Abstract: A system utilizes electroadhesive surfaces for braking and metering objects in an automated environment. An electroadhesive surface can include electrodes that are configured to induce an electrostatic attraction with nearby objects upon application of voltage to the electrodes. The systems described utilize various configurations of electroadhesive surfaces, sensors, controllers and programmable processors to create smart braking, capturing and metering systems for improved automated material handling.

Abstract: Acquisition or pick-up tools that themselves aid in improving the ease with which images of an acquired substrate may be captured, and methods of operating such pick-up tools, are provided. The pick-up tools may include a pick-up surface adapted to interface with a foreign substrate and a light source integrated with the pick-up tool such that light emitted from the light source passes through the pick-up surface to the foreign substrate when the foreign substrate is temporarily coupled with the pick-up surface to create a silhouette of the foreign substrate. A vision system may be adapted for capturing the silhouette of the foreign substrate when the foreign substrate is temporarily coupled with the pick-up surface. The substrate pick-up surface may be formed of one of a transparent, a semi-transparent, or a translucent material such that light may at least partially pass there through.

Abstract: A process for sorting materials using material-selective electroadhesive grippers is disclosed. At least one of an electroadhesive surface or a plurality of articles is manipulated such that multiple ones of the plurality of articles are at least intermittently proximate the electroadhesive surface. Voltage is applied to one or more electrodes in the electroadhesive surface to thereby cause the electroadhesive surface to selectively adhere to a subset of the plurality of articles based on the subset of the plurality of articles having different material properties than others of the plurality of articles. While the voltage is applied, the electroadhesive surface is moved with respect to the others of the plurality of articles to thereby separate the subset of the plurality of articles from the others of the plurality of articles.

Abstract: Provided herein are solutions to automated material handling comprising systems that allow automated “each pick handling” without requiring the complexity of robotic grasping. Numerous examples of pre-configurable and reconfigurable transport containers, partitioning devices, and automated container configuration stations are described in addition to methods of use and associated material handling systems that utilize such containers. Further described are containers that are individually configured or customized according to specific lot sizes to more efficiently and optimally contain, store and distribute articles as a component of a picking system. Configurable containers or “totes” may be customized on a per-order basis to create optimally configured containers that maximize the use of space in a container, on a single-item-per-space basis, regardless of item quantity, size or volume, by customizing the size of each space within a container or tote.

Abstract: The present invention relates to an adaptable input/output device. One embodiment of a hardware device for facilitating an interaction between a computing system and a user includes: an interaction surface for supporting the interaction, a single actuator capable of driving a first region of the interaction surface, and a first selective clamping mechanism capable of restricting movement of one or more second regions of the interaction surface that partly intersect the first region, wherein a displacement of one or more desired portions of the interaction surface is dynamically controllable.

Abstract: Acquisition or pick-up tools that themselves aid in improving the ease with which images of an acquired substrate may be captured are provided. The pick-up tools may include a pick-up surface adapted to interface with a foreign substrate and a light source integrated with the pick-up tool such that light emitted from the light source passes through the pick-up surface to the foreign substrate when the foreign substrate is temporarily coupled with the pick-up surface to create a silhouette of the foreign substrate. A vision system may be adapted for capturing the silhouette of the foreign substrate when the foreign substrate is temporarily coupled with the pick-up surface. The substrate pick-up surface may be formed of one of a transparent, a semi-transparent, or a translucent material such that light may at least partially pass there through.

Abstract: A process for sorting materials using material-selective electroadhesive grippers is disclosed. At least one of an electroadhesive surface or a plurality of articles is manipulated such that multiple ones of the plurality of articles are at least intermittently proximate the electroadhesive surface. Voltage is applied to one or more electrodes in the electroadhesive surface to thereby cause the electroadhesive surface to selectively adhere to a subset of the plurality of articles based on the subset of the plurality of articles having different material properties than others of the plurality of articles. While the voltage is applied, the electroadhesive surface is moved with respect to the others of the plurality of articles to thereby separate the subset of the plurality of articles from the others of the plurality of articles.

Abstract: Automated manufacturing often requires reliable tools for acquiring or moving items in a manufacturing process. An electroadhesive gripper utilizes electroadhesive surfaces to acquire and move items from one step in a process to another. An electroadhesive surface can include electrodes that are configured to induce an electrostatic attraction with nearby objects upon application of voltage to the electrodes. Systems described herein also employ a load-bearing frame that is coupled to an electroadhesive gripping surface. Components of these electroadhesive systems may be configured to be modular in construction to simplify construction and maintenance. Some components may be disposable or require more frequent repair than other components. Modular assembly and component construction simplifies maintenance and reduces overall costs of operation.

Abstract: An electroadhesive device includes an outer surface adapted to interface with a surface of a foreign substrate, a plurality of electrodes, and a semi-conductive insulation material disposed adjacent to at least one of the electrodes. Each electrode has a respective conductive volume and is configured to apply a voltage at a respective location of the outer surface, and the difference in voltage between applied voltages includes an electrostatic adhesion voltage that produces an electrostatic force between the device and the substrate that is suitable to maintain a current position of the device relative to the substrate. The insulation material can be polyurethane or any other suitable material having a resistance of about 109 to 1012 ohms*m. The insulation material effectively operates to expand the conductive volume of the electrodes when they are actuated.

Abstract: An electroadhesive cleaning device or system includes electrode(s) that produce electroadhesive forces from an input voltage to adhere debris against an electroadhesive surface, from which the debris is removed when the forces are controllably modified. Controlling the input voltage may designate the size of debris to be cleaned. A power source provides the input voltage, and the electroadhesive surface can be a continuous track across one or more rollers to move the device across a dirty foreign surface. Electrodes can be arranged in an interdigitated pattern having differing pitches that can be actuated selectively to clean debris of different sizes. Sensors can detect the amount of debris adhered to the electroadhesive surface, and reversed polarity pulses can help repel items away from the electroadhesive surface in a controlled manner.

Abstract: An active electroadhesive cleaning device or system includes electrode(s) that produce electroadhesive forces from an input voltage to adhere dust or other foreign objects against an interactive surface, from which the foreign objects are removed when the forces are controllably altered. User inputs control the input voltage and/or designate the size of foreign objects to be cleaned. An active power source provides the input voltage, and the interactive surface can be a continuous track across one or more rollers to move the device across a dirty foreign surface. Electrodes can be arranged in an interdigitated pattern having differing pitches that can be actuated selectively to clean foreign objects of different sizes. Sensors can detect the amount of foreign particles adhered to the interactive surface, and reversed polarity pulses can help repel items away from the interactive surface in a timely and controlled manner.

Abstract: A multilayer electrolaminate structure includes a first electrolaminate layer and a second electrolaminate layer disposed adjacent the first electrolaminate layer. Each of the first and second electrolaminate layers is rotatable about a common axis independently of the other electrolaminate layer when the multilayer electrolaminate structure is in a first state and clamps to the other electrolaminate layer when the multilayer electrolaminate structure is in a second state.

Abstract: A twisted string actuator system includes a motor generating rotary motion of a rotor and a twisted string comprised of a pair of cords. One end of the twisted string is attached to the rotor and an opposite end of the twisted string is coupled to a load. The cords are twisted about each other for a first section of the twisted string and untwisted for a second section of the twisted string. A cord guide is fixedly disposed between the cords. The first and second sections of the twisted string are on a first side and second side, respectively, of the cord guide. Rotary motion of the rotor in one direction operates to twist the pair of cords on the first side of the cord guide while pulling a portion of the pair of cords from the second side of the cord guide into the first side.

Abstract: An active electroadhesive cleaning device or system includes electrode(s) that produce electroadhesive forces from an input voltage to adhere dust or other foreign objects against an interactive surface, from which the foreign objects are removed when the forces are controllably altered. User inputs control the input voltage and/or designate the size of foreign objects to be cleaned. An active power source provides the input voltage, and the interactive surface can be a continuous track across one or more rollers to move the device across a dirty foreign surface. Electrodes can be arranged in an interdigitated pattern having differing pitches that can be actuated selectively to clean foreign objects of different sizes. Sensors can detect the amount of foreign particles adhered to the interactive surface, and reversed polarity pulses can help repel items away from the interactive surface in a timely and controlled manner.

Abstract: A twisted string actuator system includes a motor generating rotary motion of a rotor and a twisted string comprised of a pair of cords. One end of the twisted string is attached to the rotor and an opposite end of the twisted string is coupled to a load. The cords are twisted about each other for a first section of the twisted string and untwisted for a second section of the twisted string. A cord guide is fixedly disposed between the cords. The first and second sections of the twisted string are on a first side and second side, respectively, of the cord guide. Rotary motion of the rotor in one direction operates to twist the pair of cords on the first side of the cord guide while pulling a portion of the pair of cords from the second side of the cord guide into the first side.

Abstract: An active electroadhesive cleaning device or system includes electrode(s) that produce electroadhesive forces from an input voltage to adhere dust or other foreign objects against an interactive surface, from which the foreign objects are removed when the forces are controllably altered. User inputs control the input voltage and/or designate the size of foreign objects to be cleaned. An active power source provides the input voltage, and the interactive surface can be a continuous track across one or more rollers to move the device across a dirty foreign surface. Electrodes can be arranged in an interdigitated pattern having differing pitches that can be actuated selectively to clean foreign objects of different sizes. Sensors can detect the amount of foreign particles adhered to the interactive surface, and reversed polarity pulses can help repel items away from the interactive surface in a timely and controlled manner.

Abstract: An electroadhesive surface can include electrodes that are configured to induce an electrostatic attraction with nearby objects upon application of voltage to the electrodes. Systems described herein may also employ a load-bearing frame that is coupled to an electroadhesive gripping surface via an array of height-adjustable pins. Adjusting the pins changes the shape of the gripping surface, and may be used to conform to objects pressed against the gripping surface. Objects pressed against the gripping surface may cause one or more of the pins to retract by sliding within respective channels so as to cause the gripping surface to conform to the object. Some examples further include pin-locking mechanisms configured to secure the position of the pins within their respective channels and thereby fix the shape of the gripping surface after conforming to the object.

Abstract: An electroadhesive gripping system includes a vacuum-augmented gripper. The gripper can include an electroadhesive surface associated with one or more electrodes and a load-bearing backing structure coupled to the electroadhesive surface. The backing couples to the backside of the electroadhesive surface so as to at least partially define a shape of the electroadhesive surface. The backing is configured to flex between a curled shape and an uncurled shape. A spreading arm is configured to apply force to the backing so as to flex the backing from the curled shape to the uncurled shape. When positioned next to a substrate, the uncurling motion of the backing can cause the electroadhesive surface to become vacuum sealed to the substrate. A power supply can be configured to apply voltage to the electroadhesive surface.

Abstract: An electroadhesive gripping platform includes one or more electrodes. A power supply is configured to apply voltage to the one or more electrodes in the electroadhesive platform via one or more terminals. A controller is configured to operate the electroadhesive gripping platform to selectively adhere to items loaded thereon and thereby enhance traction control over such items. The controller can control the power supply to apply a voltage to the one or more electrodes in the electroadhesive platform to thereby cause the electroadhesive platform to adhere to an item disposed on the electroadhesive platform such that the item resists moving with respect to the electroadhesive platform. The controller can also control the voltage supply to reduce the voltage applied to the one or more terminals such that the item moves with respect to the electroadhesive platform.

Abstract: A multilayer electrolaminate structure includes a first electrolaminate layer and a second electrolaminate layer disposed adjacent the first electrolaminate layer. Each of the first and second electrolaminate layers is rotatable about a common axis independently of the other electrolaminate layer when the multilayer electrolaminate structure is in a first state and clamps to the other electrolaminate layer when the multilayer electrolaminate structure is in a second state.