Apparatus, system, and method for providing fabric-elastomer composites as pneumatic actuators

{
  "publication_number": "US9797415B2",
  "country": "US",
  "kind": "B2",
  "title": "Apparatus, system, and method for providing fabric-elastomer composites as pneumatic actuators",
  "abstract": "Soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible are described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into three-dimensional structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while keeping them light in weight.",
  "claims": [
    "1. A composite actuator comprising: a flexible polymer defining a pneumatic chamber, configured to contain pressurizable fluid; a woven or non-woven fabric sheet embedded into at least a portion of the flexible polymer, wherein the flexible polymer conforms at least in part to the shape of the fabric sheet, wherein the fabric sheet comprises a plurality of creases configured and arranged to provide a plurality of folds to the flexible polymer when in a folded state and further configured to be capable of unfolding upon pressurization of the pneumatic chamber; an inlet coupled to the pneumatic chamber for receiving the pressurizable fluid; and an adhesive member joining at least two of folds of the flexible polymer to control a motion of the composite actuator upon unfolding of the flexible polymer, wherein the adhesive member joins a portion of the folds or substantially all the folds along a face of the composite actuator.",
    "2. The composite actuator of claim 1, wherein the flexible polymer defining a pneumatic chamber comprises a cylinder having upper and lower end caps.",
    "3. The composite actuator of claim 1, wherein the adhesive member is a non-extensible strip.",
    "4. The composite actuator of claim 1, wherein the adhesive member is an adhesive.",
    "5. The composite actuator of claim 1, further comprising a spring positioned to restore the actuator to its folded state.",
    "6. The composite actuator of claim 5, wherein the spring is an extensible polymer strip spanning two spaced apart folds of the composite actuator, wherein the extensible polymer strip is in an expanded state when the extensible polymer strip is in an unfolded state and is in a resting state when the extensible polymer strip is in a folded state.",
    "7. A method of actuation comprising: providing a composite actuator according to claim 1, and pressurizing the composite actuator at a pressure greater than the resting pressure to actuate the composite actuator by unfolding one or more folds of the flexible polymer.",
    "8. The method of actuation according to claim 7, wherein the actuation comprises a linear extension of the composite actuator.",
    "9. The method of actuation according to claim 8, wherein the linear actuation is used to push or lift an object.",
    "10. The method of actuation according to claim 7, wherein the folds of the composite actuator are joined along a face of the composite actuator and actuation comprises bending of the composite actuator.",
    "11. A composite actuator comprising: an extensible polymer defining a pneumatic chamber, configured to contain pressurizable fluid; a woven or non-woven sheet of fabric embedded into at least a portion of the extensible polymer, wherein the sheet of fabric comprises a plurality of slits distributed about a central axis of the composite actuator, wherein, upon pressurization of the pneumatic chamber, the pneumatic chamber is configured to expand radially to provide a motion of the composite actuator; and an inlet coupled to the pneumatic chamber for receiving the pressurizable fluid.",
    "12. The composite actuator of claim 11, wherein the plurality of slits span substantially a full axial length of the composite actuator.",
    "13. The composite actuator of claim 11, wherein the plurality of slits span between 99% and 60% of the axial length of the composite actuator.",
    "14. The composite actuator of claim 11, wherein the pneumatic chamber comprises a cylinder having upper and lower end caps.",
    "15. The composite actuator of claim 11, wherein the sheet of fabric comprises: an upper band joining an upper edge of the plurality of slits; and a lower band joining the lower edge of the plurality of slits, wherein the actuator is configured to contract along the axial direction upon pressurization of the pneumatic chamber.",
    "16. The composite actuator of claim 11, wherein the sheet of fabric comprises paper.",
    "17. A method of actuation comprising: providing a composite actuator according to claim 11, and pressurizing the composite actuator at a pressure greater than the resting pressure to actuate the composite actuator by radially expanding the composite actuator.",
    "18. The method of actuation of claim 17, wherein the composite actuator contracts along the axial direction upon pressurization of the pneumatic chamber.",
    "19. A composite actuator comprising: an extensible polymer defining a pneumatic chamber, configured to contain pressurizable fluid; a first woven or non-woven sheet of fabric embedded into at least a portion of the extensible polymer, wherein the first sheet of fabric is configured to cause the extensible polymer to deform into a predetermined shape upon actuation, thereby providing a motion of the composite actuator; an inlet coupled to the pneumatic chamber for receiving the pressurizable fluid to actuate the composite actuator; and an adhesive member joining at least two of folds of the extensible polymer to control a motion of the composite actuator upon unfolding of the extensible polymer, wherein the adhesive member joins a portion of the folds or substantially all the folds along a face of the composite actuator.",
    "20. The composite actuator of claim 19, wherein the first sheet of fabric comprises a plurality of creases configured and arranged to provide a bellows structure to the extensible polymer.",
    "21. The composite actuator of claim 19, wherein the plurality of creases is arranged homogeneously across the sheet of fabric.",
    "22. The composite actuator of claim 19, wherein the first sheet of fabric is a strip that is helically wound around a central axis of the pneumatic chamber.",
    "23. The composite actuator of claim 19, further comprising a second sheet of fabric embedded into the extensible polymer, and wherein the first sheet is offset laterally from the second sheet along an axial direction of the extensible polymer, and wherein the first and second sheets are configured to restrict movement of the extensible polymer in at least two locations to provide a bending motion in two different directions upon pressurization of the pneumatic chamber.",
    "24. The composite actuator of claim 23, wherein the first sheet and the second sheet restrict movement of the extensible polymer in a two dimensional plane.",
    "25. The composite actuator of claim 23, further comprising a third sheet of fabric, wherein the first sheet, the second sheet, and the third sheet are laterally offset from one another.",
    "26. The composite actuator of claim 23, wherein there is no lateral overlap between the first sheet and the second sheet.",
    "27. The composite actuator of claim 23, wherein a portion of the first sheet laterally overlaps a portion of the second sheet.",
    "28. A method of making a composite actuator, comprising: pre-stressing (folding) a woven or non-woven sheet of fabric to introduce a plurality of creases that provide a plurality of bellows capable of expansion and contraction; flattening the prestressed sheet and infusing the sheet with an elastomer precursor; folding the infused sheet to form an actuator having the plurality of bellows capable of expansion and contraction; and curing the elastomer precursor to obtain a composite actuator that comprises the plurality of bellows in its resting state.",
    "29. An actuatable lantern comprising: a light permeable flexible polymer defining a pneumatic chamber, wherein a light source is housed within the chamber; and a woven or non-woven sheet of fabric embedded in the flexible polymer, wherein the sheet of fabric comprises a plurality of slits arranged along an axial direction of the flexible polymer, wherein, upon pressurization of the pneumatic chamber, the sheet of fabric is configured to provide a predetermined deformation to the flexible polymer, thereby providing a motion of the flexible polymer; and an inlet coupled to the pneumatic chamber for receiving the pressurizable fluid."
  ],
  "description_excerpt": "The emphasis of much of robotic development has been on structures intended for durability, to apply force, to operate in human-unfriendly or constrained environments, and to move at high speed. Many of the structures of hard robots are based on structures derived from the body plans of mammals (or parts of them). Their skeletons are typically rigid, and electric motors (or sometimes hydraulic or pneumatic systems) provide activation. So-called “hard” robots - robots based on rigid structural elements, typically of metal and conventional mechanical joint bearings, and actuators - are highly evolved for operations in controlled environments (e.g., in manufacturing). They are, however, often heavy and not well adapted for unstructured, unstable, or fluid environments (e.g., loose gravel, sand, or mud). Robots used for performing delicate tasks (e.g., surgery) can be flexible in their movement, but are quite specialized. Airborne robots (e g, unmanned and autonomous air vehicles) are highly evolved, but do not have to deal with the vagaries of rough terrain.\n\n“Soft” robots - robots fabricated using flexible or elastomeric structural elements - offer potentially useful approaches to overcome the challenges faced in hard robotics. They can be designed to have a low center of gravity. They can also distribute pressure evenly on the ground, or with the objects with which they interact. They can use their often highly non-linear responses of actuation to accomplish, relatively simply, types of motions and tasks (e.g., grasping soft objects) that would be very difficult to accomplish with hard robots and conventional controllers.",
  "cpc": [
    "F15B 15/103",
    "B25J 9/142",
    "F15B 2215/305",
    "F21V 1/12",
    "F21V 17/02",
    "Y10T 29/4998"
  ],
  "ipc": [
    "B25J 9/14",
    "F15B 15/10",
    "F21V 1/12",
    "F21V 17/02"
  ],
  "assignees": [
    "Harvard University"
  ],
  "inventors": [
    "Ramses V. Martinez",
    "George M. Whitesides"
  ],
  "filing_date": "2014-08-25",
  "publication_date": "2017-10-24",
  "grant_date": "2017-10-24",
  "priority_date": "2012-02-28",
  "application_number": "US-201414467758-A",
  "family_id": "47913559",
  "cited_by_count": 14,
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}