Soft robotic actuators

A soft robotic device, comprising:

• a flexible molded body comprising a plurality of interconnected pleated chambers, the flexible molded body being comprised of a flexible material and affixed to a strain limiting member in such a manner that the strain limiting member forms a wall of the plurality of interconnected pleated chamber, wherein a thickness of the molded body is at least 1 mm;
• and
• a pressurizing inlet that is configured to receive fluid for the plurality of interconnected pleated chamber,
• wherein the plurality of interconnected pleated chambers are configured to preferentially unfold when the flexible molded body is pressurized through the pressurizing inlet, causing bending motion around the strain limiting member.

A soft robotic device capable of extension, comprising:

• a flexible molded body having a plurality of interconnected chambers disposed within the molded body;
• and
• a sealing member in a facing relationship with the flexible molded body, wherein the flexible molded body and the sealing member together define a plurality of channels, said channel defined by upper, lower and side walls, and wherein the sealing member is in a state of compression in its resting state and
• a pressurizing inlet in fluid communication with the plurality of channels,
• the plurality of channels positioned and arranged such that the soft body robotic device expands to relieve the strain in the sealing member when the soft body robotic device is pressurized through the inlet.