US 12,384,023 B2
Reconfigurable modular soft robots and methods of designing the same
Vishesh Vikas, Tuscaloosa, AL (US); Caitlin Freeman, Memphis, TN (US); and Michael Maynard, Birmingham, AL (US)
Assigned to The Board of Trustees of The University of Alabama, Tuscaloosa, AL (US)
Filed by The Board of Trustees of The University of Alabama, Tuscaloosa, AL (US)
Filed on Apr. 20, 2023, as Appl. No. 18/137,265.
Claims priority of provisional application 63/333,063, filed on Apr. 20, 2022.
Prior Publication US 2023/0364777 A1, Nov. 16, 2023
Int. Cl. B25J 18/06 (2006.01); B25J 9/10 (2006.01)
CPC B25J 9/1075 (2013.01) [B25J 18/06 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A modular soft robot comprising:
a base; and
an arm coupled to the base such that the arm is longitudinally bisected by a central plane that extends through and bisects the base and the arm, the arm comprising a first surface and a second surface opposite and spaced apart from the first surface, wherein the first surface defines a plurality of channels, each channel comprising a proximal end at the first surface and a distal end spaced apart from the proximal end, wherein each channel has a longitudinal axis extending therethrough, wherein a shape of the arm as viewed in a plane parallel to the central plane is defined by a module-topology curve, the module-topology curve being an odd function with constraints at edges of a platonic solid;
wherein an actuator is configured to deform the arm.