion of the interior side wall is separated from an interior side wall of an adjacent chamber; and a strain limiting base; and a channel that fluidically interconnects the plurality of chambers, wherein the interior walls are configured to be more compliant than the exterior walls.Type: ApplicationFiled: August 20, 2014Publication date: September 24, 2015Inventors: Bobak MOSADEGH, Robert F. SHEPHERD, George M. WHITESIDES
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Publication number: 20150217459Abstract: Apparatus, systems, and methods for providing modular soft robots are disclosed. In particular, the disclosed modular soft robot can include a flexible actuator having a plurality of molded flexible units. Each molded flexible unit can include a mechanical connector configured to provide a physical coupling to another molded flexible unit, and the plurality of molded flexible units are arranged to form an embedded fluidic channel. The modular soft robot can also include an inlet coupled to the embedded fluidic channel, where the inlet is configured to receive pressurized or depressurized fluid to inflate or deflate a portion of the flexible actuator, thereby causing an actuation of the flexible actuator.Type: ApplicationFiled: July 18, 2013Publication date: August 6, 2015Inventors: Stephen A. Morin, Sen Wai Kwok, Robert F. Shepherd, George M. Whitesides