US 11,691,297 B2
Field-assembled soft gripping for industrial and collaborative robots
Jeffrey Curhan, Warwick, RI (US); Chikyung Won, Tewksbury, MA (US); and Andrew George Goodale, Boston, MA (US)
Assigned to SOFT ROBOTICS, INC., Bedford, MA (US)
Filed by SOFT ROBOTICS, INC., Bedford, MA (US)
Filed on Aug. 16, 2021, as Appl. No. 17/403,325.
Application 17/403,325 is a continuation of application No. 16/366,374, filed on Mar. 27, 2019, granted, now 11,090,818.
Claims priority of provisional application 62/795,892, filed on Jan. 23, 2019.
Claims priority of provisional application 62/664,765, filed on Apr. 30, 2018.
Claims priority of provisional application 62/648,597, filed on Mar. 27, 2018.
Prior Publication US 2021/0370527 A1, Dec. 2, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/12 (2006.01); B25J 15/10 (2006.01); B25J 15/02 (2006.01); B25J 19/00 (2006.01); B25J 15/00 (2006.01); B25J 9/14 (2006.01)
CPC B25J 15/12 (2013.01) [B25J 9/142 (2013.01); B25J 15/0023 (2013.01); B25J 15/0253 (2013.01); B25J 15/10 (2013.01); B25J 19/0075 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A soft robotic gripper comprising:
a hub configured to mount to a robotic arm, the hub having an inlet formed therethrough leading to an outlet;
an actuator mount assembly pneumatically coupled to the outlet, the actuator mount assembly comprising:
an inflatable actuator comprising an elastomer body and a fluid port configured to provide an inflation fluid,
an actuator mount including a passage configured to connect to the fluid port,
a channel member including a channel configured to connect the passage and the outlet,
a seal configured to surround at least a part of the channel of the channel member, and
a fastener configured to secure the actuator mount to the hub by sealing the channel with the seal under compression; and
a palm configured to form a plenum chamber between the outlet of the hub and the palm, the palm comprising a manifold of channels, wherein the passage of the actuator mount is configured to couple a respective channel of the palm to the inflatable finger.