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Volume 13
Issue 7
10.3390/act13070265
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Article

Increasing Payload Capacity of a Continuum Soft Robot Using Bio-Inspired Ossicle Reinforcement

by
Jacek Garbulinski
,
Sai C. Balasankula
and
Norman M. Wereley
*
Department of Aerospace Engineering, University of Maryland, College Park, MD 20742, USA
*
Author to whom correspondence should be addressed.
Actuators 2024, 13(7), 265; https://doi.org/10.3390/act13070265
Submission received: 17 April 2024 / Revised: 25 June 2024 / Accepted: 5 July 2024 / Published: 12 July 2024
(This article belongs to the Special Issue Actuators in 2024)
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Abstract

Soft continuum robots, characterized by their dexterous and compliant nature, often face limitations due to buckling under small loads. This study explores the enhancement of axial performance in soft robots intrinsically actuated with extensile fluidic artificial muscles (EFAMs) through the incorporation of bio-inspired radial supports, or ossicles. By conducting quasi-static force response experiments under varying pressure conditions (103.4–517.1 kPa), and a modified Euler column buckling model, we demonstrate that ossicles significantly increase the robots’ resistance to buckling, thereby extending their application scope in payload-carrying tasks. These findings not only underscore the effectiveness of ossicle reinforcement in improving structural robustness but also pave the way for future research to optimize soft robot design for enhanced performance.
Keywords: soft robot; continuum robot; soft actuator; artificial muscle; pneumatic artificial muscles; bio-inspiration; ossicles soft robot; continuum robot; soft actuator; artificial muscle; pneumatic artificial muscles; bio-inspiration; ossicles

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MDPI and ACS Style

Garbulinski, J.; Balasankula, S.C.; Wereley, N.M. Increasing Payload Capacity of a Continuum Soft Robot Using Bio-Inspired Ossicle Reinforcement. Actuators 2024, 13, 265. https://doi.org/10.3390/act13070265

AMA Style

Garbulinski J, Balasankula SC, Wereley NM. Increasing Payload Capacity of a Continuum Soft Robot Using Bio-Inspired Ossicle Reinforcement. Actuators. 2024; 13(7):265. https://doi.org/10.3390/act13070265

Chicago/Turabian Style

Garbulinski, Jacek, Sai C. Balasankula, and Norman M. Wereley. 2024. "Increasing Payload Capacity of a Continuum Soft Robot Using Bio-Inspired Ossicle Reinforcement" Actuators 13, no. 7: 265. https://doi.org/10.3390/act13070265

APA Style

Garbulinski, J., Balasankula, S. C., & Wereley, N. M. (2024). Increasing Payload Capacity of a Continuum Soft Robot Using Bio-Inspired Ossicle Reinforcement. Actuators, 13(7), 265. https://doi.org/10.3390/act13070265

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