Cornell University

Harvard College

Robert F Shepherd

George M Whitesides

Stephen A Morin

Bobak Mosadegh

Adam Stokes

Sen Wai Kwok

Ramses V Martinez

Filip Ilievski

Shuo Li

Huichan Zhao

Aaron D Mazzeo

Xin Chen

Hedan Bai

Zhigang Suo

Zhihong Nie

Sanlin S Robinson

Won Jae Choi

William B Kalb

Bryan Peele

Rukang Huang

Patricia Xu

James Pikul

Jamie L Branch

Ju-Hee So

Carina R Fish

Lihua Jin

Rui M D Nunes

James K Min

Robert J Wood

Jacob Freake

Michael T Tolley

Benjamin C Mac Murray

Itai Cohen

Ludovico Cademartiri

Ilse Van Meerbeek

Rui Nunes

Chris M Larson

Yaqi Tu

Kevin W O'Brien

Ronald Heisser

Cameron Aubin

Ahmed Elsamadisi

Benjamin C MacMurray

Foam-based pneumatic actuators can be formed in a state of mechanical compression prior to actuation. An actuator includes an elastomeric foam; a coating disposed on the elastomeric foam; and an elastomer seal disposed on the coating. The coating constrains the elastomeric foam and can be configured to break or fracture when the elastomeric foam inflates. The elastomer seal can be configured to be impermeable to the actuating fluid. Such a foam actuator can be used in a cardiac compression device. These foam actuators possess increased actuation deformation and an actuation exerted force for a given inflation pressure. A large deformation can be provided from materials having low ultimate strains.

Foam actuators

Provided are three dimensional, stretchable, optical sensor networks that can localize deformations. The devices described herein are suitable for uses in soft robots to determine the position of external contact, such as touching, and possibly internal deformations that may be caused by actuation. Sensor networks of the present disclosure contain a substrate, such as a 3D lattice, and cores having a cladding, such as air. Light passes through the cores and upon deformation of the substrate, cores may come into contact, allowing light to couple between cores due to frustrated total internal reflection. The resulting changes in intensity in the cores can be used to determine the placement and magnitude of deformation.

Elastomeric lightguide coupling for continuous position localization in 1,2, and 3D

Waveguides, such as light guides, made entirely of elastomeric material or with indents on an outer surface are disclosed. These improved waveguides can be used in scissors, soft robotics, or displays. For example, the waveguides can be used in a strain sensor, a curvature sensor, or a force sensor. In an instance, the waveguide can be used in a hand prosthetic. Sensors that use the disclosed waveguides and methods of manufacturing waveguides also are disclosed.

Waveguides for use in sensors or displays

A transmission is presented, including a spool having a bore. An outer member disposed on the spool, and a cord is configured to at least partially wrap around the outer member. The outer member is configured to constrict and unconstrict to a force applied to the outer member. In this way, rotation of the spool causes a tension force to be applied to the cord, and a greater tension force in the cord will cause the outer member to constrict more than a lower tension force in the cord.

Passive transmissions, and methods of making and using same

The present disclosure provides an electrohydraulic device. The device includes a battery having a vessel containing a flowable electrolyte. The battery may be a flow cell battery, such as, for example, a redox flow cell battery. In a flow cell battery, the flowable electrolyte may a catholyte and/or an anolyte. An actuator is in fluidic communication with the vessel of the battery. The actuator is configured to be actuated using the flowable electrolyte. A cation exchange membrane may separate the vessel into an anolyte side and a catholyte side. The actuator may be in fluidic communication with either side (anolyte side or catholyte side) of the vessel.

Electrohydraulic batteries and devices and systems including same

A waveguide is provided. The waveguide having a first core, a second core spaced apart from and parallel with the first core, and a cladding surrounding the first core and the second core. An interstitial portion of the cladding is located between the first core and the second core. A first region of the first core adjacent to the cladding or of the cladding adjacent to the first core is color dyed.

Waveguide and sensor based on same

Waveguides, such as light guides, made entirely of elastomeric material or with indents on an outer surface are disclosed. These improved waveguides can be used in sensors, soft robotics, or displays. For example, the waveguides can be used in a strain sensor, a curvature sensor, or a force sensor. In an instance, the waveguide can be used in a hand prosthetic. Sensors that use the disclosed waveguides and methods of manufacturing waveguides also are disclosed.

Disclosed herein are actuators and methods of making and actuating the same. Such actuators may comprise a body having a cavity, a membrane configured to cooperate with the cavity to form a combustion chamber, an inlet channel in fluid communication with the combustion chamber, an ignitor operable to ignite a combustible gas contained within the combustion chamber, and an outlet channel in fluid communication with the combustion chamber. The membrane may be configured to move in response to a change in pressure within the combustion chamber.

Microscale combustion for high density soft actuation

The present disclosure may be embodied as a method for creating a restriction pattern from a mask material having a strain (&#x3b5;) an for mapping elastomeric membrane having a strain (&#x3b5;) into a target 3D shape. The method may include discretizing the target 3D shape into a plurality of radial segments, and a radial strain (&#x3b5;) is determined for each radial position (r) on each radial segment of the plurality of radial segments. A restriction pattern is determined, wherein the restriction pattern comprises a quantity of mask material for each position r to provide a composite strain (&#x3b5;, &#x3b5;). In some embodiments, the method further includes depositing a first membrane layer into a mold and placing mask material into the first membrane layer according to the determined restriction pattern. The first membrane layer is cured.

Stretchable surfaces with programmable texture

Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.

Flexible robotic actuators

Provided are sensors and articles of manufacture comprising one or more sensors. Also provided are uses of the sensors. The sensors have an elastomeric foam and one or more light sources and one or more light receivers. In various examples, the light source(s) and light receiver(s) are disposed on and/or disposed in and/or partially disposed in the elastomeric foam.

Sensors with elastomeric foams and uses thereof

A light emitting capacitor can include a first and second electrode, an electroluminescent layer, and at least one elastomeric layer. The electroluminescent layer, which can include an elastomeric material doped with semiconducting nanoparticles, can be disposed between the first and second electrodes. The elastomeric layer can encapsulate the first electrode, second electrode, and electroluminescent layer. The first and second electrodes can be hydrogel or conductive electrodes. The light emitting capacitor can provide dynamic coloration or sensory feedback. The light emitting capacitor can be used in, for example, robotics, wearables (displays, sensors, textiles), and fashion.

Stretchable electroluminescent devices

By rotationally casting soft robots, no bonding of different material layers is required. Soft robots including one or more integrated enclosed compartments are constructed from fibers that are embedded directly into the mold prior to adding elastomeric precursors.

Method for making a soft actuator device

Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks.

Magnetic assembly of soft robots with hard components

Growing community of inventors

Brooktondale, NY, United States of America

Robert F Shepherd