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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Patent number: 11921321Abstract: Provided are three dimensional, stretchable, optical sensor networks that can localize deformations. The devices described herein are suitable for uses in soft robots to determine the position of external contact, such as touching, and possibly internal deformations that may be caused by actuation. Sensor networks of the present disclosure contain a substrate, such as a 3D lattice, and cores having a cladding, such as air. Light passes through the cores and upon deformation of the substrate, cores may come into contact, allowing light to couple between cores due to frustrated total internal reflection. The resulting changes in intensity in the cores can be used to determine the placement and magnitude of deformation.Type: GrantFiled: September 12, 2022Date of Patent: March 5, 2024Assignee: Cornell UniversityInventors: Patricia Xu, Robert F. Shepherd
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Patent number: 11773948Abstract: A transmission is presented, including a spool having a bore. An outer member disposed on the spool, and a cord is configured to at least partially wrap around the outer member. The outer member is configured to constrict and unconstrict to a force applied to the outer member. In this way, rotation of the spool causes a tension force to be applied to the cord, and a greater tension force in the cord will cause the outer member to constrict more than a lower tension force in the cord.Type: GrantFiled: September 19, 2018Date of Patent: October 3, 2023Assignee: Cornell UniversityInventors: Kevin W. O'Brien, Robert F. Shepherd
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Publication number: 20230238559Abstract: A data communication device includes a battery having a first flowable electrolyte. In some embodiments, the battery is a redox flow battery (RFB) or a hybrid RFB. A first channel contains the first flowable electrolyte of the battery (i.e., contains at least a portion of the first flowable electrolyte). The first channel may include a tube and/or a reservoir. At least a portion of the first channel may be flexible and/or stretchable. The first channel has a first electrode configured to impart and/or receive a first electrical signal in the first flowable electrolyte. The first electrical signal may be a digital signal. The first electrical signal may be an encoded signal. The device may include a transceiver in electronic communication with the first electrode.Type: ApplicationFiled: June 15, 2021Publication date: July 27, 2023Inventors: Robert F. Shepherd, Hyeon Seon An, Xu Liu, Matthew Ryan Daniel
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Patent number: 11701245Abstract: The present disclosure provides an electrohydraulic device. The device includes a battery having a vessel containing a flowable electrolyte. The battery may be a flow cell battery, such as, for example, a redox flow cell battery. In a flow cell battery, the flowable electrolyte may a catholyte and/or an anolyte. An actuator is in fluidic communication with the vessel of the battery. The actuator is configured to be actuated using the flowable electrolyte. A cation exchange membrane may separate the vessel into an anolyte side and a catholyte side. The actuator may be in fluidic communication with either side (anolyte side or catholyte side) of the vessel.Type: GrantFiled: April 23, 2020Date of Patent: July 18, 2023Assignee: Cornell UniversityInventors: Robert F. Shepherd, James Pikul
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Publication number: 20230048203Abstract: Provided are three dimensional, stretchable, optical sensor networks that can localize deformations. The devices described herein are suitable for uses in soft robots to determine the position of external contact, such as touching, and possibly internal deformations that may be caused by actuation. Sensor networks of the present disclosure contain a substrate, such as a 3D lattice, and cores having a cladding, such as air. Light passes through the cores and upon deformation of the substrate, cores may come into contact, allowing light to couple between cores due to frustrated total internal reflection. The resulting changes in intensity in the cores can be used to determine the placement and magnitude of deformation.Type: ApplicationFiled: September 12, 2022Publication date: February 16, 2023Inventors: Patricia Xu, Robert F. Shepherd
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Patent number: 11500152Abstract: Provided are three dimensional, stretchable, optical sensor networks that can localize deformations. The devices described herein are suitable for uses in soft robots to determine the position of external contact, such as touching, and possibly internal deformations that may be caused by actuation. Sensor networks of the present disclosure contain a substrate, such as a 3D lattice, and cores having a cladding, such as air. Light passes through the cores and upon deformation of the substrate, cores may come into contact, allowing light to couple between cores due to frustrated total internal reflection. The resulting changes in intensity in the cores can be used to determine the placement and magnitude of deformation.Type: GrantFiled: November 29, 2018Date of Patent: November 15, 2022Assignee: Cornell UniversityInventors: Patricia Xu, Robert F. Shepherd
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Publication number: 20220218500Abstract: The present disclosure provides an electrohydraulic device. The device includes a battery having a vessel containing a flowable electrolyte. The battery may be a flow cell battery, such as, for example, a redox flow cell battery. In a flow cell battery, the flowable electrolyte may a catholyte and/or an anolyte. An actuator is in fluidic communication with the vessel of the battery. The actuator is configured to be actuated using the flowable electrolyte. A cation exchange membrane may separate the vessel into an anolyte side and a catholyte side. The actuator may be in fluidic communication with either side (anolyte side or catholyte side) of the vessel.Type: ApplicationFiled: April 23, 2020Publication date: July 14, 2022Inventors: Robert F. SHEPHERD, James PIKUL
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Publication number: 20210215235Abstract: A transmission is presented, including a spool having a bore. An outer member disposed on the spool, and a cord is configured to at least partially wrap around the outer member. The outer member is configured to constrict and unconstrict to a force applied to the outer member. In this way, rotation of the spool causes a tension force to be applied to the cord, and a greater tension force in the cord will cause the outer member to constrict more than a lower tension force in the cord.Type: ApplicationFiled: September 19, 2018Publication date: July 15, 2021Inventors: Kevin W. O'BRIEN, Robert F. SHEPHERD
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Patent number: 10994413Abstract: 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: May 25, 2018Date of Patent: May 4, 2021Assignee: 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: 10944072Abstract: 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: GrantFiled: November 3, 2016Date of Patent: March 9, 2021Assignee: Cornell UniversityInventors: Chris M. Larson, Robert F. Shepherd, Bryan N. Peele, Sanlin S. Robinson, Shuo Li
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Publication number: 20200400886Abstract: Provided are three dimensional, stretchable, optical sensor networks that can localize deformations. The devices described herein are suitable for uses in soft robots to determine the position of external contact, such as touching, and possibly internal deformations that may be caused by actuation. Sensor networks of the present disclosure contain a substrate, such as a 3D lattice, and cores having a cladding, such as air. Light passes through the cores and upon deformation of the substrate, cores may come into contact, allowing light to couple between cores due to frustrated total internal reflection. The resulting changes in intensity in the cores can be used to determine the placement and magnitude of deformation.Type: ApplicationFiled: November 29, 2018Publication date: December 24, 2020Inventors: Patricia XU, Robert F. SHEPHERD
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Patent number: 10843336Abstract: 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: May 8, 2018Date of Patent: November 24, 2020Assignee: 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: 10767024Abstract: 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: GrantFiled: April 9, 2015Date of Patent: September 8, 2020Assignee: Cornell UniversityInventors: Robert F. Shepherd, Benjamin C. MacMurray, Huichan Zhao
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Patent number: 10689044Abstract: 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: GrantFiled: June 30, 2015Date of Patent: June 23, 2020Assignee: President and Fellows of Harvard CollegeInventors: Michael T. Tolley, Robert F. Shepherd, Bobak Mosadegh, Robert J. Wood, George M. Whitesides
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Patent number: 10639801Abstract: 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: GrantFiled: August 20, 2014Date of Patent: May 5, 2020Assignee: PRESIDENT AND FELLOWS OF HARVARD COLLEGEInventors: Bobak Mosadegh, Robert F. Shepherd, George M. Whitesides
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Publication number: 20200032062Abstract: Provided are polymer compositions and methods of making 3D structures. The polymer compositions include a polymer component (e.g., siloxane polymer) having a plurality of vinyl groups and a polymer component (e.g., siloxane polymer) having a plurality of thiol groups. The polymer compositions can be used to form elastomeric 3D structures. Also provided are 3D printers having an exposure window comprising a film of an organic polymer disposed on the outer surface of the exposure window.Type: ApplicationFiled: August 1, 2017Publication date: January 30, 2020Inventors: Thomas J. WALLIN, Robert F. SHEPHERD
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Patent number: 10465723Abstract: 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: October 10, 2016Date of Patent: November 5, 2019Assignee: 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 Wai Kwok, Stephen A. Morin, Adam Stokes, Zhihong Nie
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Publication number: 20190321522Abstract: Foam-based pneumatic actuators can be formed in a state of mechanical compression prior to actuation. An actuator includes an elastomeric foam; a coating disposed on the elastomeric foam; and an elastomer seal disposed on the coating. The coating constrains the elastomeric foam and can be configured to break or fracture when the elastomeric foam inflates. The elastomer seal can be configured to be impermeable to the actuating fluid. Such a foam actuator can be used in a cardiac compression device. These foam actuators possess increased actuation deformation and an actuation exerted force for a given inflation pressure. A large deformation can be provided from materials having low ultimate strains.Type: ApplicationFiled: June 19, 2017Publication date: October 24, 2019Inventors: Robert F. SHEPHERD, James K. MIN, Benjamin C. MAC MURRAY
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Patent number: 10406698Abstract: 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: GrantFiled: July 18, 2013Date of Patent: September 10, 2019Assignee: President and Fellows of Harvard CollegeInventors: Stephen A. Morin, Sen Wai Kwok, Robert F. Shepherd, George M. Whitesides
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Patent number: 10299779Abstract: A surgical device for displacement of organs within a body cavity for providing at least visual access to a selected site includes an expandable bladder, wherein the elasticity of the bladder varies across the surface of the bladder, said variation in elasticity selected to provide a predetermined, non-spherical shape when expanded; and a valve on the proximal end on the inflatable bladder for introduction of a pressurizing gas into the soft bladder.Type: GrantFiled: October 20, 2014Date of Patent: May 28, 2019Assignee: President and Fellows of Harvard CollegeInventors: Robert F. Shepherd, George M. Whitesides, Bobak Mosadegh