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WO2024263298A3 - Winches for use with inverting and everting robotic limbs - Google Patents

Winches for use with inverting and everting robotic limbs Download PDF

Info

Publication number
WO2024263298A3
WO2024263298A3 PCT/US2024/029085 US2024029085W WO2024263298A3 WO 2024263298 A3 WO2024263298 A3 WO 2024263298A3 US 2024029085 W US2024029085 W US 2024029085W WO 2024263298 A3 WO2024263298 A3 WO 2024263298A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
vine
winch
mandrel
everting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2024/029085
Other languages
French (fr)
Other versions
WO2024263298A2 (en
Inventor
Kentaro BARHYDT
Obumneme Godson OSELE
Haruhiko Harry Asada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Massachusetts Institute of Technology
Leland Stanford Junior University
Original Assignee
Massachusetts Institute of Technology
Leland Stanford Junior University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Massachusetts Institute of Technology, Leland Stanford Junior University filed Critical Massachusetts Institute of Technology
Publication of WO2024263298A2 publication Critical patent/WO2024263298A2/en
Publication of WO2024263298A3 publication Critical patent/WO2024263298A3/en
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

Disclosed herein is a growing soft robot winch. The design may include a winch which comprises a drum and mandrel (e.g., a cylindrical shaft). The winch may be used to retain and retract a vine robot. The winch may use friction between adjacent portions of the vine robot wound onto the mandrel. One or more clamps configured to grasp the vine robot within a cavity formed in the mandrel may assist in retaining a distal end portion of the vine robot therein during operation. The mandrel may form part of a winch such that the vine robot wound thereon may be held on primarily by friction to apply large tensile loads to the attached vine robot.
PCT/US2024/029085 2023-06-18 2024-05-13 Winches for use with inverting and everting robotic limbs Pending WO2024263298A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202363508896P 2023-06-18 2023-06-18
US63/508,896 2023-06-18

Publications (2)

Publication Number Publication Date
WO2024263298A2 WO2024263298A2 (en) 2024-12-26
WO2024263298A3 true WO2024263298A3 (en) 2025-01-30

Family

ID=93936153

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2024/029085 Pending WO2024263298A2 (en) 2023-06-18 2024-05-13 Winches for use with inverting and everting robotic limbs

Country Status (1)

Country Link
WO (1) WO2024263298A2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120816513B (en) * 2025-09-12 2025-11-14 陕西广林汇程能源科技有限公司 A frictionless self-growing robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060280587A1 (en) * 2005-05-31 2006-12-14 Guerra Lawrence E Chain-driven robotic arm
US20150297064A1 (en) * 2011-12-19 2015-10-22 Endocole, Llc Endoscope guide tube
US20190217908A1 (en) * 2017-04-03 2019-07-18 The Board Of Trustees Of The Leland Stanford Junior University Robotic Mobility and Construction by Growth
WO2022192190A1 (en) * 2021-03-12 2022-09-15 The Regents Of The University Of California Active reeling and steering control of a vine robot
US20230173666A1 (en) * 2021-12-03 2023-06-08 Korea Advanced Institute Of Science And Technology Hyper elastic soft growing robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060280587A1 (en) * 2005-05-31 2006-12-14 Guerra Lawrence E Chain-driven robotic arm
US20150297064A1 (en) * 2011-12-19 2015-10-22 Endocole, Llc Endoscope guide tube
US20190217908A1 (en) * 2017-04-03 2019-07-18 The Board Of Trustees Of The Leland Stanford Junior University Robotic Mobility and Construction by Growth
WO2022192190A1 (en) * 2021-03-12 2022-09-15 The Regents Of The University Of California Active reeling and steering control of a vine robot
US20230173666A1 (en) * 2021-12-03 2023-06-08 Korea Advanced Institute Of Science And Technology Hyper elastic soft growing robot

Also Published As

Publication number Publication date
WO2024263298A2 (en) 2024-12-26

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