Abstract: Gripper for gripping a thin-walled aerosol can blank, having a base body which is made of a solid material and which has a bore passing through it along a central axis, an inner surface of the bore being provided with a circumferential radial groove extending outwards in the radial direction, and having a rubber-impregnated workpiece which is received in the radial groove, which has a radially inner gripping surface and a radially outer working surface, the working surface, together with mutually opposite axial surfaces of the radial groove and a radially outer circumferential surface of the radial groove, delimiting a fluid working space, wherein an integrally formed circumferential sealing profile is formed on the gripping ring adjacent to the working surface.

Abstract: A soft robot hand includes a palm, a first fabric-reinforced textile actuator coupled to the palm, and a second fabric-reinforced textile actuator coupled to the palm. The first actuator is moveable relative to the palm between a collapsed position and an inflated position to approximate a joint in a first human finger. The second actuator is spaced apart from the first actuator. The second actuator is moveable relative to the palm between a collapsed position and an inflated position to approximate a joint in a second human finger.

Abstract: The invention includes a method and apparatus to transfer and place articles (12) into outer packages (16), which are open at the top and which each receive at least one article group (18) composed of a plurality of articles (12). In the method, at least one article group (18) is seized by at least one handling device (46) and is placed from above into one of the outer packages (16). An article group (18), which has been seized by the handling device (46), already is compacted or will be compacted during placement of the article group into the outer package (16) by reducing the spacings between at least some of the individual articles (12) of the article group (18). The article group may also be subsequently spread out.

Abstract: A gripper assembly is disclosed. The gripper assembly includes a stage, a mounting platform, and a plurality of the flexible gripper elements. The flexible gripper element is configured to grip an object. The flexible gripper elements are supported by a first end piece, where the first end piece is attached to the mounting platform. The mounting platform is connected to the stage, where the stage is moveable. The flexible gripper element includes a hollow section that is selectively pressurizable. The hollow section includes one or more zones, where each zone includes chambers which are pressurizable by a fluid input. The selective pressurization of the hollow section allows the flexible gripper element to grip the object.

Abstract: The present disclosure relates to a robotic gripper comprising a body and two robotic fingers mounted to the body. Each robotic finger includes a first link, a second link, a third link, a fourth link, a first joint, a second joint and a third joint. The first joint connects the first link and the second link, and the second joint connects the second link and the third link, and the third joint connects the third link and the fourth link. These links and these joints are comprised of elastic material and are formed in one piece.

Abstract: Aspects described herein include an end effector that includes a pliable body member defining an inner recess and having a sealing surface at a distal end. The sealing surface forms a seal with items and defines a first suction area. The end effector also includes an inflatable bladder that expands into the inner recess. When the bladder is in an inflated state, the bladder defines a second suction area smaller than the first suction area. The end effector also includes a vacuum port in fluid communication with the inner recess.

Abstract: 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.

Abstract: Various stabilization devices for a robotic end of arm tool, such as a robotic gripper, are described. The stabilization device is provided in a palm area of the end of arm tool and serves as a backstop against which actuators of the end of arm tool can push a compliant or slick target object. The stabilization device may take many any of a variety of shapes, depending on the application. Based on the shape of the stabilization device and the action of the robotic gripper on the target object, the target object can be moved or rotated in a more stable configuration, thus allowing the actuators to apply less force while still maintaining a firm grasp of the object.

Abstract: A gripping device for handling sample containers is presented. The gripping device comprises a number of rigid fingers having non-gripping surfaces adapted to reduce adhesion between the non-gripping surfaces and labels. The number of rigid fingers collectively grip a sample container. Each finger comprises a gripping surface to contact the sample container while the sample container is gripped by the gripping device. The non-gripping surface of each finger is different from the gripping surface. The non-gripping surface of at least one of the fingers is at least partially corrugated. A sample container processing system comprising such a gripping device is also presented.

Abstract: Exemplary embodiments relate to improvements in soft robotic systems that permit a soft robotic end effector to be a self-contained system, without reliance on a tether to deliver inflation fluid to the actuator(s) of the end effector. According to some embodiments, a robotic system may be provided including a soft actuator and a hub. The body of the hub may include an integrated pressure source configured to supply inflation fluid through the actuator interface to the soft actuator. The pressure source may be, for example, a compressor (such as a twin-head compressor) or a reaction chamber configured to vaporize a fuel to create a high-temperature pressurized gas and deliver the pressurized gas to the actuator One or more accumulators may receive inflation fluid (or a partial vacuum) from the compressor over time, and store the inflation fluid under pressure, thus allowing actuation over a relatively short time period.

Abstract: Systems and methods for robotic and exoskeleton hands are provided. An exoskeleton hand can include a flexible actuator having a cavity and a reinforcement band. The cavity can be filled with a fluid from a pressure source, forcing the actuator to deform, bend or extend. The fluid that fills the cavity as a driving force can be a gas or liquid, which can be recyclable or disposable.

Abstract: A soft robotic gripper having component parts capable of being assembled in the field at the terminus of an industrial robot arm for providing adaptive gripping of a product. A hub includes a pneumatic inlet leading to outlets. Finger mounts with pneumatic passages hold inflatable fingers, and tension fastener(s) secure and compress the finger mounts toward the hub by passing through the pneumatic passages and fastening under tension in a direction of the hub.

Abstract: 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. Systems, methods, apparatuses and computer-readable media instructions are disclosed for interactions with and control of robotic systems, in particular, pick and place systems using soft robotic actuators to grasp, move and release target objects.

Abstract: Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). In particular, exemplary embodiments provide structures allowing a displacement fluid to be discharged from a distal end of a robotic finger. The discharge may be used to displace a target object, such as an object that is adjacent to another blocking object or the side of a container. After the target object is displaced, the EOAT may be better able to maneuver into a gripping posture and may be able to secure a better grasp on the target object.

Abstract: Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be configured to move (together or separately) to adjust the spacing between the actuators. Some aspects involve techniques for extending and/or retracting a vacuum cup present on the EOAT. Further embodiments, which may be used separately or in conjunction with the previously-described embodiments, apply a secondary inner grip pad to provide a secondary gripping mode for the EOAT. These embodiments may be particularly advantageous when the actuators are soft robotic actuators and the inner grip pad is a relatively more rigid structure than the actuators.

Abstract: Certain exemplary embodiments can provide a system, machine, device, and/or manufacture configured for and/or resulting from, and/or a method for, activities that can comprise and/or relate to, an air beam configured to be dynamically moved, the air beam having an inflatable gas bladder, a first tube substantially surrounding the gas bladder, and one or more axial reinforcements.

Abstract: This gripping hand has a base member and a number of fingers arranged about an axis line passing through the base member, wherein each of the fingers has a flexible finger part having flexibility and a finger base member for supporting the basal end side of the flexible finger part, the gripping hand is provided with a number of link mechanisms that are supported by the base member and that support the respective number of finger base members, and each of the link mechanisms allows the finger base member supported thereby to move relative to the base member such that the orientation of the finger base member supported thereby does not substantially change relative to the base member.

Abstract: A soft actuator for a suction-cup end effector bends or deforms in response to air pressure within bladders in the actuator. The walls of the air bladders, upon pressurization, expand to contact adjacent structure, such as other expanding air bladders, to move a constraining layer of the actuator from a rest position toward an actuated position. A gripper for engaging items is formed by the soft actuator and a suction cup.

Abstract: A dual-channel soft-bodied finger includes a fingertip, a finger junction, and a fingerboard. A plurality of flexible joints and a plurality of flexible shoulders are disposed at intervals on an upper portion of the fingerboard between the fingertip and the finger junction. A lower portion of the fingerboard is provided with a plurality of protrusions. An end portion of the finger junction is a convex annular-shaped body. A transition segment between the end portion of the finger junction and the flexible joints is a cone-shaped body. A first air channel and a second air channel are disposed inside the finger, and when the first and second air channels are inflated, air is guided into an air bag through the first and second air channels.

Abstract: A robot gripper has a housing having at least one flexible chamber, at least one finger channel, and at least one column channel; a finger configured to insert within the finger channel; and at least one column having a base with one or more ports, a conduit in communication with the ports, and one or more column apertures for access to the conduit; wherein the at least one column is configured to insert within the at least one column channel with the one or more column apertures aligning with the one or more flexible chambers such that the flexible chambers are in fluid communication with the conduit. As fluid enters a first set of chambers, the chambers expand, thereby pivoting the fingers attached thereto on a pivot point, bringing the working end of the fingers closer together.

Abstract: A system for examining semiconductor substrates may comprise an indenter configured to exercise a force onto the semiconductor substrate such that a crack in the semiconductor substrate occurs, a piezoelectric acoustic emission sensor configured to detect an acoustic signal emitted by the crack, and attaching means configured to fasten the indenter to a first surface of the piezoelectric acoustic emission sensor. The indenter and the attaching means are configured to transmit the acoustic signal to the piezoelectric acoustic emission sensor. The resonance frequencies of the indenter and the piezoelectric acoustic emission sensor are attuned to one another.

Abstract: 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.

Abstract: An actuator for a suction-cup end effector bends or deforms in response to air pressure within bladders in the actuator. Air bladders of the actuator apply bending moments to rigid flange structures, which transmit the moments to a base layer of the actuator. Grasping elements may be used.

Abstract: A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

Abstract: A method of making an actuator having a complex internal shape includes providing a core of a shape that defines an internal cavity of an actuator; molding an actuator around the core, wherein the core occupies the internal cavity of the actuator, the cavity having an opening; generating a pressure differential between an exterior surface of the actuator and the internal cavity of the actuator, wherein the external pressure is less than the internal pressure, to expand the actuator cavity; and removing the core through the opening of the expanded actuator cavity.

Abstract: Various stabilization devices for a robotic end of arm tool, such as a robotic gripper, are described. The stabilization device is provided in a palm area of the end of arm tool and serves as a backstop against which actuators of the end of arm tool can push a compliant or slick target object. The stabilization device may take many any of a variety of shapes, depending on the application. Based on the shape of the stabilization device and the action of the robotic gripper on the target object, the target object can be moved or rotated in a more stable configuration, thus allowing the actuators to apply less force while still maintaining a firm grasp of the object.

Abstract: According to one embodiment, a holding mechanism includes a plurality of links, a first elastic body, and a second elastic body. The plurality of links are rotatably connected to one another at ends of the links. The first elastic body is disposed along the links. The second elastic body is interposed between adjacent links of the links so as to be along the first elastic body.

Abstract: Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be configured to move (together or separately) to adjust the spacing between the actuators. Some aspects involve techniques for extending and/or retracting a vacuum cup present on the EOAT. Further embodiments, which may be used separately or in conjunction with the previously-described embodiments, apply a secondary inner grip pad to provide a secondary gripping mode for the EOAT. These embodiments may be particularly advantageous when the actuators are soft robotic actuators and the inner grip pad is a relatively more rigid structure than the actuators.

Abstract: The present invention provides a shear gripper device using fibrillar, gecko-inspired adhesives that have the characteristics of being non-tacky in its default state and requiring no normal force to grip a surface. The adhesion is turned “on” by the applied shear load, and “off as the shear load is removed. The shear adhesive gripper is able to grasp large, deformable or delicate objects using a delicate touch.

Abstract: Robotic grippers have been employed to grasp and manipulate target objects. One task posing relatively unique problems is the handling of meat products, which can be difficult to grasp with a conventional gripper due to the surface texture and malleability of the meat, among other factors. This is particularly problematic when the meat product includes a bone, which has different properties from the relatively malleable meat surrounding it. Exemplary embodiments described herein provide robotic grippers having one or more fingers and a layered plate. The layered structure defines grooves sized and configured to lead in and capture the bone structure of the meat product. The grooves provide a backstop for the meat as well as preventing rotation or translation of the bone structure, thus allowing a firm grasp to be secured on the meat product.

Abstract: Exemplary embodiments relate to improvements in soft robotic systems that permit a soft robotic end effector to be a self-contained system, without reliance on a tether to deliver inflation fluid to the actuator(s) of the end effector. According to some embodiments, a robotic system may be provided including a soft actuator and a hub. The body of the hub may include an integrated pressure source configured to supply inflation fluid through the actuator interface to the soft actuator. The pressure source may be, for example, a compressor (such as a twin-head compressor) or a reaction chamber configured to vaporize a fuel to create a high-temperature pressurized gas and deliver the pressurized gas to the actuator One or more accumulators may receive inflation fluid (or a partial vacuum) from the compressor over time, and store the inflation fluid under pressure, thus allowing actuation over a relatively short time period.

Abstract: Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be configured to move (together or separately) to adjust the spacing between the actuators. Some aspects involve techniques for extending and/or retracting a vacuum cup present on the EOAT. Further embodiments, which may be used separately or in conjunction with the previously-described embodiments, apply a secondary inner grip pad to provide a secondary gripping mode for the EOAT. These embodiments may be particularly advantageous when the actuators are soft robotic actuators and the inner grip pad is a relatively more rigid structure than the actuators.

Abstract: The present invention discloses a novel soft collet including a gripping part made of an elastic material and a connection part. The gripping part includes at least two fingertips matched with each other for gripping. A finger gap is formed between the fingertips, and a finger cavity is arranged inside each fingertip. The connection part includes a communication chamber which is communicating with each finger cavity. The connection part is provided with a communication port communicating with the communication chamber. The fingertip includes an inner wall close to the finger gap and an outer wall remote from the finger gap. The thickness of the inner wall is smaller than that of the outer wall, or the elastic modulus of the inner wall is smaller than that of the outer wall.

Abstract: Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). In particular, exemplary embodiments provide structures allowing a displacement fluid to be discharged from a distal end of a robotic finger. The discharge may be used to displace a target object, such as an object that is adjacent to another blocking object or the side of a container. After the target object is displaced, the EOAT may be better able to maneuver into a gripping posture and may be able to secure a better grasp on the target object.

Abstract: Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be connected to a hub through one or more sets of pivots attached to linkages that allow the distances between the pivots to be varied. Compared to conventional EOATs, exemplary embodiments increase the range of motion of the actuators, improve grip posture, boost gripping force, and balance the loads on the actuators.

Abstract: 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.

Abstract: 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.

Abstract: The present application relates to improvements in support systems for holding one or more robotic actuators, particularly soft robotic actuators. Because soft robotic actuators tend to push away from a base to which they are fixed upon inflation, they must be hold to the base securely. However, this may render it more difficult to remove the actuator from the base (e.g., when the actuator fails, when the actuator and/or base must be cleaned or serviced, or when a user wishes to switch out one style or size of actuator for another). Exemplary embodiments herein relate to improved designs for hubs, including interlocking and quick-release mechanisms that allow the actuator to be held firmly to the hub, but also allow the actuator to be quickly and efficiently released, when needed.

Abstract: Certain exemplary embodiments can provide a system, machine, device, and/or manufacture configured for and/or resulting from, and/or a method for, activities that can comprise and/or relate to, an air beam configured to be dynamically moved, the air beam having an inflatable gas bladder, a first tube substantially surrounding the gas bladder, and one or more axial reinforcements.

Abstract: In exemplary implementations of this invention, a shape controller controls the shape of a bladder as the bladder inflates. The shape controller includes a first set of regions and a second set of regions. The second set of regions is more flexible than the first set of regions. The shape controller is embedded within, or adjacent to, a wall of the bladder. When the bladder is inflated, the overall shape of the bladder bends in areas adjacent to the more flexible regions of the shape controller. For example, the shape controller may comprise paper and the more flexible regions may comprise creases in the paper. Or, for example, the more flexible regions may comprise notches or indentations. In some implementations of this invention, a multi-state shape display changes shape as it inflates, with additional bumps forming as pressure in the display increases.

Abstract: A wearable soft exoskeleton apparatus includes: a fluid supplying portion; and a soft exoskeleton portion which is connected to the fluid supplying portion and is configured to be able to be worn in legs of a user, a soft exoskeleton portion being made of elastic material to simulate motions of the legs and being provided with a fiber conduit through which fluid flows, the soft exoskeleton portion being inflated to support the legs of the user when the fluid is supplied to the fiber conduit from the fluid supplying portion. The soft exoskeleton portion includes: a fiber tube which is formed in a mesh type to be able to enclose a femoral region and a shinbone; and a fiber structure which is disposed within the fiber tube in a structure in which cells of a predetermined shape are connected to one another so as to form a plurality of the fiber conduits therein.

Abstract: 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.

Abstract: An actuator body includes a tube that has a space therein and is wound spirally about a first axis. The tube has a plurality of first portions and a plurality of second portions, the tube has one or more grooves in at least one of an outer circumferential surface and an inner circumferential surface thereof, and the one or more grooves are provided spirally about a longitudinal axis of the tube, the space is in contact with the inner circumferential surface, and the outer circumferential surface is a surface opposite to the inner circumferential surface, each of the plurality of first portions has higher torsional rigidity than each of the plurality of second portions, the plurality of first portions are aligned along the first axis, and the plurality of first portions do not overlap the plurality of second portions.

Abstract: An actuator includes at least one actuator body and a sleeve covering a portion of the actuator body. The actuator body comprises a first material, and the sleeve comprises a second material that is more rigid than the first material. The sleeve constrains bending of the actuator body where the sleeve covers the actuator body.

Abstract: Exemplary embodiments provide modular robotic systems that allow one or more operation parameters of a robotic actuator, or group of actuators, to be dynamically configured or reconfigured. The operation parameters may be, for example, the X, Y, and/or Z position of the actuator or group of actuators with respect to other actuators, the arrangement of the actuator(s) into an array or matrix, the rotation or pitch of an actuator, the distance between actuators, the grip strength or grip surface of an actuator, etc. Accordingly, the same robotic manipulator(s) may be used for multiple purposes in multiple different contexts, manipulators can be swapped out on-the-fly, and robotic systems may be dynamically reconfigured to perform new tasks.

Abstract: Exemplary embodiments relate to soft robotic gripper systems suited to grasping target objects in cluttered environments. Some embodiments provide extension rods, hinges, and/or rails that allow a soft robotic actuator to be extended towards or away from a robotic base and/or other actuators. Accordingly, a gripper including the actuator may be reconfigured into a size and/or shape that allows for improved access to the cluttered environment. Further embodiments relate to soft robotic gripper systems for supporting grasped objects during high acceleration movements using vacuum, gripper, and/or bellows devices. Still further embodiments relate to specialized grippers for manipulating food items.

Abstract: A robotic system includes a robotic arm assembly and a guard assembly. The robotic arm assembly includes a robotic arm and an end effector that is coupled to the robotic arm and selectively couples to a moveable object. The guard assembly is selectively moveable between an open configuration and a closed configuration, and includes a plurality of guard petals that selectively move between a retracted configuration and an extended configuration. Each guard petal includes a flexible support structure and a fluid bladder coupled to the flexible support structure. The fluid bladder is selectively filled with a fluid to change the fluid bladder between a relaxed configuration and an expanded configuration. The fluid bladder is configured to wrap the flexible support structure around at least a portion of the moveable object when the guard petal is in the extended configuration and the fluid bladder is in the expanded configuration.

Abstract: 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.

Abstract: Exemplary embodiments relate to various improvements in soft robotic actuators, and more specifically the integration of stiff or rigid bodies into soft actuators to provide adjustable gripping behaviors. These actuators may be used as robotic end effectors to, for example, automate material handling processes. According to some embodiments, the actuators may be deployed in combination with a static or dynamic rigid structure, such as a rod. The rigid structure may extend beside or within the actuator. Multiple rigid structures may be deployed on the sides of an actuator, or multiple actuators may be deployed on the sides of a rigid structure. In further embodiments, an array or matrix of actuators may be integrated into a rigid structure, providing a low-profile gripper that can be maneuvered into tight spaces.

Abstract: A soft robot device includes at least a first thermoplastic layer and a second thermoplastic layer, wherein at least one layer is comprised of an extensible thermoplastic material; at least one layer is an inextensible layer; and at least one layer comprises a pneumatic network, wherein the pneumatic network is configured to be in fluidic contact with a pressurizing source, wherein the first and second thermoplastic layers are thermally bonded to each other.