Patents by Inventor Joshua Aaron Lessing
Joshua Aaron Lessing 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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Patent number: 12145259Abstract: Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.Type: GrantFiled: July 10, 2023Date of Patent: November 19, 2024Assignee: SOFT ROBOTICS, INC.Inventors: Joshua Aaron Lessing, Ryan Knopf, Carl Vause
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Publication number: 20240359337Abstract: Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.Type: ApplicationFiled: July 8, 2024Publication date: October 31, 2024Inventors: Michael Rosenstein, Jeff Curhan, Joshua Aaron Lessing, Ryan Knopf, Daniel Harburg, Mark Chiappetta
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Patent number: 12053877Abstract: Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.Type: GrantFiled: April 21, 2023Date of Patent: August 6, 2024Assignee: SOFT ROBOTICS, INC.Inventors: Michael Rosenstein, Jeff Curhan, Joshua Aaron Lessing, Ryan Knopf, Daniel Harburg, Mark Chiappetta
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Publication number: 20240107947Abstract: A collection tool comprises a drive chassis, a harvester module disposed on the drive chassis, the harvester module including a vision system configured to identify target objects, and a robotic arm including a grasper configured to collect the target objects, and a subsystem including an articulating semi-rigid catch member, the semi-rigid catch member configured to transition into a retracted state while the drive chassis is in motion and to transition into an extended state while the drive chassis is stationary and the robotic arm is in a process of collecting the target objects.Type: ApplicationFiled: April 1, 2022Publication date: April 4, 2024Inventors: Matthew Borgatti, Ryan R. Knopf, Ryan Wasserman, Joshua Aaron Lessing, Jason A. Chrisos, Michele Pratusevich, Wesley Bird
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Publication number: 20230405843Abstract: Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.Type: ApplicationFiled: July 10, 2023Publication date: December 21, 2023Inventors: Joshua Aaron Lessing, Ryan Knopf, Carl Vause
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Patent number: 11826905Abstract: Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.Type: GrantFiled: January 26, 2022Date of Patent: November 28, 2023Assignee: Soft Robotics, Inc.Inventors: Joshua Aaron Lessing, Ryan Richard Knopf, Daniel Vincent Harburg, Kevin Alcedo, Grant Thomas Sellers, Mark Chiappetta
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Publication number: 20230364805Abstract: Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.Type: ApplicationFiled: April 21, 2023Publication date: November 16, 2023Inventors: Michael Rosenstein, Jeff Curhan, Joshua Aaron Lessing, Ryan Knopf, Daniel Harburg, Mark Chiappetta
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Publication number: 20230321818Abstract: A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased.Type: ApplicationFiled: April 12, 2023Publication date: October 12, 2023Inventors: Joshua Aaron Lessing, Ryan Richard Knopf, Noel McLellan
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Patent number: 11738471Abstract: Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.Type: GrantFiled: August 30, 2021Date of Patent: August 29, 2023Assignee: SOFT ROBOTICS, INC.Inventors: Joshua Aaron Lessing, Ryan Knopf, Carl Vause
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Patent number: 11731292Abstract: A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body.Type: GrantFiled: August 2, 2021Date of Patent: August 22, 2023Assignee: Soft Robotics, Inc.Inventors: Joshua Aaron Lessing, Ryan Richard Knopf, Carl Everett Vause, Kevin Alcedo
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Patent number: 11660759Abstract: Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.Type: GrantFiled: October 6, 2021Date of Patent: May 30, 2023Assignee: Soft Robotics, Inc.Inventors: Michael Rosenstein, Jeff Curhan, Joshua Aaron Lessing, Ryan Knopf, Daniel Harburg, Mark Chiappetta
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Patent number: 11647692Abstract: Harvesting tools are disclosed which may comprise a gripper including a set of finger elements constructed and arranged to envelop a target object pertaining to agricultural produce, and a manipulator carriage configured to actuate the gripper during operation to grasp the target object. Related systems and methods are also disclosed.Type: GrantFiled: June 26, 2019Date of Patent: May 16, 2023Assignee: APPHARVEST TECHNOLOGY, INC.Inventors: Ryan R. Knopf, Joshua Aaron Lessing, Jason A. Chrisos
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Patent number: 11648663Abstract: A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased.Type: GrantFiled: June 7, 2021Date of Patent: May 16, 2023Assignee: SOFT ROBOTICS, INC.Inventors: Joshua Aaron Lessing, Ryan Richard Knopf, Noel McLellan
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Publication number: 20230097284Abstract: Robotic systems and methods for harvesting agricultural produce along multiple rows crops are disclosed. A mobile platform may include a robotic arm having a gripping tool and repositionable catch for collecting harvested target objects. A vision system may facilitate the identification of target objects and an associated controller may coordinate the various operational functions.Type: ApplicationFiled: January 20, 2021Publication date: March 30, 2023Inventors: Ryan R. Knopf, Jason A. Chrisos, Michele Pratusevich, Ryan Wasserman, Joshua Aaron Lessing
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Publication number: 20230068237Abstract: Disclosed herein is a collection tool configured to independently grasp and cut a tether of a target object for removal from an environment. The collection tool may include a body securable to a robotic arm of a collection robot, a base secured to the body, a plurality of fingers having proximal ends attached to the base, the plurality of fingers constructed and arranged to grasp the target object at distal ends of the plurality of fingers, and a blade coupled to one of the base or body and configured to cut the tether to which the target object is attached while the target object is held by the plurality of fingers.Type: ApplicationFiled: March 2, 2021Publication date: March 2, 2023Inventors: Ryan R. Knopf, Jason A. Chrisos, Joshua Aaron Lessing, Ryan Wasserman
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Patent number: 11584002Abstract: Exemplary embodiments relate to pressurizable housings for a soft robotic actuator. The pressurized housings may be divided into an upper chamber in fluid communication with an internal void of the actuator, and a lower chamber connected to an inlet and an outlet. The upper chamber and lower chamber may be separated by a piston. By supplying a fluid to the lower chamber via the inlet, the piston is moved into the space previously occupied by the upper chamber, which reduces the volume of the upper chamber and increases the pressure in the internal void. This action allows the actuator to be rapidly inflated, and further simplifies the pressurization system and reduces its weight.Type: GrantFiled: October 27, 2020Date of Patent: February 21, 2023Assignee: Soft Robotics, Inc.Inventor: Joshua Aaron Lessing
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Publication number: 20220360760Abstract: Provided is a method for three-dimensional imaging a plant in an indoor agricultural environment having an ambient light power spectrum that differs from a power spectrum of natural outdoor light. The method comprises directing a spatially separated stereo pair of cameras at a scene including the plant, illuminating the scene with a non-uniform pattern provided by a light projector utilizing light in a frequency band having a lower than average ambient intensity in the indoor agricultural environment, filtering light entering image sensors of each of the cameras with filters which selectively pass light in the frequency band utilized by the light projector, capturing an image of the scene with each of the cameras to obtain first and second camera images, and generating a depth map including a depth value corresponding to each pixel in the first camera image.Type: ApplicationFiled: February 14, 2020Publication date: November 10, 2022Applicant: APPHARVEST TECHNOLOGY, INC.Inventors: Ryan R. Knopf, Joshua Aaron Lessing, Michele Pratusevich, Jason A. Chrisos, Shreyas Aditya
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Patent number: 11490071Abstract: Provided is a method for three-dimensional imaging a plant in an indoor agricultural environment having an ambient light power spectrum that differs from a power spectrum of natural outdoor light. The method comprises directing a spatially separated stereo pair of cameras at a scene including the plant, illuminating the scene with a non-uniform pattern provided by a light projector utilizing light in a frequency band having a lower than average ambient intensity in the indoor agricultural environment, filtering light entering image sensors of each of the cameras with filters which selectively pass light in the frequency band utilized by the light projector, capturing an image of the scene with each of the cameras to obtain first and second camera images, and generating a depth map including a depth value corresponding to each pixel in the first camera image.Type: GrantFiled: February 14, 2020Date of Patent: November 1, 2022Assignee: AppHarvest Technology, Inc.Inventors: Ryan R. Knopf, Joshua Aaron Lessing, Michele Pratusevich, Jason A. Chrisos, Shreyas Aditya
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Patent number: 11483976Abstract: A harvesting tool configured to independently grasp and twist a target object. The harvesting tool comprising a pneumatic cylinder, a pneumatic coupling communicating with the pneumatic cylinder; bearings supporting the pneumatic cylinder for rotation relative to the pneumatic coupling; and a gear assembly configured to rotate the pneumatic cylinder relative to the pneumatic coupling. Related systems and methods are also disclosed.Type: GrantFiled: February 14, 2020Date of Patent: November 1, 2022Assignee: AppHarvest Technology, Inc.Inventors: Ryan R. Knopf, Joshua Aaron Lessing, Jason A. Chrisos
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Patent number: 11389955Abstract: Exemplary embodiments relate to the use of servo-pneumatic control systems for actuation and de-actuation of soft robotic actuators. Apparatuses and methods are disclosed for using a servo-pneumatic control system in fluid communication with the soft robotic actuator and configured to maintain a closed loop in which at least one of pressure, mass of fluid, or volume of fluid is controlled within the soft robotic actuator. The embodiments may be used to prevent deformation of grasped objects; detect grasping, collision, and releasing objects; and other operations with a rapid servo-pneumatic response.Type: GrantFiled: March 30, 2018Date of Patent: July 19, 2022Assignee: Soft Robotics, Inc.Inventors: Ryan Knopf, Joshua Aaron Lessing