Design of Soft Pneumatic Actuator with Two Oblique Chambers for Coupled Bending and Twisting Movements

Round 1

Reviewer 1 Report

This research introduces a new design of Pneu-net twisting and bending actuators (PTBA) which can concurrently produce bending and twisting motions. By adjusting the chamber angle and employing finite element analysis and experimental verification, the study optimizes these movements and assesses the actuator's capabilities for handling objects of various shapes, materials, and sizes, indicating PTBA's potential for advanced, bioinspired applications. Here are my comments:While the introduction is technically dense, it seems appropriate for the intended audience (presumably researchers and professionals in robotics or related fields). However, for broader accessibility, a brief explanation of some specialized terms (like Pneu-net, fiber-reinforced actuators, etc.) could be beneficial.Background are weak. Should include more recent work like EHD based robot, such as Soft computing-based predictive modeling of flexible electrohydrodynamic pumps; A Review on Electrohydrodynamic (EHD) Pump; Moreover, some Pneumatic Actuator like Funabot-Suit: A bio-inspired and McKibben muscle-actuated suit should also be reviewed.Regarding the background, it appears underdeveloped. Incorporating recent advancements in similar technologies, such as Soft computing-based predictive modeling of flexible electrohydrodynamic pumps; A Review on Electrohydrodynamic (EHD) Pump; and pneumatic actuators like the Funabot-Suit: A bio-inspired and McKibben muscle-actuated suit, would provide a more comprehensive review and situational context.It's crucial to include detailed mesh setting information for replicability and technical understanding.In terms of the figures, the axes and scale in Figure 5 are indiscernible and require clarification for proper interpretation. Similarly, the inconsistency in the format of the x and y axis labels in Figure 10 should be addressed to maintain uniformity and clarity.While the introduction effectively outlines the study, incorporating potential future research directions based on the findings would provide a forward-looking perspective and suggest avenues for further exploration in this field.The research is interesting, but the contribution should be clearly clarified. 

Author Response

We appreciate your evaluation, along with the valuable revisions and improvements you suggested. In the PDF file, we have responded to your suggestions.

Author Response File: Author Response.pdf

Reviewer 2 Report

In this manuscript, employing double array of oblique pneumatic chambers,the authors present the design, simulation and characterization of a Pneu-net 82 actuator, that can generate coupled bending and bidirectional twisting motions. In addition, they also optimize the bending and twisting movements through finite element 14 analysis and experimental verification. This work is interesting and valuable for soft robotics. There is still some issues, as listed below, to be tackled before acceptance.

1. Explain the ups and downs in the force-displacement curves acquired from experiments, as shown in Figure 10.

2. In Figure 9, please provide a full image of the integrated system, rather than the separated parts.

3. The font size in Figure 8 is too small. And the units is also required in Figure 8.

Author Response

We would like to express our gratitude for your thorough review of our work and for offering valuable suggestions to enhance its quality. In the PDF file, we have addressed your suggestions.

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

The authors did an excellent revision. I recommend publication.