Abstract: A soft composite actuator is described, including a first elastomeric layer; a strain limiting layer; and a first radially constraining layer, wherein the first elastomeric layer is disposed between the first radially constraining layer and the strain limiting layer; and the elastomeric layer, the strain limiting layer, and the radially constraining layer are bonded together to form at least one bladder for holding pressurized fluid. Methods of using and making of the soft composite actuator are described.

Abstract: 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.

Abstract: Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for packaging target objects using soft robotic actuators, for moving and positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.

Abstract: A robotic manipulator can include fingers with rigid members. The fingers may be movable by actuators that are responsive to fluid pressure. A piston may be movable in a chamber to communicate fluid pressure changes from the chamber. The chamber may be fluidly coupled with the actuators so that movement of the piston communicates fluid pressure changes that actuate multiple fingers.

Abstract: 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.

Abstract: A transport vehicle includes a pair of top arms that extend and retract, a pair of guides disposed below the pair of top arms, an adjuster that changes a spacing between the pair of guides, a cargo placement surface disposed below the pair of guides, a clamping detector that detects whether or not the cargo is being held between the pair of guides, and a controller. The controller pulls the cargo onto the cargo placement surface, then causes the adjuster to start a positioning operation as an operation to reduce a spacing between the pair of guides, and stops the positioning operation when the clamping detector detects that the cargo is being held between the pair of guides.

Abstract: A modular pneumatic robotic actuator, including a first elongated hollow structure and a second elongated hollow structure connected to each other at a moveable joint; an inflatable bladder comprised of an elastomeric material disposed at the joint and immobilized between the first and second hollow structures, wherein the inflatable bladder inflates preferentially away from the joint; and a restraining membrane comprised of an elastomeric material disposed over the bladder and connecting the first and second hollow structures, wherein the restraining membrane is relaxed when the bladder is deflated.

Abstract: A robotic gripper includes a gripper palm, a first pair of adjacent fingers extending from the palm, each finger in the first pair of fingers including a first link coupled to a second link by a rotatable joint, and a second pair of adjacent fingers extending from the palm, each finger in the second pair of fingers including a first link coupled to a second link by a rotatable joint. A web member is attached to the first pair of adjacent fingers, the web member having a web portion having a gripping face, the web portion disposed between a first one of the first pair of adjacent fingers and a second one of the second pair of adjacent fingers.

Abstract: A finger actuator, includes a plurality of fluidically interconnected inflatable chambers, wherein each chamber comprises outer walls having an embedded extensible layer selected to constrain radial expansion and freestanding inner walls; and an inextensible layer connected to the chambers at a base of the chambers, the inextensible layer comprising a flexible polymer and having an embedded inextensible layer that extends along the length of the finger actuator.

Abstract: A system and method for using a robotic arm and a part gripping jaw to tend a CNC machine. A robotic arm picks up a part gripping jaw and used the jaw to grip a part, and moves the part into a vise in the CAN machine. The part gripping jaw has features which the vise engages, and secures the part in the part gripping jaw for processing in the CNC machine. The system and method includes a novel racking system, robotic end of arm tool, jaw grippers and vise system. The jaw grippers that hold the part are moved from the rack system, with the part to be processed, by the robot, to the vise where the vise uses the jaw grippers to secure the part for processing. After the part is processed, the robot removes the part from the vise with the jaw grippers and stores the part back into the rack system using the jaw grippers.

Abstract: A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the finger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.

Abstract: A gripper section for use with a clamp arm for use with automated machinery. The gripper section includes a plurality of beam members which extend from a base, with each beam member of the plurality of beam members having a fixed end and a free end. The gripper section also includes a plurality of gripper surfaces proximate to the free ends, with each gripper surface attached to a respective beam member of the plurality of beam member. Each gripper surface of the plurality of gripper surfaces and its respective beam member move independently of the other plurality of gripper surfaces and plurality of beam members. Wherein the plurality of gripper surfaces and the plurality of beam members conform to the shape of an object/part to be manipulated by the gripper section.

Abstract: A mechanically programmed actuator includes at least one soft actuator body configured to bend, linearly extend, contract, twist, or combinations thereof when actuated without constraint; an activation mechanism (e.g., a fluid pump) configured to actuate the soft actuator body; and at least one sleeve wrapped around part of the soft actuator body and configured to constrain the soft actuator body inside the sleeve when actuated and to cause the soft actuator body to deform where not covered by the sleeve.

Abstract: A gripping device is equipped with an abutment member that is annexed on a region of a gripping portion that abuts on a work. The abutment member is equipped with an inner bag that is made of a material having elasticity, a particulate matter with which the inner bag is filled, and an outer bag that covers the inner bag. The particulate matter is hardened while being deformed into a shape matching a contour of the work by increasing a ratio of a volume of the particulate matter to an inner volume of the inner bag with the work gripped by the gripping portion. A reverse face of the outer bag and a surface of the inner bag have a light-emitting portion therebetween. Thus, a rupture created in the outer bag can be detected, and the breakage of the inner bag can be obviated.

Abstract: A robot having an overall structure inspired by the Octopus vulgaris is described. The robot has soft arms joined in a radial manner to a central support. The soft arms have the capability of lengthening, shortening and wrapping around in a coil-shape manner. The extremely simple movements and coordination of the soft arms are effective because of the interaction between the single actions. For example during locomotion, while some arms act as a support for stability, the others provide for thrusting allowing the robot to advance. Once near the target, some arms provide for stability whereas the others can bend so as to wrap around and transport external entities.

Abstract: A method for easing child birth and, more particularly, to a device for practicing the method for easing child birth and, most particularly, to a device for easing child birth controlled by the individual giving birth to the child. The device mechanically replaces a “manual” contact, which can be applied to the pelvis of a woman in labor, for the purpose of aiding the expulsion of the baby, and reduce the pain and discomfort associated with this process. The device mechanically compresses the ilium portion of the pelvis medially and posteriorly, simultaneously. The pressure applied by the device is under full control of the patient, so that pressure is applied slowly and progressively to a point of maximum comfort. The pressure is decreased immediately upon demand by the patient. The duration of the application of compression corresponds with the length of the contraction period for the woman.

Abstract: A method of handling a generally cylindrical conduit includes positioning a lift cylinder within the generally cylindrical conduit. The lift cylinder includes an inflatable bag, an inflation port, and an attachment point. The method also includes connecting a fluid source to the inflation port, inflating the inflatable bag with the fluid source such that an outer surface of the inflatable bag engages an inner surface of the generally cylindrical conduit, connecting a winch to the attachment point, and moving the lift cylinder and the generally cylindrical conduit with the winch.

Abstract: A personal hygiene device is provided to assist a user to wipe him or herself, another, or an area of the home. The device contains a gripping head constructed of a flexible material and contains a gripping element, which may hold a wipe within it. The device also contains a rigid housing, and a pump at the opposite end of the gripping head, such that upon actuation of the pump increased fluid pressure inside the gripping head opens the internal grips to an extent that any wipe held therein will be released. In an embodiment of the invention, the housing contains a hinge so the unit may be folded for storage, or extended and locked in place for use.

Abstract: A device and a method is provided for handling components (B) preferably to be coated, for example vehicle parts, particularly hoods, flaps, doors or the like of motor vehicle bodies, comprising a grasping element (10), which can be changed in terms of volume and/or changed in terms of shape, in order to grasp the component (B), as a result of which the component (B) can be handled.

Abstract: A robot hand with a connection part that undergoes stretching deformation according to object shape. The robot hand includes a variable connection device that provides a contact face that enables pressing and contacting a moving target and has a connection part in contact with the moving target enables stretching deformation; a connection length controller that interfaces with a drive part to stretch and deform the connection part so that the connection part undergoes conversion between a closed-loop state wherein it is continuous with the surface of the moving target or divided into a plurality of sections to be pressed and contacted, and an open-loop state wherein it detaches from the moving target; and a shape retention device that retains the shape of the variable connection device consistently in a closed-loop state wherein the variable connection device is pressed and contacted with the moving target at a set pressure.

Abstract: The invention relates to a pneumatic actuator composed of cuts of a gas-tight film which are interconnected so as to form hollow film elements that are gas-tight towards the outside. The hollow film elements are interconnected by means of air ducts while forming a fan-shaped structure from a cross-sectional perspective. The actuator, which is fastened to a component, is swiveled about a common edge of the hollow film elements when compressed gas is delivered via a connection. The swiveling movement of the actuator can be used for gripping and holding objects or transmitting optical signals.

Abstract: A multi-fingered robot hand has a minimum required number of joints in finger mechanisms and is capable of stably grasping a variety of articles. The multi-fingered robot hand includes: a first palm portion provided with three finger mechanisms each connected by a root joint; a second palm portion provided with one finger mechanism connected by a root joint; and a palm joint connecting the first palm portion and the second palm portion. The palm joint permits a variation in the connection angle of the second palm portion to the first palm portion. The palm joint, bending joints, bending joints of the root joints and the root joint have rotation axes parallel to each other, and the finger mechanisms bend while turning around the rotation axes.

Abstract: A multi-joint drive mechanism includes a bone-member layer member (101) in which a plurality of bone members are arranged in arrays and in a generally planar fashion, the plurality of bone members being movably coupled at coupling portions (3A), and elastically expanding/contracting members (3) which are arranged so as to stretch over the coupling portions on one side or both sides of the bone-member layer member and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism drives flexural motions of joints between the plurality of adjoining bone members by expanding or contracting the elastically expanding/contracting member.

Abstract: The invention relates to a pneumatic actuator (24) composed of cuts of a gas-tight film which are interconnected so as to form hollow film elements (26, 29) that are gas-tight towards the outside. The hollow film elements (26, 29) are interconnected by means of air ducts while forming a fan-shaped structure from a cross-sectional perspective. The actuator (24), which is fastened to a component (30), is swiveled about a common edge (18) of the hollow film elements (26, 29) when compressed gas is delivered via a connection (8). The swiveling movement of the actuator (24) can be used for gripping and holding objects or transmitting optical signals.

Abstract: A gripping fixture suitable for use in stent securement testing is described. The gripping fixture includes a housing having a chamber, a rigid perforated tubular member positioned within the chamber, a multiplicity of radially extending pins arranged to slide in the perforations in the tubular member, and an elastic sheath that circumscribes the outer ends of the pins and surrounds the tubular member. A pressure chamber is formed between the housing and the elastic sheath. The gripping fixture also includes a pressure controller for controlling the pressure within the pressure chamber. The pressure applied in the pressure chamber acts on the elastic sheath and may be used to cause some of the pins to engage a stent during the stent securement test to hold the stent in place relative to the gripping fixture while the tensile force required to dislodge the stent from a catheter is measured.

Abstract: A laminated-type multi-joint portion drive mechanism includes a bone member having at least two elastic deformation portions, a laminated-type pneumatic tube member having at least twoline-tubes which are stacked on the bone member and which are connected to a pneumatic drive source, and a planar-type joint-portion deformation member which is stacked on the laminated-type pneumatic tube member and has pneumatic operation chambers which are placed at joint portions confronting the deformation portions, respectively, and which are connected to the tubes, wherein when pneumatic pressure is applied to one of the pneumatic operation chambers, the joint portion corresponding to the pneumatic operation chamber to which the pneumatic pressure is applied is deformable.

Abstract: The present invention relates to a collapsible animal faeces collector device (1) having a handle portion (2) and a receptacle support (6), supporting a receptacle (8) with an upwardly facing surface (10) for receiving a faecal deposit (24). The device (1) is of a lightweight construction, the handle (2) and receptacle support (6) have just sufficient strength to bear in cantilevered support an empty receptacle (8) for manipulation into a faeces-receiving position on the ground below an animal's anus, but insufficient strength to bear in cantilevered support a receptacle (8) loaded with faeces. The receptacle (8), when empty, is supported equally around the receptacle support (6) by a rim portion (12). When the device (1) loaded with faeces (24) is suspended, the rim portion (12) moves on the receptacle support (6) to collect together over the contents of the receptacle (8). The handle portion and receptacle support are preferably inflatable.

Abstract: A robot system includes a plurality of segments 3, joints 4 for linking the segments together, drive units 5 for actuating the joints, and a controller 8 for controlling the drive units. Further, the robot system has bladders 2 filled with a fluid being of lower specific gravity than the outside environment. A center of buoyancy differs from a center of gravity, and the robot system has a specific gravity of greater than 1 relative the outside environment.

Abstract: A grasping member which may be operated from a distance to inflate it and thereby engage an object, such as a light bulb, in order to unscrew the bulb from its socket, is disclosed. The member is an inflatable chuck, which may be mounted on the end of a long pole. In one embodiment, the walls of the chuck form a pocket for a light bulb located in a high ceiling or other hard-to-reach place. When inflated, the walls of the chuck enfold and grasp the bulb to permit an operator holding the pole to turn it and unscrew the bulb. Another embodiment of the chuck is also disclosed in which the walls of the chuck expand outwardly instead of inwardly when the chuck is inflated.

Abstract: A robot system includes a plurality of segments 3, joints 4 for linking the segments together, drive units 5 for actuating the joints, and a controller 8 for controlling the drive units. Further, the robot system has bladders 2 filled with a fluid being of lower specific gravity than the outside environment. A center of buoyancy differs from a center of gravity, and the robot system has a specific gravity of greater than 1 relative to the outside environment.

Abstract: A movable spindle tool machine, such as a printed circuit board line drilling machine includes a base and a spindle mounted to the base. A magazine is mounted proximate the spindle for storing a supply of tools. A pitch independent tool changer is moveably mounted relative to the base for transferring tools from the magazine for insertion into the spindle. A tool locator is mounted in line with the spindle. The tool changer is operable to initially transfer a tool from the magazine to the tool locator to align the tool with the spindle and thereafter transfer the tool to the spindle for insertion into the spindle. The spindle is mounted to a nested outrigger guide. A positioning system can move two or more spindles simultaneously. A bit detector in a pressure foot button uses fiber optics to detect broken bits.

Abstract: The present invention is directed to a wafer clamping mechanism responsive to fluid pressure to retain wafers on a surface with minimal clamping force. The clamping mechanism houses simple operative elements within a housing proximate the wafer and can utilize existing fluid pressure sources to energize the clamping mechanism. In a first embodiment, the clamping mechanism includes a piston and cylinder to urge a clamping arm against the wafer in response to fluid pressure. In a second embodiment, the clamping mechanism includes a bellows arrangement for urging the clamping finger against the wafer in response to a fluid pressure source. In a third embodiment, the clamping mechanism includes a bladder arrangement wherein a bladder is expanded using fluid pressure to urge the clamping arm against the wafer in response to a fluid pressure source.

Abstract: An apparatus for gripping tubular members in a single or multi-string arrangement about their outer diameter without causing surface damage or structural deformation to the tubular members, so that they may be axially rotated or secured against axial rotation. A generally cylindrical internal sleeve is contained within a molded flexible liner. One side of the internal sleeve is releasably attached to the flexible liner, forming an annular bladder-like structure within the flexible liner. Introduction of pressure into the bladder-like structure causes the flexible liner to inflate radially inward causing the flexible liner and torque transmitting bushing to thereby grip the tubular work piece within the new improved friction grip.

Abstract: An actuation device uses, for the active element, a flexible bellows operated by a pressurized fluid (usually, but not necessarily, at a pressure higher than the ambient one). The bellows is housed, for the most part of its length, inside a cylindrical cavity having the inner diameter slightly larger than the outer diameter of the bellows, so that the bellows is free to vary its length, but is restrained to bend sideways and therefore can be operated by high pressure.

Abstract: Presented is an end-effector for grasping integrated circuit wafers with a talon-like device that effectively grips an arcuate peripheral “free zone” of the wafer-without effecting contact of the wafer in a manner to contaminate it.

Abstract: A flexible vacuum gripper device and method of gripping. The device includes a housing, an inflatable gripper element defining an internal chamber and being radially or circumferentially expandable, the inflatable gripper element having a front end which is adapted to grip an object and a rear end coupled to the housing, a vacuum source communicating with the internal chamber of the inflatable gripper element, and a pressure source communicating with the inflatable gripper, wherein the vacuum gripper device is adapted to grip the object using vacuum formed in the internal chamber and wherein the inflatable gripper element is adapted to be inflated using the pressure source.

Abstract: A medical instrument mountable upon a support member includes a bladder that expands against or constricts around the support member when inflated to clamp the instrument to the support member. The medical instrument may include a pressure release valve which deflates the bladder to release the instrument from the support member. The medical instrument may also includes a movable plate which is pressed against the support member when the bladder is inflated to secure the instrument to the support member. The medical instrument may further include a bulb located adjacent to the instrument handle that is squeezed to pump air into the bladder to cause it to expand against or constrict around the support member to secure the instrument to the support member.

Abstract: A container holder adapted for use with a structure has a pneumatically operated bladder member for selectively adjusting the size of a container holder depression or opening. The bladder member is positioned on the periphery of the container holder and is inflated or deflated using a pump mechanism in order to vary the size of a container receiving aperture.

Abstract: A pickup apparatus which can easily pick up and pull out a thin plate member from a number of thin plate members disposed alongside one another in a narrowly spaced relationship and which assists in automating the picking up and pulling out of the thin plate member. The pickup apparatus includes a pair of pincer members which pick up and pull out the thin plate member from a number of the thin plate members disposed in a side-by-side spaced arrangement in a tray by expanding or contracting a bag member interposed between the pincer members to open or close the pincer members.

Abstract: This apparatus is a tongs-like, load-lifting device for automatically loading and unloading objects and liquids, comprising two elongated numbers pivoted at a selected distance from the apparatus' top with a main pivot pin. Its lower portions are essentially vertical, and may have perforations, to hold in place either a retrieved object or liquids, when pivoted, hemispheric buckets are included. Two hammerheads, mounted at ends of horizontal bars, located on apparatus' upper portions, are provided with magnets to either attract or repel each other. One head may have an electromagnet and the other a permanent magnet, or both heads may have electromagnets. The bottoms of apparatus' lower portions have pivoted extensions to help support the load. The two extensions are held up by either springs or stretchable bands, so their ends would not injure a person. The extensions are pushed down by the person or the object entering the apparatus.