Soft robotic actuators and methods of manufacturing the same
Exemplary embodiments relate to various improvements in soft robotic actuators, and techniques for manufacturing the improvements. For example, techniques for manufacturing a rigidizing layer for reinforcing a soft robotic actuator is provided. In another embodiment, a soft robotic actuator having integrated sensors is described. A flexible electroadhesive pad for achieving a conformal grip is also described. Still further, exemplary embodiments provide hydraulically-actuated soft robotic grippers, which allows for a reduction in the size of the actuation system and improved underwater operation.
1. A method of manufacturing a rigidizing layer for a soft robotic actuator, the method comprising:
disposing a fabric sheet on a bottom plate of a hot press;
disposing a layer of elastomeric material on the fabric sheet, the layer of thermoplastic material having a plurality of slots formed in it;
disposing a rigid slat in each of the slots in the layer of thermoplastic material;
disposing a compliant supportive layer on the layer of thermoplastic material and the slats;
disposing a top plate of the hot press on the gasket;
operating the hot press to bond the fabric sheet, the layer of thermoplastic material, and the compliant supportive layer together to form a bonded sheet; and
cutting the rigidizing layer from the bonded sheet.
2. The method of claim 1 , wherein the fabric sheet comprises nylon.
3. The method of claim 1 , wherein the elastomeric material comprises a thermoplastic.
4. The method of claim 1 , wherein the elastomeric material comprises thermoplastic polyurethane (TPU).
5. The method of claim 1 , further comprising disposing a gasket on the layer of neoprene foam, the gasket having a number and arrangement of slots formed in corresponding to a number and configuration of the slots formed in the layer of thermoplastic material.
6. The method of claim 1 , wherein the compliant supportive layer comprises a stretching foam.
7. The method of claim 1 , wherein the compliant supportive layer comprises spandex and neoprene foam.