A soft actuator includes an inflation chamber. The inflation chamber has a first end and a second end opposite the first end. The inflation chamber is inflatable during an inflation stage, in which the second end rotates toward the first end about a folding axis, and is operable to be loaded during an inflated stage, in which the inflation chamber is inflated. The soft actuator also includes a variable-stiffness hinge located between the first end and the second end along the folding axis. The variable-stiffness hinge has a decreased stiffness in the inflation stage and an increased stiffness in the inflated stage.

In one aspect, system to form a pneumatically-actuated transistor logic includes a first deformable conduit; a first extensible bladder disposed at a first location along the first conduit; a first structure in proximity with the first bladder and configured to constrain expansion of the first bladder; wherein the first structure and the first bladder are configured to allow flow of fluid through the first conduit when the first bladder is in a first state and to prevent flow of fluid through the first conduit when the first bladder is in a second state.

Waveguides, such as light guides, made entirely of elastomeric material or with indents on an outer surface are disclosed. These improved waveguides can be used in sensors, soft robotics, or displays. For example, the waveguides can be used in a strain sensor, a curvature sensor, or a force sensor. In an instance, the waveguide can be used in a hand prosthetic. Sensors that use the disclosed waveguides and methods of manufacturing waveguides also are disclosed.

A device includes a tube and a sleeve configured to at least partially encircle a portion the tube along its length. The tube is flexible and airtight and defines a longitudinal axis along a center of the tube, and is configured to bend along the longitudinal axis upon at least partial evacuation of the tube to form a joint. The joint defines a joint angle relative to the longitudinal axis, thereby approximating a revolute joint with torsional stiffness. Actuating a joint includes partially evacuating a flexible tube defining a longitudinal axis, thereby forming a bend in the tube at an angle with respect to the longitudinal axis at a perimeter of a rigid sleeve at least partially encircling the tube, and restoring a neutral pressure to the tube, thereby removing the bend in the tube.

A soft robot includes a main body configured as a tube inverted back inside itself to define a pressure channel, such that when the channel is pressurized, the main body everts, and inverted material everts and passes out of a tip at a distal end of the main body. A fluidization tube for passing air or other fluid through a core of the main body in the fluidization tube, wherein the fluidization tube engages the main body such that the fluidization tube is ejected as the distal end as the main body everts and joins part of the side of the main body as the main body everts and extends its distal tip.

A power-assisted negative pressure type flexible exoskeleton system used for an extravehicular spacesuit. The system includes an exoskeleton pneumatic control system, a plurality of inertial sensors, a plurality of negative pressure type flexible actuators and a plurality of flexible bending sensors, wherein pneumatic energy is provided for the exoskeleton system by a gas source in the exoskeleton control system, compressed air is cleaned by a water-separating gas filter, normal work of a pneumatic actuating element is guaranteed, a pressure reducing valve and a pressure gauge carry out voltage stability control on the output pressure of the gas source, a two-position two-way valve serves as a gas source switch valve, and three-position three-way valves, proportional pressure valves and the flexible actuators form four pneumatic control loops of the left and right elbow joints and the left and right knee joints of the exoskeleton system.

An artificial muscle system includes a collapsible skeleton, a flexible skin, and a muscle actuation mechanism. The collapsible skeleton is contained inside a volume defined, at least in part, by the flexible skin. The flexible skin and the collapsible skeleton are configured for the flexible skin to provide a pulling force on the collapsible skeleton when a pressure difference exists between the inside of the sealed volume and a surrounding environment to change at least one of the dimensions and thus geometry of the collapsible skeleton. The muscle actuation mechanism includes at least one of the following to deploy or contract the collapsible skeleton: (a) a fluid displacing, releasing, or capturing mechanism configured to increase or decrease fluid pressure inside the sealed volume; and (b) a heating or cooling element configured to change the temperature of fluid in the sealed volume.

Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.

A robot device of the present disclosure includes at least one artificial muscle that operates by being supplied with liquid; and a liquid supply device that supplies and discharges the liquid to/from the artificial muscle, and the liquid supply device includes a liquid storage part that stores the liquid; a pump that sucks the liquid from the liquid storage part and discharges the liquid; a pressure regulating device that includes a spool and an electromagnetic part that allows the spool to move, and that generates drive pressure for the artificial muscle by regulating source pressure from the pump side, and regulates the source pressure by balancing at least a force given to the spool from the electromagnetic part and a force given to the spool by action of the drive pressure; and a control device that applies a current to the electromagnetic part of the pressure regulating device so that the drive pressure reaches target pressure.

A pneumatic artificial muscle (PAM) includes a bladder containing, internal to the bladder, the other components of the PAM: at least one valve controlling pneumatic pressure inside the bladder; at least one sensor configured to sense pressure inside the bladder; and at least one signal conditioning device, thereby providing a self-contained, volume-efficient, simple interface for the PAM.