US 12,275,136 B2
Modular robotics systems
Joshua Aaron Lessing, Cambridge, MA (US); Kevin Alcedo, Coral Springs, FL (US); Ryan Richard Knopf, Melrose, MA (US); and Daniel Vincent Harburg, Amsterdam (NL)
Assigned to Schmalz Flexible Gripping Inc., Raleigh, NC (US)
Filed by Schmalz Flexible Gripping Inc., Raleigh, NC (US)
Filed on Mar. 8, 2021, as Appl. No. 17/194,608.
Application 17/194,608 is a continuation of application No. 16/215,695, filed on Dec. 11, 2018, granted, now 10,946,531.
Application 16/215,695 is a continuation of application No. 15/180,653, filed on Jun. 13, 2016, granted, now 10,179,410, issued on Jan. 15, 2019.
Claims priority of provisional application 62/174,234, filed on Jun. 11, 2015.
Prior Publication US 2021/0187755 A1, Jun. 24, 2021
Int. Cl. B25J 15/00 (2006.01); B25J 9/14 (2006.01); B25J 15/10 (2006.01); B25J 15/12 (2006.01)
CPC B25J 15/0023 (2013.01) [B25J 9/142 (2013.01); B25J 15/0061 (2013.01); B25J 15/10 (2013.01); B25J 15/12 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method for correcting a problem in a soft robotic actuator comprising:
receiving a sensor signal from a sensor that measures a property of an inflation fluid of a soft robotic actuator, the soft robotic actuator comprising an elastomeric material encompassing a void configured to receive the inflation fluid;
detecting a predetermined pattern in the sensor signal corresponding to a problem with the elastomeric material;
initiating a corrective action in response to detecting the pattern, wherein
the pattern comprises supplying an increased inflation fluid flow to maintain a particular pressure in the void, or a decreased pressure in the void resulting from a particular inflation fluid flow, and
detecting the pattern comprises comparing the property of the inflation fluid to a profile; and
using the profile to predict a remaining lifespan of the actuator.