Resilient, untethered soft robot

US10689044B2 · kind B2 · utility

Assignee

• President and Fellows of Harvard College · US

Inventors

• Michael T. Tolley · San Diego, US
• Robert F. Shepherd · Windom, US
• Bobak Mosadegh · New York, US
• Robert J. Wood · Cambridge, US
• George M. Whitesides · Newton, US

Key dates

• Filing date: Jun 30, 2015
• Grant date: Jun 23, 2020
• Expiry date: Jul 21, 2037

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/27
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65 meter long soft body with modified Pneumatic network actuators capable of operating at the elevated pressures (up to 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. The soft robot is safe to handle, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile.