US 12,296,492 B2
Embedded magnetic sensing for soft actuators
Mark Rentschler, Boulder, CO (US); Vani Sundaram, Boulder, CO (US); Khoi Ly, Boulder, CO (US); Jatin Mayekar, Boulder, CO (US); and Nikolaus Correll, Boulder, CO (US)
Filed by The Regents of the University of Colorado, Denver, CO (US)
Filed on May 17, 2022, as Appl. No. 17/746,427.
Claims priority of provisional application 63/189,571, filed on May 17, 2021.
Prior Publication US 2022/0379493 A1, Dec. 1, 2022
Int. Cl. B25J 15/00 (2006.01); B25J 9/00 (2006.01); B25J 9/12 (2006.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); H02N 1/00 (2006.01)
CPC B25J 9/1694 (2013.01) [B25J 9/0003 (2013.01); B25J 9/0006 (2013.01); B25J 9/0012 (2013.01); B25J 9/0015 (2013.01); B25J 9/123 (2013.01); B25J 9/1602 (2013.01); B25J 9/162 (2013.01); B25J 9/1635 (2013.01); B25J 15/0085 (2013.01); H02N 1/002 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A system for sensing actuation of a soft robotic actuator, comprising:
an electrostatic soft actuator comprising a flexible actuator body that is actuatable upon application of a drive voltage to the electrostatic soft actuator;
a magnetometer disposed relative to the electrostatic soft actuator for measurement of a magnetic field within a task space of the electrostatic soft actuator;
a magnetic member disposed relative to the electrostatic soft actuator to undergo a displacement within the task space upon displacement of the electrostatic soft actuator within the task space to affect the magnetic field, wherein the magnetometer is disposed on a first side of the electrostatic soft actuator and the magnetic member is disposed at a second side of the electrostatic soft actuator opposite the first side, wherein the magnetic member comprises at least at least a portion of a flexible portion of the electrostatic soft actuator; and
a control module in operative communication with the magnetometer, wherein the control module is operative to generate a position characterization of the electrostatic soft actuator in response to the measurement of the magnetic field upon the displacement of the magnetic member within the task space.