US Patent 10917038 Pneumatic actuator system and method

An actuator that includes a bottom plate, a top-plate, and a first and second hub assembly extending between the bottom and top plates. The actuator can further include a first and second bellows disposed on opposing sides of the hub assemblies, the first and second bellows each extending between and coupled to the top plate and bottom plate. The actuator can also include a plurality of washers disposed between the top and bottom plates, with each of the washers coupled to the first and second hub assembly, a first set of the plurality of washers surrounding the first bellows and a second set of the plurality of washers surrounding the second bellows.