CPC B25J 15/12 (2013.01) [B25J 15/0023 (2013.01); B25J 15/0071 (2013.01); B25J 15/10 (2013.01)] | 17 Claims |
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.
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