Modular soft robotic system

Abstract

A modular soft robotic system includes multi-tube actuator modules that can be operably connected end-to-end to form a modular soft robotic assembly, such as a soft robotic arm or a soft robot able to travel along horizontal or vertical surfaces. The soft robotic assembly includes a base module and, optionally, one or more extension modules. Each module includes a plurality of flexible tube actuators extending between first and second rigid end portions. The actuators are capable of linear expansion via changes of internal fluid pressure and can be arranged to additionally enable bending motions of each module. When configured as a traveling soft robot, each module includes feet at its opposite ends that temporarily anchor one end of the module to a surface while the other end moves over the surface.

Dependencies are inferred from the claim text.