# US 10,118,301 B2 · Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,118,301 B2 - Document ID: US10118301B2 - Status: Granted - Kind: B2 - Application number: 14/857,648 - Filed: 2015-09-17 - Published: 2016-03-17 - Granted: 2018-11-06 - Earliest claimed: 2014-09-17 - Assignees: Soft Robotics, Inc. - Applicants: Soft Robotics, Inc. - Inventors: Joshua Aaron Lessing; Ryan Richard Knopf; Carl Everett Vause; Kevin Alcedo - Web page: https://patentgrep.com/patent/US10118301B2 ## CPC - B25J 15/12: with flexible finger members - B25J 9/142: {comprising inflatable bodies} - B25J 15/0023: {Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12)} - B25J 15/0085: {with means for applying an electrostatic force on the object to be gripped} - B25J 15/04: with provision for the remote detachment or exchange of the head or parts thereof - B25J 15/0608: {with magnetic holding means} - B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)} - B25J 19/02: Sensing devices - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body. ## Claims ### Claim 1 A soft robotic hub assembly comprising: a master side assembly to be coupled to a mechanical robotic component; a tool side assembly configured to be releasably coupled to the master side assembly; and two or more soft actuators in at least two different sizes coupled to the tool side assembly, the two or more soft actuators configured to transition from an unactuated configuration to an actuated configuration independently of one another upon application of an inflating fluid to the soft actuator. ### Claim 2 (depends on 1) The hub assembly of claim 1, further comprising an interface configured to releaseably couple the master side assembly to the tool side assembly, wherein the interface provides a seal for an inflation line connection that is configured to inflate the two or more soft actuators. ### Claim 3 (depends on 2) The hub assembly of claim 2, wherein the interface comprises a series of pegs and slots, the pegs being configured to rotatably lock into the slots. ### Claim 4 (depends on 2) The hub assembly of claim 2, wherein the interface comprises a geometric recess and a corresponding geometric stepped portion configured to interlock. ### Claim 5 (depends on 2) The hub assembly of claim 2, wherein the interface comprises one or more electrostatic adhesion pads. ### Claim 6 (depends on 1) The hub assembly of claim 1, wherein the tool side assembly is a first tool side assembly and the two or more soft actuators are a first set of two or more soft actuators, further comprising: a second tool side assembly coupled to a second set of one or more soft actuators, the second set of one or more soft actuators being deployed in a different configuration from the first set of two or more soft actuators, wherein the first tool side assembly is configured to be replaceable with the second tool side assembly. ### Claim 7 (depends on 1) The hub assembly of claim 1, wherein the tool side assembly comprises one or more electrical signal lines configured to be in electrical communication with one or more electrical signal lines in the master side assembly when the tool side assembly and the master side assembly are coupled together. ### Claim 8 (depends on 1) The hub assembly of claim 1, wherein the hub assembly is configured to adjust an angle of the actuators. ### Claim 9 (depends on 2) The hub assembly of claim 2, wherein the interface comprises a magnetic interface.