A modular hub for a soft robotic system, comprising: a first hub part comprising: a first end comprising a flange for mounting the hub to a robotic system, a pump for pumping an inflation fluid, and a first second end comprising a second-hub-part connector and a pump interface for receiving an inflation fluid from the pump; a second hub part comprising: a second first end comprising a first-hub-part connector configured to mate with the second-hub-part connector and a fluid interface for receiving the inflation fluid from the pump interface, an accumulator connected to the fluid interface for storing the inflation fluid under pressure, and a second second end comprising a third-hub-part connector and an accumulator interface; and a third hub part comprising: a third first end comprising a third-hub-part-to-second-hub-part connector configured to mate with the third-hub-part-connector and a pressurized fluid interface for receiving the pressurized inflation fluid from the accumulator interface, a third second end comprising an actuator interface configured to provide the pressurized inflation fluid to an actuator, and a valve for controlling a flow of the pressurized inflation fluid to the actuator. a first hub part comprising: a first end comprising a flange for mounting the hub to a robotic system, a pump for pumping an inflation fluid, and a first second end comprising a second-hub-part connector and a pump interface for receiving an inflation fluid from the pump; a first end comprising a flange for mounting the hub to a robotic system, a pump for pumping an inflation fluid, and a first second end comprising a second-hub-part connector and a pump interface for receiving an inflation fluid from the pump; a second hub part comprising: a second first end comprising a first-hub-part connector configured to mate with the second-hub-part connector and a fluid interface for receiving the inflation fluid from the pump interface, an accumulator connected to the fluid interface for storing the inflation fluid under pressure, and a second second end comprising a third-hub-part connector and an accumulator interface; and a second first end comprising a first-hub-part connector configured to mate with the second-hub-part connector and a fluid interface for receiving the inflation fluid from the pump interface, an accumulator connected to the fluid interface for storing the inflation fluid under pressure, and a second second end comprising a third-hub-part connector and an accumulator interface; and a third hub part comprising: a third first end comprising a third-hub-part-to-second-hub-part connector configured to mate with the third-hub-part-connector and a pressurized fluid interface for receiving the pressurized inflation fluid from the accumulator interface, a third second end comprising an actuator interface configured to provide the pressurized inflation fluid to an actuator, and a valve for controlling a flow of the pressurized inflation fluid to the actuator. a third first end comprising a third-hub-part-to-second-hub-part connector configured to mate with the third-hub-part-connector and a pressurized fluid interface for receiving the pressurized inflation fluid from the accumulator interface, a third second end comprising an actuator interface configured to provide the pressurized inflation fluid to an actuator, and a valve for controlling a flow of the pressurized inflation fluid to the actuator.