US 12,145,259 B2
Soft robotic actuator enhancements
Joshua Aaron Lessing, Cambridge, MA (US); Ryan Knopf, Cambridge, MA (US); and Carl Vause, Concord, MA (US)
Assigned to SOFT ROBOTICS, INC., Bedford, MA (US)
Filed by SOFT ROBOTICS, INC., Bedford, MA (US)
Filed on Jul. 10, 2023, as Appl. No. 18/349,270.
Application 18/349,270 is a continuation of application No. 17/461,167, filed on Aug. 30, 2021, granted, now 11,738,471.
Application 17/461,167 is a continuation of application No. 16/210,315, filed on Dec. 5, 2018, granted, now 11,110,616, issued on Sep. 7, 2021.
Application 16/210,315 is a continuation of application No. 14/944,999, filed on Nov. 18, 2015, granted, now 10,189,168, issued on Jan. 29, 2019.
Application 14/944,999 is a continuation in part of application No. 14/857,648, filed on Sep. 17, 2015, granted, now 10,118,301, issued on Nov. 6, 2018.
Claims priority of provisional application 62/081,323, filed on Nov. 18, 2014.
Prior Publication US 2023/0405843 A1, Dec. 21, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/00 (2006.01); B25J 15/10 (2006.01); B25J 15/12 (2006.01)
CPC B25J 15/12 (2013.01) [B25J 15/0023 (2013.01); B25J 15/0071 (2013.01); B25J 15/10 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a master-side assembly comprising a master-side interface; and
a tool-side assembly comprising:
a tool-side interface configured to releasably couple the tool-side assembly to the master-side interface of the master-side assembly;
a soft actuator comprising a hollow body including an elastomeric material and configured to:
transition from an unactuated configuration to an actuated configuration upon application of an inflation fluid, and
move linearly relative to another soft actuator of the apparatus; and
an actuator attachment portion comprising an angular adjustment device disposed between, and adjacent to, the soft actuator and the tool-side interface and configured to adjust an angle of the soft actuator relative to a longitudinal axis extending through the apparatus.