DE60212927D1 - Flexible Antriebseinrichtung - Google Patents

Flexible Antriebseinrichtung

Info

Publication number
DE60212927D1
DE60212927D1 DE60212927T DE60212927T DE60212927D1 DE 60212927 D1 DE60212927 D1 DE 60212927D1 DE 60212927 T DE60212927 T DE 60212927T DE 60212927 T DE60212927 T DE 60212927T DE 60212927 D1 DE60212927 D1 DE 60212927D1
Authority
DE
Germany
Prior art keywords
drive device
flexible drive
flexible
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE60212927T
Other languages
English (en)
Other versions
DE60212927T2 (de
Inventor
Takeshi Seto
Kunihiko Takagi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
Original Assignee
Seiko Epson Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2001380234A external-priority patent/JP2003184818A/ja
Priority claimed from JP2001380233A external-priority patent/JP3925181B2/ja
Priority claimed from JP2002157103A external-priority patent/JP2003343513A/ja
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Application granted granted Critical
Publication of DE60212927D1 publication Critical patent/DE60212927D1/de
Publication of DE60212927T2 publication Critical patent/DE60212927T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Actuator (AREA)
  • Reciprocating Pumps (AREA)
DE60212927T 2001-12-13 2002-11-28 Flexible Antriebseinrichtung Expired - Lifetime DE60212927T2 (de)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2001380234A JP2003184818A (ja) 2001-12-13 2001-12-13 フレキシブルアクチュエータ
JP2001380233A JP3925181B2 (ja) 2001-12-13 2001-12-13 フレキシブルアクチュエータ
JP2001380233 2001-12-13
JP2001380234 2001-12-13
JP2002157103 2002-05-30
JP2002157103A JP2003343513A (ja) 2002-05-30 2002-05-30 フレキシブルアクチュエータ

Publications (2)

Publication Number Publication Date
DE60212927D1 true DE60212927D1 (de) 2006-08-17
DE60212927T2 DE60212927T2 (de) 2007-03-01

Family

ID=27347951

Family Applications (2)

Application Number Title Priority Date Filing Date
DE60212927T Expired - Lifetime DE60212927T2 (de) 2001-12-13 2002-11-28 Flexible Antriebseinrichtung
DE60224593T Expired - Lifetime DE60224593T2 (de) 2001-12-13 2002-11-28 Flexible Antriebseinrichtung

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE60224593T Expired - Lifetime DE60224593T2 (de) 2001-12-13 2002-11-28 Flexible Antriebseinrichtung

Country Status (4)

Country Link
US (1) US6772673B2 (de)
EP (2) EP1586778B1 (de)
CN (1) CN1253666C (de)
DE (2) DE60212927T2 (de)

Families Citing this family (93)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10345587A1 (de) * 2003-09-29 2005-05-12 Karlsruhe Forschzent Fluidischer Antrieb
US20060156851A1 (en) * 2004-12-02 2006-07-20 Jacobsen Stephen C Mechanical serpentine device
DE602006019456D1 (de) * 2005-09-02 2011-02-17 Martin Russell Harris Strömungsgetriebe
WO2007134461A1 (en) * 2006-05-24 2007-11-29 Titan Medical Inc. Snaking robotic arm with movable shapers
US8201473B2 (en) * 2006-10-13 2012-06-19 Robotics Technology Leaders Gmbh Worm-like mechanism
EP2086821B1 (de) 2006-11-13 2010-07-14 Raytheon Sarcos LLC Vielseitig verwendbares endlosband für leichte mobile roboter
US8185241B2 (en) 2006-11-13 2012-05-22 Raytheon Company Tracked robotic crawler having a moveable arm
EP2549165B1 (de) * 2006-11-13 2014-03-12 Raytheon Company Schlangenförmiger Raupenroboter
EP2258608A1 (de) 2006-11-13 2010-12-08 Raytheon Sarcos LLC Konforme Spurenanordnung für eine Roboterraupe
JP2010526590A (ja) 2007-05-07 2010-08-05 レイセオン・サルコス・エルエルシー 複合構造物を製造するための方法
JP5285701B2 (ja) 2007-07-10 2013-09-11 レイセオン カンパニー モジュール式ロボットクローラ
US8392036B2 (en) 2009-01-08 2013-03-05 Raytheon Company Point and go navigation system and method
WO2010144813A1 (en) 2009-06-11 2010-12-16 Raytheon Sarcos, Llc Method and system for deploying a surveillance network
WO2010144820A2 (en) 2009-06-11 2010-12-16 Raytheon Sarcos, Llc Amphibious robotic crawler
EP2335884B1 (de) * 2009-12-15 2012-09-05 FESTO AG & Co. KG Fluidisch betreibbarer Manipulator
US8662552B2 (en) 2010-02-23 2014-03-04 Massachusetts Institute Of Technology Dexterous and compliant robotic finger
WO2012148472A2 (en) * 2010-11-19 2012-11-01 President And Fellows Of Harvard College Soft robotic actuators
GB2518340A (en) * 2011-03-15 2015-03-25 Barts & London Nhs Trust Steerable element for use in surgery
ES2836002T3 (es) 2011-10-07 2021-06-23 Harvard College Sistemas y métodos para accionar accionadores robóticos blandos
EP2834047B1 (de) 2012-03-26 2018-05-09 President and Fellows of Harvard College System und verfahren zur bereitstellung biegsamer roboterantriebe
US8393422B1 (en) 2012-05-25 2013-03-12 Raytheon Company Serpentine robotic crawler
US10406698B2 (en) 2012-07-18 2019-09-10 President And Fellows Of Harvard College Apparatus, systems, and methods for modular soft robots
US9624911B1 (en) 2012-10-26 2017-04-18 Sunfolding, Llc Fluidic solar actuator
US9031698B2 (en) 2012-10-31 2015-05-12 Sarcos Lc Serpentine robotic crawler
AU2014225893A1 (en) 2013-03-04 2015-09-17 President And Fellows Of Harvard College Magnetic assembly of soft robots with hard components
WO2014196928A1 (en) * 2013-06-04 2014-12-11 National University Of Singapore A gripping device
CN103362888B (zh) * 2013-07-01 2015-10-28 武汉策尔曼自动化设备有限公司 气液介质微距执行机构
WO2015069360A1 (en) * 2013-08-20 2015-05-14 President And Fellows Of Harvard College Low strain pneumatic networks for soft robots
US9409292B2 (en) 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
JP6591967B2 (ja) 2013-10-01 2019-10-16 プレジデント アンド フェローズ オブ ハーバード カレッジ シート材料からなるソフトデバイス
JP6497786B2 (ja) * 2013-10-18 2019-04-10 プレジデント アンド フェローズ オブ ハーバード カレッジ ソフトアクチュエータ本体及び適合スリーブを備えた機械的にプログラムされたアクチュエータ並びに機械的作動方法
WO2015066143A1 (en) * 2013-10-29 2015-05-07 President And Fellows Of Harvard College Multi-segment reinforced actuators and applications
US9566711B2 (en) 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
US9687362B2 (en) 2014-04-11 2017-06-27 President And Fellows Of Harvard College Portable prosthetic hand with soft pneumatic fingers
EP3152446B1 (de) * 2014-06-09 2021-04-07 Soft Robotics, Inc. Sanfte roboteraktuatoren mit asymmetrischen oberflächen
CA2960858C (en) 2014-09-17 2022-12-13 Soft Robotics, Inc. Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators
US10238565B2 (en) * 2014-09-25 2019-03-26 Anton K. Simson Patient lifting apparatus
EP3221583B1 (de) * 2014-11-18 2022-11-02 Soft Robotics, Inc. Verbesserungen eines sanften roboterantriebs
US10189168B2 (en) 2014-11-18 2019-01-29 Soft Robotics, Inc. Soft robotic actuator enhancements
GB201420644D0 (en) * 2014-11-20 2015-01-07 Technion Res & Dev Foundation Solid-liquid composite structures
US10912701B2 (en) * 2015-01-07 2021-02-09 The Board Of Regents Of The University Of Texas System Fluid-driven actuators and related methods
CN107251414A (zh) 2015-01-30 2017-10-13 森福鼎股份有限公司 射流致动器系统和方法
CN108025443B (zh) * 2015-04-23 2019-07-23 软机器人公司 机器人抓持器以及机器人结构
WO2016210438A1 (en) * 2015-06-26 2016-12-29 Soft Robotics, Inc. Food handling gripper
JP6709840B2 (ja) * 2015-07-30 2020-06-17 ソフト ロボティクス， インコーポレイテッド 自給式ロボットグリッパシステム
US10071303B2 (en) 2015-08-26 2018-09-11 Malibu Innovations, LLC Mobilized cooler device with fork hanger assembly
CN105171737B (zh) * 2015-09-25 2017-04-12 天津大学 一种具有混合动力源的三自由度柔顺驱动器
CA3003596A1 (en) 2015-10-31 2017-05-04 Children's National Medical Center Soft surgical tools
CN108698285A (zh) * 2016-01-19 2018-10-23 哈佛学院院长及董事 软体机器人致动器以及夹持器
CA3011733A1 (en) * 2016-01-20 2017-07-27 Soft Robotics, Inc. Soft robotic grippers for cluttered grasping environments, high acceleration movements, food manipulation, and automated storage and retrieval systems
US10569422B2 (en) 2016-01-20 2020-02-25 Soft Robotics, Inc. End of arm tools for soft robotic systems
CN105500380B (zh) * 2016-02-02 2017-04-12 浙江工业大学 串并融合伪足软体机器人
US10806899B2 (en) * 2016-02-17 2020-10-20 Project Moray, Inc. Local contraction of flexible bodies using balloon expansion for extension-contraction catheter articulation and other uses
AU2017248319A1 (en) * 2016-04-07 2018-10-25 Soft Robotics, Inc. Soft robotic actuators for positioning, packaging, and assembling
US9908243B2 (en) * 2016-04-07 2018-03-06 Ziv-Av Engineering Ltd. Mechanical adjustable device
US10807659B2 (en) 2016-05-27 2020-10-20 Joseph L. Pikulski Motorized platforms
KR101814676B1 (ko) * 2016-07-25 2018-01-04 이동찬 소프트 외골격 근력 보조 장치
CN106826879B (zh) * 2017-02-14 2019-05-07 清华大学 一种刚性柔性可切换的机械手
US11129766B2 (en) * 2017-04-14 2021-09-28 The Chinese University Of Hong Kong Flexibly driven robotic hands
TWI803490B (zh) 2017-04-17 2023-06-01 美商尚府鼎公司 氣動致動器系統及方法
CN107088884B (zh) * 2017-05-19 2024-02-13 南京理工大学 一种可穿戴式加箍型气动充气弯曲柔性驱动器
CN107139207B (zh) * 2017-05-25 2020-02-11 东北大学 一种气动软体手指、软体手指控制系统及控制方法
JP7403832B2 (ja) * 2018-03-27 2023-12-25 ソフト ロボティクス， インコーポレイテッド 産業および協働ロボットのための現場組立型ソフト握持
CN108381534A (zh) * 2018-05-11 2018-08-10 清华大学 一种具有弓字形连续弯曲内腔的柔性机械手
CA3100525A1 (en) 2018-05-29 2019-12-05 Sunfolding, Inc. Tubular fluidic actuator system and method
WO2020056254A1 (en) * 2018-09-14 2020-03-19 The Regents Of The University Of California Four-dimensional-printed pneumatically actuated flexible robotic joints
CN109262646B (zh) * 2018-09-29 2020-10-20 江南大学 一种链板式柔性手指
CN109176573B (zh) * 2018-10-23 2020-06-12 燕山大学 一种软体抓取装置
CN109176500A (zh) * 2018-10-26 2019-01-11 苏州工业园区新国大研究院 一种软体变刚度驱动装置
US11426880B2 (en) * 2018-11-21 2022-08-30 Kla Corporation Soft gripper with multizone control to allow individual joint articulation
US10953551B1 (en) * 2018-11-27 2021-03-23 Amazon Technologies, Inc. Soft actuator and gripper assembly
US10843348B1 (en) * 2018-12-13 2020-11-24 Amazon Technologies, Inc. Actuator and gripper assembly
CN109746933A (zh) * 2019-01-14 2019-05-14 燕山大学 一种无系留软体末端执行器
CN109648545A (zh) * 2019-01-31 2019-04-19 江苏大学 一种基于水凝胶驱动器的软体机器人
CN109955275B (zh) * 2019-03-20 2023-12-29 中国地质大学（武汉） 热膨胀流体复合异形腔体驱动型机器人软体手
CN109940645B (zh) * 2019-03-20 2023-12-29 中国地质大学（武汉） 热膨胀流体复合非异形腔体驱动型机器人软体手
CN110056721A (zh) * 2019-04-26 2019-07-26 太原航空仪表有限公司 气动挠曲波纹管
US11738893B2 (en) 2019-04-30 2023-08-29 Soft Robotics, Inc. Picking, placing, and scanning bagged clothing and other articles
CN110269776B (zh) * 2019-06-28 2021-09-07 清华大学深圳研究生院 一种基于气动软体致动器的手指辅助康复指套及其制造方法
CN110497396B (zh) * 2019-08-29 2024-04-05 南京理工大学 一种可变刚度增强型气动软体驱动器
CN110666788B (zh) * 2019-09-27 2021-07-06 南京荧河谷科技有限公司 一种柔性气动机械手
CN110842954A (zh) * 2019-11-01 2020-02-28 江苏省农业科学院 快拆型柔性仿生手指
US11679514B2 (en) * 2020-01-08 2023-06-20 Ohio State Innovation Foundation Variable stiffness robotic gripper based on layer jamming
CN111300400B (zh) * 2020-03-09 2022-09-30 江西理工大学 气动软体驱动器及其组合结构和具有其的软体机器人
WO2021262752A1 (en) 2020-06-22 2021-12-30 Sunfolding, Inc. Locking, dampening and actuation systems and methods for solar trackers
CN111975808A (zh) * 2020-07-08 2020-11-24 河海大学常州校区 一种气控软体仿生机械手指
CN111702802B (zh) * 2020-07-10 2022-03-22 浙江理工大学 一种夹爪及应用该夹爪的夹具
CN112060114B (zh) * 2020-08-03 2021-09-24 大连理工大学 一种可双向弯曲的模块化多功能软体灵巧手
US20240225881A1 (en) * 2021-05-03 2024-07-11 Skelable Ltd. Dynamic orthosis
CN113319886A (zh) * 2021-07-16 2021-08-31 北京软体机器人科技有限公司 柔性夹具
CN113911225B (zh) * 2021-10-18 2022-09-09 杭州电子科技大学 一种管道外壁爬行机器人及其驱动方法
US20240173870A1 (en) * 2022-11-30 2024-05-30 Soft Robotics, Inc. Modular fingertips for soft robotic actuators
CN116652673B (zh) * 2023-04-27 2023-11-03 浙江精劲机械有限公司 一种高强度镍基合金螺杆加工装置及其方法

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3284964A (en) 1964-03-26 1966-11-15 Saito Norio Flexible beam structures
US3601442A (en) * 1970-01-26 1971-08-24 Goodrich Co B F Gripping device
US4494417A (en) * 1979-03-16 1985-01-22 Robotgruppen Hb Flexible arm, particularly a robot arm
FR2537909B1 (fr) * 1982-12-17 1987-06-26 Centre Nat Rech Scient Dispositif mobile de liaison permettant de faire subir a un element porte des deplacements suivant plusieurs degres de liberte
SE453860B (sv) * 1984-12-17 1988-03-07 Komatsu Mfg Co Ltd Flexibel manovreringsanordning av korrugerad tryckslang
US4784042A (en) * 1986-02-12 1988-11-15 Nathaniel A. Hardin Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements
NO163518C (no) 1987-12-21 1990-06-13 Michelsens Chr Inst Anordning ved trykkmediumoperert organ.
JPH0217204A (ja) 1988-07-06 1990-01-22 Daiichi Denki Kk 駆動源一体型液圧シリンダ
GB8900263D0 (en) * 1989-01-06 1989-03-08 Pearpoint Ltd Miniature tv camera systems
EP0437792B1 (de) * 1989-12-20 1995-10-11 Kabushiki Kaisha Toshiba Flexibles Fingerelement
US5203319A (en) * 1990-06-18 1993-04-20 Welch Allyn, Inc. Fluid controlled biased bending neck
US5251538A (en) * 1991-08-21 1993-10-12 Battelle Memorial Institute Prehensile apparatus
DE4133605C2 (de) * 1991-10-10 1994-05-11 Siemens Ag Flexibler Roboterarm
JPH05164112A (ja) 1991-12-13 1993-06-29 Toshiba Corp アクチュエータ及びその製造方法
JPH05172118A (ja) 1991-12-25 1993-07-09 Toshiba Corp アクチュエータ及びその製造方法
JP3274488B2 (ja) * 1992-03-30 2002-04-15 株式会社リコー 流体制御機構及び流体を用いた駆動機構
DE19617852A1 (de) * 1996-04-23 1997-10-30 Karlsruhe Forschzent Verfahren zur planaren Herstellung von pneumatischen und fluidischen Miniaturmanipulatoren
CA2232321C (en) 1996-07-18 2004-11-30 Prospective Concepts Ag Adaptive pneumatic wing for fixed-wing aircraft
DE19833340A1 (de) * 1998-07-24 2000-02-10 Karlsruhe Forschzent Wurmförmiger Arbeitsmechanismus
JP3771056B2 (ja) 1998-08-14 2006-04-26 圭治郎 山本 介護用筋力補助装置
CN1280070C (zh) 2000-03-28 2006-10-18 精工爱普生株式会社 泵一体化的柔性驱动器
SK5432000A3 (en) * 2000-04-13 2001-11-06 Milan Kopacka Method and device for the hollow fiber manipulation

Also Published As

Publication number Publication date
DE60212927T2 (de) 2007-03-01
CN1425856A (zh) 2003-06-25
EP1586778A2 (de) 2005-10-19
EP1319845A2 (de) 2003-06-18
US20030110938A1 (en) 2003-06-19
DE60224593D1 (de) 2008-02-21
EP1319845B1 (de) 2006-07-05
EP1586778B1 (de) 2008-01-09
CN1253666C (zh) 2006-04-26
DE60224593T2 (de) 2009-01-08
EP1319845A3 (de) 2004-07-14
US6772673B2 (en) 2004-08-10
EP1586778A3 (de) 2006-02-01

Similar Documents

Publication Publication Date Title
DE60224593D1 (de) Flexible Antriebseinrichtung
DE60321937D1 (de) Antriebseinrichtung
DE60321928D1 (de) Antriebseinrichtung
DE60322232D1 (de) Antriebsvorrichtung
DE10294333D2 (de) Antriebsanordnung
DE60132478D1 (de) Antriebsvorrichtung
EE200400090A (et) Ionoforeesiseade
DE50205580D1 (de) Antriebseinrichtung
DE60226620D1 (de) Anschlagpuffervorrichtung
ATE329179T1 (de) Treibriemen
DE50211943D1 (de) Antriebsvorrichtung
DE50203028D1 (de) Antriebsvorrichtung
DE60206248D1 (de) Cogenerations-vorrichtung
DE60236005D1 (de) Plattenlaufwerk
DE50205472D1 (de) Piezoelektrischer antrieb
DE60222717D1 (de) Zündpille-Anschlusseinrichtung
DE50010627D1 (de) Piezoelektrische Antriebsvorrichtung
BR0313834B1 (pt) dispositivo de acionamento
DE60320245D1 (de) Antriebskraftübertragungseinrichtung
DE50101124D1 (de) Antriebsvorrichtung
DE60228119D1 (de) Raupenfahrvorrichtung
DE50104915D1 (de) Getreibe-antriebseinheit
NO20026035D0 (no) Drivenhet
DE60226155D1 (de) Plattenlaufwerkeinrichtung
DE50208608D1 (de) Antriebseinrichtung

Legal Events

Date Code Title Description
8364 No opposition during term of opposition