Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators

A reinforced soft actuator comprising:

• a soft actuator body configured to transition from an unactuated configuration to an actuated configuration upon application of an inflating fluid to the soft actuator, the actuator body comprising a flat base configured to form a gripping surface and a plurality of accordion extension opposite the base, the accordion extensions each comprising straight sides and curved regions between the straight sides;
• and
• one or more of:
• an internal reinforcement molded into the body of the soft actuator, or
• an external reinforcement comprising a tunably stiff element configured to change a resistance of the actuator to unfolding and extending under pressure, the external reinforcement having straight sides and curved regions corresponding to the straight sides and curved regions of the accordion extensions, wherein the straight sides of the external reinforcement are relatively more rigid than the curved regions of the external reinforcement.