US 12,186,903 B2
Methods for use of soft continuum robotic module
Wenlong Zhang, Chandler, AZ (US); Pham Huy Nguyen, Mesa, AZ (US); Zhi Qiao, Tempe, AZ (US); Sam Seidel, Scottsdale, AZ (US); Imran I. B. Mohd, Tempe, AZ (US); and Sunny Amatya, Mesa, AZ (US)
Assigned to ARIZONA BOARD OF REGENTS ON BEHALF OF ARIZONA STATE UNIVERSITY, Scottsdale, AZ (US)
Filed by Wenlong Zhang, Chandler, AZ (US); Pham Huy Nguyen, Mesa, AZ (US); Zhi Qiao, Tempe, AZ (US); Sam Seidel, Scottsdale, AZ (US); Imran I. B. Mohd, Tempe, AZ (US); and Sunny Amatya, Mesa, AZ (US)
Filed on Feb. 24, 2023, as Appl. No. 18/174,273.
Application 18/174,273 is a division of application No. 17/224,809, filed on Apr. 7, 2021, granted, now 11,618,159.
Claims priority of provisional application 63/006,358, filed on Apr. 7, 2020.
Prior Publication US 2024/0017401 A1, Jan. 18, 2024
Int. Cl. B25J 18/06 (2006.01); B25J 9/10 (2006.01); B25J 9/14 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/142 (2013.01) [B25J 9/1075 (2013.01); B25J 13/088 (2013.01); B25J 18/06 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method for manipulating an object, the method comprising:
providing a soft continuum robotic module, wherein the module comprises three inflatable actuators disposed between and linking a top plate and a base plate;
moving the soft continuum robotic module to place the object at least partially between at least two of the inflatable actuators; and
inflating the three inflatable actuators to cause the soft continuum robotic module to twist and contract and apply a grasping force between the inflatable actuators and the object,
wherein each inflatable actuator comprises:
a conductive knit fabric for use as a sensor;
a first layer of thermoplastic polyurethane (TPU);
a TPU-coated nylon reinforcement layer;
a second layer of TPU;
a knit stretch textile; and
a heat-sealed TPU actuator.