US 12,434,381 B2
Electromagnetically actuated soft robotic devices and methods for their fabrication
Hamidreza Marvi, Chandler, AZ (US); Elizabeth Skowronek, Tempe, AZ (US); Reza James Ahmed, Tempe, AZ (US); and Mahdi Ilami, Tempe, AZ (US)
Assigned to Arizona Board of Regents on behalf of Arizona State University, Scottsdale, AZ (US)
Filed by Hamidreza Marvi, Chandler, AZ (US); Elizabeth Skowronek, Tempe, AZ (US); Reza James Ahmed, Tempe, AZ (US); and Mahdi Ilami, Tempe, AZ (US)
Filed on Nov. 8, 2021, as Appl. No. 17/521,388.
Claims priority of provisional application 63/111,493, filed on Nov. 9, 2020.
Prior Publication US 2022/0143817 A1, May 12, 2022
Int. Cl. H01H 9/00 (2006.01); B25J 9/16 (2006.01); H01F 7/06 (2006.01); H01F 7/08 (2006.01); H01H 47/00 (2006.01); H01H 51/22 (2006.01); H01H 51/30 (2006.01)
CPC B25J 9/161 (2013.01) [H01F 7/064 (2013.01); H01F 7/081 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An electromagnetically actuated robotic device comprising:
an elastomeric body structure;
a plurality of electromagnetic coils arranged in or on the elastomeric body structure;
at least one magnetically responsive element arranged in or on the elastomeric body structure, the at least one magnetically responsive element comprising at least one magnetically responsive core associated with one or more electromagnetic coils of the plurality of electromagnetic coils, the at least one magnetically responsive core comprising a ferrofluid;
a tunable magnetic actuator comprising an electromagnetic coil of the one or more electromagnetic coils and the at least one magnetically responsive element positioned at least partially within the electromagnetic coil, the at least one magnetically responsive element movable relative to the electromagnetic coil to tune at least one electrical property of the tunable magnetic actuator;
a pressure sensor separate from the plurality of electromagnetic coils and the at least one magnetically responsive element;
a charge storage element arranged in or on the elastomeric body structure;
at least one processor arranged in or on the elastomeric body structure; and
a plurality of electrically conductive paths within the elastomeric body structure;
wherein:
the plurality of electrically conductive paths extend between the charge storage element, the at least one processor, and the plurality of electromagnetic coils; and
at least one of (i) shape, (ii) gait, or (iii) electrical properties of the magnetically actuated robotic device is alterable by selective actuation of the one or more electromagnetic coils of the plurality of electromagnetic coils.