# US 10,369,704 B2 · Base systems for supporting soft robotic actuators > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,369,704 B2 - Document ID: US10369704B2 - Status: Granted - Kind: B2 - Application number: 15/844,062 - Filed: 2017-12-15 - Published: 2018-06-21 - Granted: 2019-08-06 - Earliest claimed: 2016-12-16 - Assignees: Soft Robotics, Inc. - Applicants: Soft Robotics, Inc. - Inventors: Mark J. Chiappetta; Ryan Knopf; Joshua Aaron Lessing; Jeffrey Curhan - Web page: https://patentgrep.com/patent/US10369704B2 ## CPC - B25J 15/0023: {Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12)} - B25J 15/0475: {Exchangeable fingers} - B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)} - B25J 15/12: with flexible finger members - 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 The present application relates to improvements in support systems for holding one or more robotic actuators, particularly soft robotic actuators. Because soft robotic actuators tend to push away from a base to which they are fixed upon inflation, they must be hold to the base securely. However, this may render it more difficult to remove the actuator from the base (e.g., when the actuator fails, when the actuator and/or base must be cleaned or serviced, or when a user wishes to switch out one style or size of actuator for another). Exemplary embodiments herein relate to improved designs for hubs, including interlocking and quick-release mechanisms that allow the actuator to be held firmly to the hub, but also allow the actuator to be quickly and efficiently released, when needed. ## Claims ### Claim 1 A system comprising: a soft robotic actuator comprising: an elastomeric material defining an internal void configured to be inflated with an inflation fluid, and an external support structure located on an exterior side of the actuator; a hub comprising an opening for providing the inflation fluid to the soft robotic actuator; and a collar for securing the actuator to the hub, the collar comprising an opening sized and shaped to accept the actuator, walls of the opening being sized and shaped to restrain the external support structure of the actuator, wherein the collar further comprises a plurality of posts sized and shaped to fit into corresponding post holes in the hub, and wherein the hub comprises a release structure configured to release the posts from the hub. ### Claim 2 (depends on 1) The system of claim 1, wherein the posts comprise a reduced diameter portion configured to fit into holes in the release structure. ### Claim 3 (depends on 2) The system of claim 2, wherein each of the holes has a key-hole shape comprising a large diameter portion that is larger than an overall diameter of the post and a small diameter portion that is larger than a diameter of the reduced diameter portion of the post but smaller than the overall diameter of the post, the release structure configured to bias the small diameter portion towards a corresponding post hole in the hub when in a neutral state. ### Claim 4 (depends on 1) The system of claim 1, further comprising a locking pin configured to be inserted into the hub to secure the collar to the hub. ### Claim 5 (depends on 4) The system of claim 4, wherein the locking pin includes a plurality of wings sized and shaped to slide over corresponding flanges on the collar. ### Claim 6 (depends on 4) The system of claim 4, wherein the locking pin comprises one or more cam structures configured to interlock with corresponding structures on the collar to further secure the collar to the hub. ### Claim 7 (depends on 1) The system of claim 1, wherein the hub is divided into a hub top and a hub bottom, and further comprises one or more alignment pins for aligning the hub top to the hub bottom during installation. ### Claim 8 (depends on 1) The system of claim 1, wherein the hub further includes an inflation fluid channel sized and shaped to deliver the inflation fluid from an inlet in the hub to the opening in the hub for providing the inflation fluid to the soft robotic actuator. ### Claim 9 (depends on 1) The system of claim 1, wherein the hub further includes a base mounting structure sized and shaped to secure the hub to a robotic arm. ### Claim 10 A hub for supporting a soft actuator, the hub comprising: a hub base top and a hub base bottom, the actuator configured to be held between the hub base top and the hub base bottom without using a retaining screw; and at least one of a hard stop configured to restrain the soft actuator via an external flange on the soft actuator, or an internal support configured to be inserted into an internal void of the actuator and secure an internal wall of the actuator; and an extrusion-resistant o-ring provided in a groove between the hub base top and the hub base bottom. ### Claim 11 (depends on 10) The hub of claim 10, wherein the internal support comprises one or more barbs configured to mate with corresponding ledges on the interior wall of the actuator. ### Claim 12 (depends on 10) The hub of claim 10, further comprising a snap-on support configured to at least partially encompass the hub base top and the hub base bottom, wherein the snap-on support includes protrusions configured to fit into grooves in at least one of the hub base top or the hub base bottom.