US 12,285,861 B2
Utilizing soft actuated inflatable robotics
Robert Lee Cardenas, Framingham, MA (US); Michael Conry, Beverly, MA (US); Todd Scrimgeour, Brighton, MA (US); Willard Ober, Atlanta, GA (US); and Michael Rufo, Hanover, MA (US)
Assigned to Boston Engineering Corporation, Waltham, MA (US)
Filed by Boston Engineering Corporation, Waltham, MA (US)
Filed on Apr. 22, 2021, as Appl. No. 17/237,212.
Claims priority of provisional application 63/014,855, filed on Apr. 24, 2020.
Prior Publication US 2022/0072700 A1, Mar. 10, 2022
Int. Cl. B25J 9/14 (2006.01); B25J 15/10 (2006.01); B25J 15/12 (2006.01)
CPC B25J 9/142 (2013.01) [B25J 15/10 (2013.01); B25J 15/12 (2013.01)] 19 Claims
OG exemplary drawing
 
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.