FLEXBLE ROBOTIC ACTUATORS

Authors

Aaron D. Mazzeo, Cambridge, MA
Stephen A. Morin, University of Nebraska - LincolnFollow
Robert F. Shepherd, Brooktondale, NY
George M. Whitesides, Newton, MA
William B. Kalb, Cambridge, MA

Document Type

Article

Date of this Version

2016

Citation

Patent No.: US 9,506,455

Comments

Mazzeo et al.

Appl. No.: 14/329,506

Abstract

Some embodiments of the disclosed subject matter includes a laminated robotic actuator. The laminated robotic actuator includes a strain-limiting layer comprising a flexible, non extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the Strain-limiting layer, wherein the inflatable layer is selectively adhered to the strain-limiting layer, and wherein a portion of an un-adhered region between the strain-limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non-extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non-extensible under actuation conditions.