Enhancement of soft robotic grippers through integration of stiff structures

A robotic gripper comprising:

• a base;
• a soft robotic actuator directly or indirectly mounted to the base, the soft robotic actuator comprising a hollow body including an elastomeric material, the hollow body configured to accept an inflation fluid and extending lengthwise in a longitudinal direction from a proximal end adjacent to the base to a distal end opposite the proximal end, wherein
• the base extending the length of the actuator in the longitudinal direction and forming a gripping surface, and
• an outer side comprising a plurality of accordion extensions, the outer side extending the length of the actuator in the longitudinal direction and disposed opposite the base across an internal void in the hollow body;
• and
• a first rigid body mounted in or on the base and performing one or more of:
• extending a portion of the length of the soft robotic actuator from the base towards the distal end of the actuator without encompassing the distal end, the first rigid body disposed:
• within the internal void,
• adjacent to the base of the actuator along the portion of the length of the actuator, or
• adjacent to the outer side of the actuator along the portion of the length of the actuator,
• wherein the first rigid body is configured to provide a force opposing an inflation of the soft robotic actuator along the portion of the length;
• or
• configured to move the soft robotic actuator from a first distance with respect to the base to a second distance from the base, the second distance being longer than the first distance in the longitudinal direction.