Disclosed is a compact, lightweight hydraulic manipulation system used for underwater applications consisting of two parts: a modulus hybrid underwater manipulator and a compact lightweight hydraulic control framework. The system is used for general underwater work such as underwater sampling, hyperbaric welding, and marine aquaculture.

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.

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.

A compensated actuator, in various embodiments, comprises a base and an electric actuator and a fluid actuator interconnected to cooperatively allow for movement of an upper deck frame to which one or more compensated actuators are connected with or without using a pivoting connector. When so connected, a predetermined set of compensated actuators are connected to the upper deck frame and a platform intermediate the upper deck frame and the platform in a predetermined pattern and linear forces from the electric actuator and fluid actuator combined to impart rotation to an output attachment point.

Soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible are described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into three-dimensional structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while keeping them light in weight.

There is provided a device for transferring a substrate under air pressure. The device comprises a base part, a transfer arm part configured to transfer a substrate, a telescopic shaft part which is provided between the base part and the transfer arm part, and divided into a plurality of division shaft parts having a tubular shape, an annular channel which is provided in a circumference of a surface of a division shaft parts, and an exhaust channel which is connected to the annular channel so as to exhaust the gas flowing into the annular channel.

The present invention relates to a joint mechanism (100), a method for controlling the joint mechanism (100), a multi-arm device (200) including the joint mechanism (100), and a robot. The joint mechanism (100) comprises: a base (4) having a pivot shaft (41); a swinging arm (1) having a first end (11) mounted on the pivot shall (41); a first driving member (2) and a second driving member (3) mounted on the pivot shall (41) for interacting with the swinging arm (1) through magnetorheological fluid; and a first electromagnetic component (22) and a second electromagnetic component (32), configured to change phase state of the magnetorheological fluid. The first driving member (2) and the second driving member (3) can selectively drive tire swinging arm (1) to rotate along a first direction or a second direction.

The present invention relates to a joint mechanism (100), a method for controlling the joint mechanism (100), a multi-arm device (200) including the joint mechanism (100), and a robot. The joint mechanism (100) comprises: a base (4) having a pivot shaft (41); a swinging arm (1) having a first end (11) mounted on the pivot shall (41); a first driving member (2) and a second driving member (3) mounted on the pivot shall (41) for interacting with the swinging arm (1) through magnetorheological fluid; and a first electromagnetic component (22) and a second electromagnetic component (32), configured to change phase state of the magnetorheological fluid. The first driving member (2) and the second driving member (3) can selectively drive tire swinging arm (1) to rotate along a first direction or a second direction.

Systems and methods of a robotic arm coupling for connecting a tool with a robotic arm are disclosed. In an embodiment, the robotic arm coupling includes: a mounting interface for mounting the robotic arm coupling on a robotic arm; a coupler interface on which differently actuated tools are releasably and interchangeably coupled; a fluid inlet port connected to an external fluid source to receive a pneumatic fluid; a plurality of interface fluid ports; at least one valve in fluid a communication with the fluid inlet port and settable to at least a first and a second operating state; and a suction device configured to apply a fluid suction pressure to an interface fluid port when a fluid pressure is provided to the suction device.

Systems and methods of a robotic arm coupling for connecting a tool with a robotic arm are disclosed. In an embodiment, the robotic arm coupling includes: a mounting interface for mounting the robotic arm coupling on a robotic arm; a coupler interface on which differently actuated tools are releasably and interchangeably coupled; a fluid inlet port connected to an external fluid source to receive a pneumatic fluid; a plurality of interface fluid ports; at least one valve in fluid a communication with the fluid inlet port and settable to at least a first and a second operating state; and a suction device configured to apply a fluid suction pressure to an interface fluid port when a fluid pressure is provided to the suction device.