Exemplary embodiments relate to improvements in soft robotic systems that permit a soft robotic end effector to be a self-contained system, without reliance on a tether to deliver inflation fluid to the actuator(s) of the end effector. According to some embodiments, a robotic system may be provided including a soft actuator and a hub. The body of the hub may include an integrated pressure source configured to supply inflation fluid through the actuator interface to the soft actuator. The pressure source may be, for example, a compressor (such as a twin-head compressor) or a reaction chamber configured to vaporize a fuel to create a high-temperature pressurized gas and deliver the pressurized gas to the actuator One or more accumulators may receive inflation fluid (or a partial vacuum) from the compressor over time, and store the inflation fluid under pressure, thus allowing actuation over a relatively short time period.

A robotic system for grasping an object including a set of movable robotic fingers that may be in the form of a fin gripper or other moldable robotic finger similarly formed. The robotic fingers include a mechanism that is embedded in one or both of the fingers that allows the fingers to more firmly grasp an object. Further, an actuator may move the mechanism to further grip an object and perform an action on the object.

A robotic system for grasping an object including a set of movable robotic fingers that may be in the form of a fin gripper or other moldable robotic finger similarly formed. The robotic fingers include a mechanism that is embedded in one or both of the fingers that allows the fingers to more firmly grasp an object. Further, an actuator may move the mechanism to further grip an object and perform an action on the object.

A soft robotic gripper having component parts capable of being assembled in the field at the terminus of an industrial robot arm for providing adaptive gripping of a product. A hub includes a pneumatic inlet leading to outlets. Finger mounts with pneumatic passages hold inflatable fingers, and tension fastener(s) secure and compress the finger mounts toward the hub by passing through the pneumatic passages and fastening under tension in a direction of the hub.

A soft robotic gripper having component parts capable of being assembled in the field at the terminus of an industrial robot arm for providing adaptive gripping of a product. A hub includes a pneumatic inlet leading to outlets. Finger mounts with pneumatic passages hold inflatable fingers, and tension fastener(s) secure and compress the finger mounts toward the hub by passing through the pneumatic passages and fastening under tension in a direction of the hub.

An information processing apparatus (30) includes: an operation control unit (321) that operates at least one of a first finger and a second finger to change contact positions with a target object in a state where the first finger and the second finger grip the target object; and an estimation unit (322) that estimates a shape of the target object on a basis of a relationship between the contact positions and postures of the first finger and the second finger.

An information processing apparatus (30) includes: an operation control unit (321) that operates at least one of a first finger and a second finger to change contact positions with a target object in a state where the first finger and the second finger grip the target object; and an estimation unit (322) that estimates a shape of the target object on a basis of a relationship between the contact positions and postures of the first finger and the second finger.

A finger for a robotic gripper may include a flexible actuator, a flexible backbone, a rigid constraint frame, a plurality of jamming layers, and a jamming bag. The flexible actuator may have a proximal end, a distal end disposed opposite the proximal end, a first side, and a second side disposed opposite the first side. The flexible backbone may be coupled to the flexible actuator and disposed along the first side of the flexible actuator. The rigid constraint frame may be coupled to the flexible actuator and disposed along the second side of the flexible actuator. The jamming layers may be coupled to the flexible actuator and disposed at least partially within the rigid constraint frame. The jamming bag disposed at least partially within the rigid constraint frame and configured to apply a compressive force to the jamming layers when a positive pressure is generated within the jamming bag.

A finger for a robotic gripper may include a flexible actuator, a flexible backbone, a rigid constraint frame, a plurality of jamming layers, and a jamming bag. The flexible actuator may have a proximal end, a distal end disposed opposite the proximal end, a first side, and a second side disposed opposite the first side. The flexible backbone may be coupled to the flexible actuator and disposed along the first side of the flexible actuator. The rigid constraint frame may be coupled to the flexible actuator and disposed along the second side of the flexible actuator. The jamming layers may be coupled to the flexible actuator and disposed at least partially within the rigid constraint frame. The jamming bag disposed at least partially within the rigid constraint frame and configured to apply a compressive force to the jamming layers when a positive pressure is generated within the jamming bag.

Exemplary embodiments relate to improvements in soft robotic systems that permit a soft robotic end effector to be a self-contained system, without reliance on a tether to deliver inflation fluid to the actuator(s) of the end effector. According to some embodiments, a robotic system may be provided including a soft actuator and a hub. The body of the hub may include an integrated pressure source configured to supply inflation fluid through the actuator interface to the soft actuator. The pressure source may be, for example, a compressor (such as a twin-head compressor) or a reaction chamber configured to vaporize a fuel to create a high-temperature pressurized gas and deliver the pressurized gas to the actuator One or more accumulators may receive inflation fluid (or a partial vacuum) from the compressor over time, and store the inflation fluid under pressure, thus allowing actuation over a relatively short time period.