The invention relates to a modular exoskeleton structure that provides force assistance to a user, comprising a base module (1) comprising a lumbar belt (11) capable of surrounding the lower trunk of the user, two hip modules capable of being attached to two respective thighs of the user, and a backpack support module (14) for an exoskeleton structure, comprising: a hoop (141) designed to be anchored to the hip modules, at the hips of a user, a support rod (142) designed to extend along the back of the user and capable of being engaged in a pouch of a backpack to suspend the backpack to the backpack support module (14), wherein the rod (142) comprises a first rod element (1421) connected to the hoop (141), a second rod element (1422) capable of sliding with respect to the first rod element (1421) so as to vary a length of the rod (142), and a damper for cushioning the movement of the second rod element (1421) with respect to the first rod element (1422) caused by the walking of the user.

The invention relates to a modular exoskeleton structure that provides force assistance to a user, comprising a base module (1) comprising a lumbar belt (11) capable of surrounding the lower trunk of the user, two hip modules capable of being attached to two respective thighs of the user, and a backpack support module (14) for an exoskeleton structure, comprising: a hoop (141) designed to be anchored to the hip modules, at the hips of a user, a support rod (142) designed to extend along the back of the user and capable of being engaged in a pouch of a backpack to suspend the backpack to the backpack support module (14), wherein the rod (142) comprises a first rod element (1421) connected to the hoop (141), a second rod element (1422) capable of sliding with respect to the first rod element (1421) so as to vary a length of the rod (142), and a damper for cushioning the movement of the second rod element (1421) with respect to the first rod element (1422) caused by the walking of the user.

A distributed sensor network for soft growing robots is provided. Sensor bands are distributed at discrete intervals along the length of the flexible tube, and the sensor bands each are wrapped circumferentially around the diameter of the flexible tube. Each sensor band has one or more sensors and one or more semi-rigid islands containing a self-contained microcontroller, and one or more communication lines to an aggregator microcontroller located at the base of the soft growing robot communicatively connecting signals from the sensor bands. A casing laminates the distributed sensor network. In one example the encasing has cavities or a tooth geometry to allow bending. The casing is flexible to not hinder the growth of the soft growing robot, yet protecting the distributed sensor network.

A robotic end effector and method for use thereof are provided. The robotic end effector can include a rigid base structure (230), a plurality of rigid proximal phalanges (210) connected to the rigid base structure (230), a plurality of rigid distal phalanges (200) connected to the proximal phalanges (210) respectively, and a plurality of bellows (250), wherein one end of a proximal phalange (210) is connected to one end of the base structure (230) by a bellows (250), wherein one end of a distal phalange (200) is connected to a proximal phalange (210) by a bellows (250), and wherein a portion of the base structure (230), each proximal phalange (210), and each distal phalange (200) are covered in silicone rubber. It can achieve a high output force to input pressure ratio, and cost efficiently.

An information processing device (10) includes a sensing section (140) that senses a pressure variation of a fluid filling a deformable filled section (130) that is provided to a portion of a leg of a mobile body (100) that is in either a contact state or a non-contact state at which portion the leg contacts an external environment, and a determining section (150) that determines a state of the leg of the mobile body (100) on the basis of the pressure variation of the fluid sensed by the sensing section (140).

An information processing device (10) includes a sensing section (140) that senses a pressure variation of a fluid filling a deformable filled section (130) that is provided to a portion of a leg of a mobile body (100) that is in either a contact state or a non-contact state at which portion the leg contacts an external environment, and a determining section (150) that determines a state of the leg of the mobile body (100) on the basis of the pressure variation of the fluid sensed by the sensing section (140).

Artificial muscles are provided including a housing having an electrode region and an expandable fluid region, an electrode pair including a first electrode and a second electrode positioned in the electrode region of the housing, a dielectric fluid housed within the housing, and a stiffening member positioned between the housing and at least one of the first electrode and the second electrode. The stiffening member increases a stiffness of the housing in a direction toward the expandable fluid region from an opposite edge of the electrode region. The electrode pair is actuatable between a non-actuated state and an actuated state such that actuation from the non-actuated state to the actuated state directs the dielectric fluid into the expandable fluid region.

An artificial muscle stack that includes a plurality of artificial muscle layers. Each artificial muscle layer includes one or more artificial muscles having a housing with an electrode region and an expandable fluid region, a dielectric fluid housed within the housing, and an electrode pair having a first and second electrode positioned in the electrode region. The first and second electrodes each include two or more tab portions and two or more bridge portions. The two or more bridge portions interconnects adjacent tab portions. At least one of the first and second electrode includes a central opening positioned between the tab portions and encircling the expandable fluid region. The plurality of artificial muscle layers are arranged such that the expandable fluid region of the artificial muscles of each artificial muscle layer overlaps at least one tab portion of one or more artificial muscles of an adjacent artificial muscle layer.

A magnetic-induced stiffness changed soft robot drive module includes magnetic-induced stiffness changed layer, two-degree-of-freedom pneumatic driver, magnetic core and sealing fixing device. The magnetic-induced stiffness changed layer and two-degree-of-freedom pneumatic driver are printed and formed. The magnetic core can be deformed together with the driver, and a magnetic field can be generated when it is energized. After the magnetic core is installed into the two-degree-of-freedom pneumatic driver, then assembled with the sealing fixing device, a soft robot drive module with one end fixed is finished. The magnetic-induced stiffness changed layer has the fast, reversible and controllable stiffness adjustment ability under the action of electromagnetic field. As its hardness is greater than that of the two-degree-of-freedom pneumatic driver and its position is outside the air cavity, the two-degree-of-freedom pneumatic driver can be restricted from over-expansion and over-extension in the axial direction, making its pneumatic bending deformation controllable.

A magnetic-induced stiffness changed soft robot drive module includes magnetic-induced stiffness changed layer, two-degree-of-freedom pneumatic driver, magnetic core and sealing fixing device. The magnetic-induced stiffness changed layer and two-degree-of-freedom pneumatic driver are printed and formed. The magnetic core can be deformed together with the driver, and a magnetic field can be generated when it is energized. After the magnetic core is installed into the two-degree-of-freedom pneumatic driver, then assembled with the sealing fixing device, a soft robot drive module with one end fixed is finished. The magnetic-induced stiffness changed layer has the fast, reversible and controllable stiffness adjustment ability under the action of electromagnetic field. As its hardness is greater than that of the two-degree-of-freedom pneumatic driver and its position is outside the air cavity, the two-degree-of-freedom pneumatic driver can be restricted from over-expansion and over-extension in the axial direction, making its pneumatic bending deformation controllable.