# US 10,478,974 B2 · End of arm tools for soft robotic systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,478,974 B2 - Document ID: US10478974B2 - Status: Granted - Kind: B2 - Application number: 16/188,921 - Filed: 2018-11-13 - Published: 2019-03-21 - Granted: 2019-11-19 - Earliest claimed: 2016-01-20 - Assignees: Soft Robtics, Inc. - Applicants: Soft Robotics, Inc. - Inventors: Jeffrey Curhan; Craig Demello; Thomas Womersley; William Gunner - Web page: https://patentgrep.com/patent/US10478974B2 ## CPC - B25J 15/12: with flexible finger members - B25J 9/1005: {comprising adjusting means} - B25J 9/123: {Linear actuators} - B25J 9/142: {comprising inflatable bodies} - B25J 15/0023: {Gripper surfaces directly activated by a fluid (flexible fingers B25J15/12)} - B25J 15/0213: {actuated by gears} - B25J 15/026: {actuated by gears} - B25J 15/103: {for gripping the object in three contact points} - 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 Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be connected to a hub through one or more sets of pivots attached to linkages that allow the distances between the pivots to be varied. Compared to conventional EOATs, exemplary embodiments increase the range of motion of the actuators, improve grip posture, boost gripping force, and balance the loads on the actuators. ## Claims ### Claim 1 A soft robotic grasping system for grasping a target object, comprising: a gripper hub having an axial center region about an axial center line, the gripper hub extending from the axial center line in a lateral direction; a soft robotic finger supported by the hub, the soft robotic finger including an elastomeric outer surface surrounding an internal void, and configured to curl when a pressure change occurs within the internal void; a linkage extending from a proximal end of the soft robotic finger to the gripper hub; a pivot point at which the linkage is rotatably connected to the gripper hub; a linear actuator disposed between the pivot point and the proximal end of the soft robotic finger and configured to move in the lateral direction; and a controller configured to actuate the linear actuator to move the linear actuator in the lateral direction. ### Claim 2 (depends on 1) The soft robotic grasping system of claim 1, wherein the linkage is connected to the linear actuator via a sliding pivot, the sliding pivot connected to the linear actuator. ### Claim 3 (depends on 2) The soft robotic grasping system of claim 2, wherein the sliding pivot is connected to a rail along which the sliding pivot is configured to slide. ### Claim 4 (depends on 1) The soft robotic grasping system of claim 1, further comprising a second soft robotic finger provided across the axial center line from the soft robotic finger, the second soft robotic finger attached via a second linkage to a second linear actuator. ### Claim 5 (depends on 4) The soft robotic grasping system of claim 4, wherein the linear actuator and the second linear actuator are configured to move independently of each other. ### Claim 6 (depends on 4) The soft robotic grasping system of claim 4, wherein the linear actuator and the second linear actuator are configured to move in concert with each other with respect to the axial center line. ### Claim 7 (depends on 4) The soft robotic grasping system of claim 4, wherein the controller is configured to place the linear actuator and the second linear actuator in a narrowest configuration as the gripper hub approaches a target object to be grasped. ### Claim 8 (depends on 1) The soft robotic grasping system of claim 1, wherein the linear actuator is a lower linear actuator, and further comprising an upper linear actuator located at the pivot point and configured to move the pivot point in the lateral direction. ### Claim 9 (depends on 8) The soft robotic grasping system of claim 8, wherein the lower linear actuator and the upper linear actuator are controlled by the controller to balance a force on the linkage. ### Claim 10 (depends on 9) The soft robotic grasping system of claim 9, wherein the lower linear actuator and the upper linear actuator are controlled by the controller to amplify a force applied by a distal end of the soft robotic finger. ### Claim 11 (depends on 1) A method comprising: providing the soft robotic grasping system of claim 1; and applying the controller to move the linear actuator in the lateral direction. ### Claim 12 (depends on 11) The method of claim 11, wherein the linkage is connected to the linear actuator via a sliding pivot, the sliding pivot connected to the linear actuator, and further comprising sliding the sliding pivot by actuating the linear actuator. ### Claim 13 (depends on 12) The method of claim 12, wherein the sliding pivot is connected to a rail along which the sliding pivot is configured to slide, and further comprising sliding the sliding pivot along the rail. ### Claim 14 (depends on 11) The method of claim 11, wherein the linkage is a first linkage, and further comprising a second soft robotic finger provided across the axial center line from the soft robotic finger, the second soft robotic finger attached via a second linkage to a second linear actuator, and further comprising moving the linear actuator and the second linear actuator to alter an angle between the first linkage and the second linkage. ### Claim 15 (depends on 14) The method of claim 14, further comprising moving the linear actuator and the second linear actuator independently of each other. ### Claim 16 (depends on 14) The method of claim 14, further comprising moving the linear actuator and the second linear actuator in concert with each other with respect to the axial center line. ### Claim 17 (depends on 14) The method of claim 14, further comprising placing the linear actuator and the second linear actuator in a narrowest configuration as the gripper hub approaches a target object to be grasped. ### Claim 18 (depends on 11) The method of claim 11, wherein the linear actuator is a lower linear actuator, and further comprising an upper linear actuator located at the pivot point, and further comprising moving the pivot point in the lateral direction by action of the upper linear actuator. ### Claim 19 (depends on 18) The method of claim 18, further comprising balancing a force on the linkage by moving the lower linear actuator and the upper linear actuator. ### Claim 20 (depends on 19) The method of claim 19, further comprising amplifying a force applied by a distal end of soft robotic finger by moving the lower linear actuator and the upper linear actuator.