JP6497786B2 - 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 - Google Patents

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 Download PDF

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JP6497786B2
JP6497786B2 JP2016523917A JP2016523917A JP6497786B2 JP 6497786 B2 JP6497786 B2 JP 6497786B2 JP 2016523917 A JP2016523917 A JP 2016523917A JP 2016523917 A JP2016523917 A JP 2016523917A JP 6497786 B2 JP6497786 B2 JP 6497786B2
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sleeve
actuator
soft
actuator body
soft actuator
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JP2017504489A (ja
JP2017504489A5 (enExample
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ギャロウェイ，ケヴィン
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Harvard University
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Harvard University
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    • 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
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • 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
    • 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

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  • 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)
  • Prostheses (AREA)
JP2016523917A 2013-10-18 2014-10-16 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 Active JP6497786B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361893093P 2013-10-18 2013-10-18
US61/893,093 2013-10-18
PCT/US2014/060870 WO2015102723A2 (en) 2013-10-18 2014-10-16 Mechanically programmed soft actuators with conforming sleeves

Publications (3)

Publication Number Publication Date
JP2017504489A JP2017504489A (ja) 2017-02-09
JP2017504489A5 JP2017504489A5 (enExample) 2017-09-14
JP6497786B2 true JP6497786B2 (ja) 2019-04-10

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JP2016523917A Active JP6497786B2 (ja) 2013-10-18 2014-10-16 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

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US (2) US9492930B2 (enExample)
EP (1) EP3058237B1 (enExample)
JP (1) JP6497786B2 (enExample)
ES (1) ES2856342T3 (enExample)
WO (1) WO2015102723A2 (enExample)

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Also Published As

Publication number Publication date
WO2015102723A2 (en) 2015-07-09
US9492930B2 (en) 2016-11-15
EP3058237B1 (en) 2020-12-02
US20170239818A1 (en) 2017-08-24
WO2015102723A3 (en) 2015-10-29
ES2856342T3 (es) 2021-09-27
US20160263751A1 (en) 2016-09-15
EP3058237A2 (en) 2016-08-24
JP2017504489A (ja) 2017-02-09
US10189165B2 (en) 2019-01-29
EP3058237A4 (en) 2017-08-09

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