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.

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.

Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks.

A workpiece clamp apparatus includes: a robot arm having, at a distal-end portion thereof, a holding section for holding a workpiece; a hydraulic-fluid supply coupler provided at the distal-end portion of the robot arm; a hydraulic-fluid supply device for supplying a hydraulic fluid to the hydraulic-fluid supply coupler; a clamping device having a plurality of clamping members that grip the workpiece for machining with a machine tool; and a cylinder that has a hydraulic-fluid supply port to which the hydraulic-fluid supply coupler can be connected and that drives the clamping member in the workpiece-gripping direction as a result of the hydraulic fluid being supplied via the hydraulic-fluid supply port.

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.

An automated hand tool sharpening and cleaning system for sharpening the two opposed cutting edges of domestic, industrial, sport, or hobby hand tool like a knife blade is provided by the invention. The apparatus comprises a six-axis robotic arm, a pneumatic gripper, a vision sensor camera for profiling the blade edges, a robotic controller, and sequentially-arranged grinding, coarse sharpening, fine sharpening, and buffing rotating wheel assemblies used to grind, sharpen, and buff or polish the cutting edges of the knife blade. The blade cutting edges are profiled by the camera image that is processed by associated software to define the blade by multiple points defined along its edge, followed by a set of algorithms that are used to clean up any discrepancies in the profile data. The resulting corrected profile data is then translated into a set of machine control commands fed to the robotic arm and pneumatic gripper via the robot controller for manipulating the knife blade edges via the robotic arm with respect to each of the grinding, coarse sharpening, fine sharpening, and buffing/polishing wheels and an associated wash station for remove bits of metal and other residue resulting from the sharpened knife blade.

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.

An automated hand tool sharpening and cleaning system for sharpening the two opposed cutting edges of domestic, industrial, sport, or hobby hand tool like a knife blade is provided by the invention. The apparatus comprises a six-axis robotic arm, a pneumatic gripper, a vision sensor camera for profiling the blade edges, a robotic controller, and sequentially-arranged grinding, coarse sharpening, fine sharpening, and buffing rotating wheel assemblies used to grind, sharpen, and buff or polish the cutting edges of the knife blade. The blade cutting edges are profiled by the camera image that is processed by associated software to define the blade by multiple points defined along its edge, followed by a set of algorithms that are used to clean up any discrepancies in the profile data. The resulting corrected profile data is then translated into a set of machine control commands fed to the robotic arm and pneumatic gripper via the robot controller for manipulating the knife blade edges via the robotic arm with respect to each of the grinding, coarse sharpening, fine sharpening, and buffing/polishing wheels and an associated wash station for remove bits of metal and other residue resulting from the sharpened knife blade.

Examples described here include a device that has a housing defining a cavity, and a force sensor. The device also includes a first hydraulic actuator positioned in the cavity, and a second hydraulic actuator positioned in the cavity. The first and second hydraulic actuators move between respectively relaxing modes and thrusting modes along respective longitudinal axes. The longitudinal axis of the first hydraulic actuator is substantially parallel to the longitudinal axis of the second hydraulic actuator. The device also includes a first actuated member coupled to the first hydraulic actuator, and a second actuated member coupled to the second hydraulic actuator.

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.