A soft continuum robotic module comprises a plurality of inflatable actuators disposed between plates. Via inflation or deflation of one or more of the actuators, the module may extend, contract, twist, bend, and/or exert a grasping force. One or more modules may be combined to form a robotic arm wi
A soft continuum robotic module comprises a plurality of inflatable actuators disposed between plates. Via inflation or deflation of one or more of the actuators, the module may extend, contract, twist, bend, and/or exert a grasping force. One or more modules may be combined to form a robotic arm with multiple degrees of freedom.
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1. A soft continuum robotic module, comprising: a first set of inflatable actuators, the first set of inflatable actuators operable to extend the robotic module; anda second set of inflatable actuators, the second set of inflatable actuators operable to twist the robotic module. 2. The soft continuu
1. A soft continuum robotic module, comprising: a first set of inflatable actuators, the first set of inflatable actuators operable to extend the robotic module; anda second set of inflatable actuators, the second set of inflatable actuators operable to twist the robotic module. 2. The soft continuum robotic module of claim 1, further comprising an inflation component to inflate and deflate the inflatable actuators. 3. The soft continuum robotic module of claim 2, further comprising a stretch sensor disposed on at least one inflatable actuator in order to characterize movement and/or positioning of the soft continuum robotic module. 4. The soft continuum robotic module of claim 3, wherein the inflatable actuators comprise fabric, and wherein the fabric comprises a knit stretch fabric. 5. The soft continuum robotic module of claim 4, wherein at least one inflatable actuator comprises: a conductive knit fabric for use as a sensor;a first layer of thermoplastic polyurethane (TPU);a TPU-coated nylon reinforcement layer;a second layer of TPU;a knit stretch textile; anda heat-sealed TPU actuator. 6. The soft continuum robotic module of claim 1, wherein the first set comprises three inflatable actuators, and wherein the second set comprises two inflatable actuators. 7. The soft continuum robotic module of claim 1, wherein the module has an angular range of motion in excess of 100 degrees. 8. The soft continuum robotic module of claim 1, further comprising: a rigid base plate coupled to a first end of each inflatable actuator; anda rigid top plate coupled to a second, opposing end of each inflatable actuator. 9. A robotic arm, comprising: a first soft continuum robotic module;a second soft continuum robotic module coupled to the first soft continuum robotic module via a plate acting as the top plate of the first module and a base plate of the second module; anda third soft continuum robotic module coupled to the second soft continuum robotic module via a plate acting as the top plate of the second module and the base plate of third second module. 10. The robotic arm of claim 9, wherein each robotic module comprises at least three inflatable actuators. 11. The robotic arm of claim 10, wherein each inflatable actuator comprises: a conductive knit fabric for use as a sensor;a first layer of thermoplastic polyurethane (TPU);a TPU-coated nylon reinforcement layer;a second layer of TPU;a knit stretch textile; anda heat-sealed TPU actuator. 12. The robotic arm of claim 9, wherein the third soft continuum robotic module is operable to grasp an object. 13. A method for manipulating an object, the method comprising: providing a soft continuum robotic module, wherein the module comprises three inflatable actuators disposed between and linking a top plate and a base plate;moving the soft continuum robotic module to place the object at least partially between at least two of the inflatable actuators; andinflating the three inflatable actuators to cause the soft continuum robotic module to twist and contract and apply a grasping force between the inflatable actuators and the object. 14. The method of claim 13, further comprising manipulating the object by moving the soft continuum robotic module. 15. The method of claim 14, further comprising releasing the object by deflating the three inflatable actuators. 16. The method of claim 14, wherein each inflatable actuator comprises: a conductive knit fabric for use as a sensor;a first layer of thermoplastic polyurethane (TPU);a TPU-coated nylon reinforcement layer;a second layer of TPU;a knit stretch textile; anda heat-sealed TPU actuator. 17. The method of claim 16, wherein each inflatable actuator is configured with a length of between 170 millimeters and 210 millimeters.
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