An antagonistically actuated shape memory alloy (SMA) manipulator utilizes a pair of SMA actuators. The SMA actuators are configured, such that one actuator is trained to have a substantially linear or extended shape in its austenite phase, while the other actuator is trained to have a curved or flexed shape in its austenite phase. As such, the manipulator is operated, such that when one SMA actuator is heated and takes on its “trained” shape in the austenite phase, the other SMA actuator is permitted to cool and allowed to return to its original “untrained” shape in the martensite phase, and vice versa. This antagonistic operation of the SMA actuators allows the manipulator to achieve rapid flexion and extension movements.

An actuator includes at least one actuator body and a sleeve covering a portion of the actuator body. The actuator body comprises a first material, and the sleeve comprises a second material that is more rigid than the first material. The sleeve constrains bending of the actuator body where the sleeve covers the actuator body.

A soft robotic device with one or more sensors is described. The sensor may be embedded in the soft body of the soft robotic device, attached to the soft body of the soft robotic device, or otherwise linked to the soft body of the soft robotic device.

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.

[Object] To provide a hybrid actuator attaining both driving force and responsiveness, capable of reducing inertia of a movable portion.

[Solution] A pneumatic air muscle has a cylinder (112) provided in a flexible member (100) forming a pneumatic artificial muscle. At the center of an upper lid element (109) of the cylinder, a through hole is opened, and an inner wire (103) of a Bowden cable passes through this through hole and is coupled by means of a spring (106) to a bottom portion of the cylinder. When the pneumatic artificial muscle contracts, the inner wire (103) and the pneumatic air muscle move together because of the stopper (105), and the contraction force is transmitted. In contrast, when the pneumatic air muscle extends, the stopper (105) is disengaged, while the tension of inner wire (103) is kept by the spring (106) to prevent slacking.

Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.

The invention relates to a method for monitoring a functional state of a pressure-driven actuator which comprises an actuator compartment defined at least in portions by a flexibly deformable wall, the actuator being actuated by applying pressure to the actuator compartment by means of an operating pressure supply, a work process being carried out to actuate the actuator, which process is accompanied by the actuator transitioning from a starting configuration to an end configuration. The pressure the pressure applied to the actuator compartment is measured depending on time by means of a sensor apparatus during the transition from the starting configuration to the end configuration. The invention also relates to a pressure-driven actuator.

A radiolucent circumduction joint that has one, two, or three degrees of axis move movement about a central point that is able to mirror human joint movement.

A growth-type soft robot includes a housing including an external body including an internal accommodation space and one side open and a fixing portion formed on a periphery of an open region of the external body, a growth unit including an outer periphery having one end connected to the fixing portion, an inner periphery spaced apart from an inner side of the outer periphery and extending to the accommodation space, and a bent portion connecting the other end of the outer periphery to one end of the inner periphery to form a front end space, and a data collecting unit including a cable extending along a central portion surrounded by the inner periphery and a sensing module acquiring external information, wherein the other end of the inner periphery forms a folded region, and a length of the growth unit is adjustable by air supplied to the front end space.

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.