A pneumatic circuit for controlling the activation of a robot with inflatable chambers includes at least one ring oscillator formed from a plurality of valves connected in series to selectively admit fluid pressure to inflate and deflate the chambers. Sequential actuation of the valves induces sequential bending and rotation of combinations of the chambers to effect motion. A switching valve changes the actuation sequence of the oscillator valves to change the direction of motion.

In an implementation, a hydraulically-powered robot has a first body portion having a first internal volume, a second body portion having a second internal volume, and a plurality of hydraulic hoses. The second body portion is rotatably coupled to the first body portion. Each hydraulic hose of the plurality of hydraulic hoses includes a respective first hose portion positioned within the first internal volume of the first body portion and a respective second hose portion positioned within the second internal volume of the second body portion. The plurality of hydraulic hoses is arranged in a helical configuration about an axis that extends from the first internal volume of the first body portion to the second internal volume of the second body portion. A path of the helical configuration of the plurality of hydraulic hoses may traverse a restricted space between the first body portion and the second body portion.

A soft structure fiber reinforcement and actuation technology is provided. In an example embodiment, the tendon-driven, fiber-reinforced elastomer membrane comprises an elastomer matrix material and a fiber array embedded within the elastomer matrix material. The one or more tendons are not mechanically bonded to the elastomer matrix material, such that the one or more embedded tendons are able to move through the elastomer matrix material. One or more apparatuses may employ one or more such tendon-driven, fiber-reinforced elastomer membranes for use in a variety of applications.

A method of constructing an inflatable fluidic actuator. The method includes coupling a first interface to a tube configuration of membrane material at a first tube end by coupling the first interface to the tube configuration at the first tube end by generating at least one of: a first bond between the membrane material and one or more first sidewalls of the first interface and a first external face bond between membrane material at the first tube end onto a first external face of the first interface.

Technologies are generally described for pneumatically actuated parallel grippers that include a frame, a linkage system, two pistons, and a pair of slidable plates. The linkage system includes three or more links comprising a central link that is pivotably coupled to the frame, a first link coupled between a first piston and a first end of the central link, and a second link coupled between a second piston and a second end of the central link. The linkage system is arranged to synchronize motion between the first and second pistons. The pistons are further coupled to the slidable plates such that synchronized movement of the pistons translates into synchronized motion of the slidable plates. The parallel gripper is readily adaptable for use in gripper applications; and it is simple to service without the necessity for costly high tolerance and high precision parts.

A soft pneumatic module includes a first frame defining a first path portion, a second frame opposite to the first frame and defining a second path portion, a retainer connected to the first frame and the second frame, a plurality of first crease parts disposed along a circumference of the first frame at two sides of the retainer and obliquely disposed inward from the first frame, and a plurality of second crease parts connected to the plurality of first crease parts and the second frame, disposed along a circumference of the second frame at the two sides of the retainer, and expanded along with the plurality of first crease parts as a fluid is injected into the soft pneumatic module.

In an implementation, a hydraulic assembly comprising an end section of a hydraulic hose formed from a volume of material, the end section having a first outer diameter and an open end, is formed by molding a flange in the end section of the hydraulic hose, and threading an annular gasket onto the end section of the hydraulic hose between the flange and the open end of the hydraulic hose, and adjacent to the flange. The flange is formed in the volume of material, and has a second outer diameter greater than the first outer diameter. The molding of the flange may include applying heat to a mold, inserting the open end of the end section of the hydraulic hose into the mold, and thermally deforming a portion of the end section of the hydraulic hose to form the flange.

In an implementation, a hydraulic assembly comprising an end section of a hydraulic hose formed from a volume of material, the end section having a first outer diameter and an open end, is formed by molding a flange in the end section of the hydraulic hose, and threading an annular gasket onto the end section of the hydraulic hose between the flange and the open end of the hydraulic hose, and adjacent to the flange. The flange is formed in the volume of material, and has a second outer diameter greater than the first outer diameter. The molding of the flange may include applying heat to a mold, inserting the open end of the end section of the hydraulic hose into the mold, and thermally deforming a portion of the end section of the hydraulic hose to form the flange.

In an implementation, a method of forming a hydraulic connection between a hydraulic component and a hydraulic hose includes threading a ferrule onto an end section of the hydraulic hose, crimping the ferrule to the hydraulic hose, and threading an annular gasket onto the hydraulic hose between the ferrule and an open end of the end section of the hydraulic hose. The method may include securing the hydraulic hose to a body of the hydraulic component by forming a seal between the body and the hydraulic hose by compression. Threading the ferrule onto the hydraulic hose may include threading an annular ferrule having a profile of a first truncated cone with a first half-aperture, and urging the ferrule towards an interface in the body of the hydraulic component, the interface having a profile of a second truncated cone with a second half-aperture different from the first half-aperture.

In an implementation, a method of forming a hydraulic connection between a hydraulic component and a hydraulic hose includes threading a ferrule onto an end section of the hydraulic hose, crimping the ferrule to the hydraulic hose, and threading an annular gasket onto the hydraulic hose between the ferrule and an open end of the end section of the hydraulic hose. The method may include securing the hydraulic hose to a body of the hydraulic component by forming a seal between the body and the hydraulic hose by compression. Threading the ferrule onto the hydraulic hose may include threading an annular ferrule having a profile of a first truncated cone with a first half-aperture, and urging the ferrule towards an interface in the body of the hydraulic component, the interface having a profile of a second truncated cone with a second half-aperture different from the first half-aperture.