Utilizing soft actuated inflatable robotics
A robotic system which includes a fluid controller, an arm portion, and a soft end effector apparatus coupled with the fluid controller and the arm portion. The soft end effector apparatus includes a base constructed and arranged to mount to the arm portion, a set of wrist assemblies coupled with the base, and a set of finger assemblies coupled with the set of wrist assemblies. Each wrist assembly of the set of wrist assemblies (i) couples with a respective finger assembly and (ii) provides movement to that respective finger assembly relative to the base during actuation of that wrist assembly and during independent actuation of that respective finger assembly in response to control from the fluid controller. Along these lines, the fluid controller may individually provide pressurized fluid to each wrist assembly and each finger assembly when controlling interaction between the soft end effector apparatus and an external object.
1. Soft end effector apparatus, comprising:
a base;
a set of wrist assemblies coupled with the base; and
a set of finger assemblies coupled with the set of wrist assemblies;
each wrist assembly of the set of wrist assemblies (i) having (A) a respective soft actuator constrained to operate along a straight line and (B) a respective coupling that rotatably couples the respective soft actuator with a respective finger assembly of the set of finger assemblies and (ii) providing movement to that respective finger assembly relative to the base during actuation of the respective soft actuator of that wrist assembly and during independent actuation of that respective finger assembly.
2. Soft end effector apparatus as in claim 1 wherein each wrist assembly of the set of wrist assemblies includes a compliant member disposed between the base and the respective finger assembly coupled to that wrist assembly, the compliant member being configured to selectively inflate and deflate to impart movement to the respective finger assembly.
3. Soft end effector apparatus as in claim 2 wherein the compliant member of each wrist assembly is in a shape of a bellows which is configured to expand to apply a force on the respective finger assembly coupled to that wrist assembly, the respective finger assembly being pivotably mounted to the base to translate the applied force into pivoting movement relative to the base.
4. Soft end effector apparatus as in claim 1 wherein each finger assembly of the set of finger assemblies includes a fabric sleeve and a bladder disposed within the fabric sleeve, the bladder being configured to selectively inflate and deflate to control movement of the fabric sleeve.
5. Soft end effector apparatus as in claim 4 wherein the fabric sleeve of each finger assembly defines a smooth curved finger to provide compliance and strength while applying gripping force to an external object.
6. Soft end effector apparatus as in claim 4 wherein the fabric sleeve of each finger assembly defines an accordion surfaced finger to provide finger profile changes during actuation of that finger assembly.
7. Soft end effector apparatus as in claim 1 wherein the set of wrist assemblies includes exactly four wrist assemblies, each wrist assembly of the exactly four wrist assemblies coupling with a same side of the base and being constructed and arranged to extend in a direction away from the same side of the base during the actuation of the respective soft actuator of that wrist assembly.
8. Soft end effector apparatus as in claim 1 wherein the set of finger assemblies includes exactly four finger assemblies, the exactly four finger assemblies including (i) a first pair of finger assemblies constructed and arranged to move toward and away from each other along a first axis, and (ii) a second pair of finger assemblies constructed and arranged to move toward and away from each other along a second axis that is perpendicular to the first axis.
9. Soft end effector apparatus as in claim 1 wherein the base is constructed and arranged to mount to a robotic arm assembly to form a robotic manipulator.
10. Soft end effector apparatus as in claim 1 , further comprising:
a fluid controller constructed and arranged to individually provide pressurized fluid to each wrist assembly of the set of wrist assemblies and each finger assembly of the set of finger assemblies to control interaction between the soft end effector apparatus and an external object.
11. Soft end effector apparatus as in claim 1 wherein each wrist assembly of the set of wrist assemblies includes a compliant member that is configured to deform from an initial geometry by pressurized input fluid during the actuation of the respective soft actuator of that wrist assembly and restore to the initial geometry by elastic forces when the input pressure is removed.
12. Soft end effector apparatus as in claim 1 wherein the soft actuator of each wrist assembly of the set of wrist assemblies includes a respective first end coupled with the base and a respective second end opposite the first end, both the respective first end and the respective second end being rotationally fixed relative to the base.
13. Soft end effector apparatus as in claim 1 wherein the coupling of each wrist assembly of the set of wrist assemblies is configured to angularly deflect the respective finger assembly relative to the respective soft actuator based on the actuation of the respective soft actuator.
14. Soft end effector apparatus as in claim 1 wherein the coupling of each wrist assembly of the set of wrist assemblies includes a respective pivot mount and a respective rocker body rotatably coupled with the respective pivot mount, the respective pivot mount being disposed a fixed distance from the base, the respective rocker body configured to rotate based on the actuation of the respective soft actuator.
15. Soft end effector apparatus as in claim 1 wherein the set of wrist assemblies includes multiple wrist assemblies individually coupled one-to-one with respective finger assemblies of the set of finger assemblies.
16. Soft end effector apparatus as in claim 15 further comprising a fluid controller and respective fluid feeds connected with the multiple wrist assemblies, the fluid controller being configured to control delivery of pressurized fluid to the multiple wrist assemblies through the respective fluid feeds to angularly deflect the respective finger assemblies independently of each other.
17. A robotic system, comprising:
a fluid controller;
an arm portion; and
a soft end effector apparatus coupled with the fluid controller and the arm portion, the soft end effector apparatus including:
a base constructed and arranged to mount to the arm portion,
a set of wrist assemblies coupled with the base, and
a set of finger assemblies coupled with the set of wrist assemblies;
each wrist assembly of the set of wrist assemblies (i) having (A) a respective soft actuator constrained to operate along a straight line and (B) a respective coupling that rotatably couples the respective soft actuator with a respective finger assembly of the set of finger assemblies and (ii) providing movement to that respective finger assembly relative to the base during actuation of the respective soft actuator of that wrist assembly and during independent actuation of that respective finger assembly in response to control from the fluid controller.
18. A method of operating a soft end effector apparatus, the method comprising:
moving a base of the soft end effector apparatus into proximity of an object, the base supporting a set of wrist assemblies of the soft end effector apparatus, each wrist assembly of the set of wrist assemblies having (A) a respective soft actuator constrained to operate along a straight line and (B) a respective coupling that rotatably couples the respective soft actuator with a respective finger assembly of a set of finger assemblies of the soft end effector apparatus;
orienting the set of finger assemblies of the soft end effector apparatus relative to the object, the set of finger assemblies coupling with the set of wrist assemblies; and
controlling delivery of pressurized fluid to the set of finger assemblies and the set of wrist assemblies to control interaction between the soft end effector apparatus and the object.
19. A method of combining of a set of soft members and a set of soft actuators to create compliant loading and contact while maintaining at least one of significant applied force and significant applied torque, the method comprising:
fixing the set of soft members to a set of predefined degrees of freedom;
producing rotational and translational compliance to all interfaces with the set of soft members; and
applying at least one of force and torque to the set of soft members through the set of soft actuators which is coupled to the set of soft members, each soft actuator of the set of soft actuators being constrained to operate along a straight line and being rotatably coupled with a respective soft member of the set of soft members via a respective coupling.