US 11,738,471 B2
Soft robotic actuator enhancements
Joshua Aaron Lessing, Cambridge, MA (US); Ryan Knopf, Cambridge, MA (US); and Carl Vause, Concord, MA (US)
Assigned to SOFT ROBOTICS, INC., Bedford, MA (US)
Filed by SOFT ROBOTICS, INC., Bedford, MA (US)
Filed on Aug. 30, 2021, as Appl. No. 17/461,167.
Application 17/461,167 is a continuation of application No. 16/210,315, filed on Dec. 5, 2018, granted, now 11,110,616.
Application 16/210,315 is a continuation of application No. 14/944,999, filed on Nov. 18, 2015, granted, now 10,189,168, issued on Jan. 29, 2019.
Application 14/944,999 is a continuation in part of application No. 14/857,648, filed on Sep. 17, 2015, granted, now 10,118,301, issued on Nov. 6, 2018.
Claims priority of provisional application 62/081,323, filed on Nov. 18, 2014.
Prior Publication US 2022/0088801 A1, Mar. 24, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/10 (2006.01); B25J 15/12 (2006.01); B25J 15/00 (2006.01)
CPC B25J 15/12 (2013.01) [B25J 15/0023 (2013.01); B25J 15/0071 (2013.01); B25J 15/10 (2013.01)] 17 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a hub extending outwardly from a central point;
a plurality of soft actuators deployed around the central point, the soft actuators each comprising a hollow body including an elastomeric material and configured to transition from an unactuated configuration to an actuated configuration upon application of an inflation fluid;
a plurality of angular adjustment devices, each angular adjustment device respectively configured to adjust an angle of one of the soft robotic actuators relative to a longitudinal axis extending through the apparatus; and
a processor configured to:
assess at least one of a size or shape of a target object to be grasped;
determine an enclosed space between the soft actuators needed to encompass the size or shape of the target object; and
generate a control signal configured to cause the at least one of the angular adjustment devices to rotate to an angle configured to allow the attached soft actuator to enclose the enclosed space.