# US 11,077,565 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 11,077,565 B2 - Document ID: US11077565B2 - Status: Granted - Kind: B2 - Application number: 16/037,744 - Filed: 2018-07-17 - Published: 2018-11-15 - Granted: 2021-08-03 - 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/US11077565B2 ## 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 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; and a reinforcing wrap configured to be attached to the soft actuator body, the reinforcing wrap comprising a plurality of openings, each configured to receive a corresponding accordion extension of the actuator body. ### Claim 2 (depends on 1) The reinforced soft actuator of claim 1, further comprising one or more dampening reinforcements. ### Claim 3 (depends on 1) The reinforced soft actuator of claim 1, wherein the reinforcing wrap is made from a woven material. ### Claim 4 (depends on 1) The reinforced soft actuator of claim 1, wherein the reinforcing wrap comprises: a relatively flexible section, and one or more stiffening elements that are less flexible than the relatively flexible section. ### Claim 5 (depends on 4) The reinforced soft actuator of claim 4, wherein the one or more stiffening elements comprises at least one of a nitinol hyper-elastic spring, spring steel, a metal plate, a helical spring, a plastic plate, a thermoplastic plate, or a printed circuit board. ### Claim 6 (depends on 4) The reinforced soft actuator of claim 4, wherein the one or more stiffening elements have a tunable stiffness. ### Claim 7 (depends on 1) The reinforced soft actuator of claim 1, wherein the reinforcing wrap comprises one or more of a textured surface proximal to a gripping surface of the soft actuator body, one or more ridges configured to increase a stiffness of the reinforcing wrap, or one or more unfolding features configured to accommodate an extension of the soft actuator body. ### Claim 8 (depends on 1) The reinforced soft actuator of claim 1, wherein the reinforcing wrap comprises one or more sensors and one or more electrical payloads, the sensors and electrical payloads being disposed on or embedded within the reinforcing wrap. ### Claim 9 (depends on 8) The reinforced soft actuator of claim 8, wherein the one or more sensors comprise a myoelectric sensor configured to detect a muscle intent of a biological subject. ### Claim 10 (depends on 1) The reinforced soft actuator of claim 1, further comprising one or more re-closeable interlocking pegs. ### Claim 11 (depends on 1) The reinforced soft actuator of claim 1, further comprising one or more force sensing resistors or pressure transducers connected to conductive threads embedded within the reinforcing wrap. ### Claim 12 (depends on 1) The reinforced soft actuator of claim 1, further comprising a strain sensing material spanning one or more reinforcements of the wrap. ### Claim 13 (depends on 1) The reinforced soft actuator of claim 1, further comprising a bank of light emitting diodes embedded within the wrap. ### Claim 14 (depends on 1) The reinforced soft actuator of claim 1, further comprising a protective armor plate embedded within a bottom-facing surface of the wrap. ### Claim 15 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. ### Claim 16 (depends on 15) The reinforced soft actuator of claim 15, wherein the actuator comprises the external reinforcement configured to be substantially stiffer when the soft actuator body is in a curved state than when the soft actuator body is in a straight state. ### Claim 17 (depends on 15) The reinforced soft actuator of claim 15, further comprising at least one surface formed using additive manufacturing. ### Claim 18 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; and a damping reinforcement disposed inside the actuator, the damping reinforcement configured to dampen oscillations within the reinforced soft actuator. ### Claim 19 (depends on 18) The reinforced soft actuator of claim 18, wherein the damping reinforcement comprises a viscoelastic foam or gel. ### Claim 20 (depends on 18) The reinforced soft actuator of claim 18, further comprising a dampening reinforcement disposed on an exterior of the soft actuator body.