IP Library › Granted Patent US 12703117
Granted Patent B2
US 12703117 · App. 18/559,610 · Granted Aug 11, 2026

Programmable elastomer robot system and methods

Inventors: Farshid Alambeigi (Austin, TX); Uksang Yoo (Cortland, NY)
Assignee: Board of Regents, The University of Texas System
B25J19/007B25J18/02B25J18/06F15B15/08A61M25/0155B25J9/14B29C39/10B29K2083/00B29L2031/748B33Y80/00
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Quick Facts
Patent No.
US 12703117
App. No.
18/559,610
Granted
Aug 11, 2026
Kind
B2
Abstract

An elastomer robot comprises a flexible internal structure comprising a first flexible material, wherein the internal structure is tunable, and a flexible external structure comprising a second flexible material, attached to the internal structure, including an aperture configured to accept a fluid, wherein the external structure is tunable. Methods of use and production are also disclosed.

Claims (21)

1 . A programmable elastomer robot, comprising:

a flexible internal structure comprising a first flexible material, wherein the internal structure is tunable, and wherein the flexible internal structure comprises a coil having an asymmetric axial stiffness; and

a flexible external structure comprising a second flexible material, attached to the internal structure, including an aperture configured to accept a fluid, wherein the external structure is tunable.

2 . The robot of claim 1 , wherein the internal structure includes at least one section, wherein the at least one section includes at least one diameter, wherein the at least one diameter is a varying value.

3 . The robot of claim 1 , wherein the internal structure is cylindrical.

4 . The robot of claim 1 , wherein the internal structure is a quad-helical coil, wherein the quad-helical coil includes a first coil section with a first coil diameter, and a second coil section with a second coil diameter.

5 . The robot of claim 1 , wherein the internal structure is conical.

6 . The robot of claim 1 , wherein the internal structure is a conical coil including a first coil section with a first coil diameter, a second coil section with a second coil diameter, a third coil section with a third coil diameter, and a fourth coil section with a fourth coil diameter.

7 . The robot of claim 1 , wherein the internal structure is sinusoidal.

8 . The robot of claim 1 , wherein the internal structure is a sinusoidal coil including a first coil section with a first coil diameter, and a second coil section with a second coil diameter.

9 . The robot of claim 1 , wherein the robot extends, bends, or extends and bends concurrently.

10 . The robot of claim 1 , wherein the robot has a preprogrammed actuation behavior based on tunable parameters provided by a model.

11 . The robot of claim 10 , wherein the tunable parameters provided by the model are variable parameters.

12 . The robot of claim 1 , wherein the internal structure is self-supporting.

13 . The robot of claim 1 , wherein the internal structure comprises flexible resin.

14 . The robot of claim 1 , wherein the external structure comprises silicone rubber.

15 . The robot of claim 1 , wherein the external structure has a varying thickness.

16 . The robot of claim 1 , further comprising an internal cavity.

17 . A method of using a programmable elastomer robot, comprising:

providing the programmable elastomer robot of claim 1 ; and

supplying a fluid via the aperture, configured to apply to a force to actuate the robot.