Systems and methods for actuating soft robotic actuators

Abstract

Systems and methods for providing a soft robot is provided. In one system, a robotic device includes a flexible body having a fluid chamber, where a portion of the flexible body includes an elastically extensible material and a portion of the flexible body is strain limiting relative to the elastically extensible material. The robotic device can further include a pressurizing inlet in fluid communication with the fluid chamber, and a pressurizing device in fluid communication with the pressurizing inlet, the pressurizing device including a reaction chamber configured to accommodate a gas-producing chemical reaction for providing pressurized gas to the pressurizing inlet.

1 . (canceled) 
     
     
         2 . (canceled) 
     
     
         3 . (canceled) 
     
     
         4 . (canceled) 
     
     
         5 . (canceled) 
     
     
         6 . (canceled) 
     
     
         7 . (canceled) 
     
     
         8 . (canceled) 
     
     
         9 . (canceled) 
     
     
         10 . A soft robotic device comprising:
 a flexible body having a fluid channel, wherein the flexible body is configured to deform upon pressurization of the fluid channel;   a gas inlet in fluid communication with the fluid channel, wherein the gas inlet is configured to receive a combustible fluid; and   an igniter housed within the fluid channel, capable of initiating combustion of the combustible liquid.   
     
     
         11 . The soft robotic device of  claim 10 , wherein the igniter comprises a pair of electrodes, wherein the pair of electrodes is configured to provide an electric arc. 
     
     
         12 . The soft robotic device of  claim 10 , further comprising an on-board storage container comprising a combustible fluid. 
     
     
         13 . The soft robotic device of  claim 12 , wherein the combustible fluid comprises a hydrocarbon. 
     
     
         14 . The soft robotic device of  claim 12 , further comprising an oxidizer that supports combustion. 
     
     
         15 . The soft robotic of  claim 14 , wherein the oxidizer is provided from the on-board storage container or an off-site source or an on-board chemical reactor configured to produce oxygen. 
     
     
         16 . The soft robotic device of  claim 10 , further comprising a valve coupled to the fluid channel, wherein the valve is configured to allow fluid communication with the fluid channel when the fluid channel is at a first pressure and to block fluid communication with the fluid channel when the fluid channel is at a second pressure. 
     
     
         17 . The soft robotic device of  claim 16 , wherein the second pressure is higher than the first pressure. 
     
     
         18 . (canceled) 
     
     
         19 . (canceled) 
     
     
         20 . (canceled) 
     
     
         21 . (canceled) 
     
     
         22 . (canceled) 
     
     
         23 . (canceled) 
     
     
         24 . (canceled) 
     
     
         25 . (canceled) 
     
     
         26 . (canceled) 
     
     
         27 . (canceled) 
     
     
         28 . (canceled) 
     
     
         29 . (canceled) 
     
     
         30 . A method of actuating a robotic device, comprising:
 providing a robotic device according to  claim 10 ;   providing combustible fluids to the fluid channel; and   igniting the combustible fluids to produce a rapidly expanding gas, thereby causing the flexible body to deform.   
     
     
         31 . The method of  claim 30 , wherein the combustible fluid comprises nebulized liquid hydrocarbon and oxygen. 
     
     
         32 . The method of  claim 30 , wherein igniting the combustible fluid comprises providing an electric arc to the combustible fluid. 
     
     
         33 . (canceled) 
     
     
         34 . (canceled) 
     
     
         35 . (canceled) 
     
     
         36 . (canceled) 
     
     
         37 . (canceled) 
     
     
         38 . (canceled) 
     
     
         39 . (canceled) 
     
     
         40 . The soft robotic device of  claim 13 , wherein the hydrocarbon is selected from the group consisting of ethane, butane, methane, propane, acetylene, and a combination thereof. 
     
     
         41 . The soft robotic device of  claim 16 , wherein the valve comprises a mechanical flap that closes the fluid channel in response to combustion of the combustible fluid. 
     
     
         42 . The method of  claim 31 , wherein the hydrocarbon is selected from the group consisting of ethane, butane, methane, propane, acetylene, and a combination thereof.