Soft robotic manipulator Patent US20210291383A1

US20210291383A1 · Imperial College of London (original assignee); later assigned to Imperial College Innovations Limited and Serpenta Ltd

Patent number
US20210291383A1
Applicant
Imperial College of London (original assignee); later assigned to Imperial College Innovations Limited and Serpenta Ltd
Filing date
2019-07-29
CPC class
B25J9/142
Pillar
Muscle

A soft robotic manipulator activated by pressurized fluid, comprising multiple coaxial segments with chambers defined by partition walls and an outer wall, enabling bending and multi-DOF motion for applications like minimally invasive surgery. Includes design method based on operational constraints and deflection requirements.

Claims

Independent claim 1: A soft robotic manipulator adapted to be activated by a pressurised fluid having a first end, a second end, an outer wall and an axis, and comprising a plurality of segments extending co-axially along the manipulator... (detailed structure with central element, partition walls, chambers). Additional claims cover materials (e.g., silicone/rubber with specific Shore hardness), dimensions, rod properties, and a method of designing such manipulators.

Technical analysis

The patent describes a segmented fluidic soft actuator with an inextendible central rod and partitioned chambers for controlled bending without buckling. Uses low-stiffness materials (Young's modulus 10^4 to 10^9) for high strain (100-1000%). Enables 1-2 DOF per segment, scalable to 6+ DOF. Novel aspects include optimized wall thicknesses and pleated/nitinol variants for compression resistance while maintaining flexibility.

Commercial impact

Targets medical robotics (e.g., MIS tools ~6mm diameter), rehabilitation, and assistive devices. Soft compliance reduces tissue damage risk vs. rigid arms; low-cost manufacturing potential via molding. Assigned to spinout Serpenta Ltd suggests commercialization path in surgical robotics market.

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