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15 pages, 2307 KB

Open AccessArticle

Navigation and Load Adaptability of a Flatworm-Inspired Soft Robot Actuated by Staggered Magnetization Structure

by Zixu Wang, Miaozhang Shen, Chunying Li, Pengcheng Li, Anran Zheng and Shuxiang Guo

Biomimetics 2026, 11(1), 41; https://doi.org/10.3390/biomimetics11010041 - 6 Jan 2026

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This study presents a magnetically actuated soft robot inspired by the peristaltic locomotion of flatworms, designed to replicate the biological locomotion of worms to achieve robust maneuverability. Fabricated entirely from photocurable soft resin, the robot features a flexible elastomeric body and two webbed fins with embedded soft magnets. By applying a vertically oscillating magnetic field, the robot achieves forward crawling through the coordinated bending and lifting of fins, converting oscillating magnetic fields into continuous undulatory motion that mimics the gait of flatworms. The experimental results demonstrate that the system maintains consistent bidirectional velocities in the range of 4–7 mm/s on flat surfaces. Beyond linear locomotion, the robot demonstrates effective terrain adaptability, navigating complex topographies, including curved obstacles up to 16 times its body thickness, by autonomously adopting a high-lifting kinematic strategy to overcome gravitational resistance. Furthermore, load-carrying tests reveal that the robot can transport a 6 g payload without velocity degradation. These findings underscore the robot’s efficacy in overcoming mobility constraints, highlighting promising applications in fields requiring non-invasive intervention, such as biomedical capsule endoscopy and industrial pipeline inspection. Full article

(This article belongs to the Special Issue Sustainable Soft Robotics: Innovations and Advances in Soft Manipulators and Grippers)

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11 pages, 8690 KB

Open AccessArticle

Impact of 3D Printing Technique and TPE Material on the Endurance of Pneumatic Linear Peristaltic Actuators

by Miranda Fateri, João Falcão Carneiro, Constantin Schuler, João Bravo Pinto, Fernando Gomes de Almeida, Udo Grabmeier, Tobias Walcher and Michael Salinas

Micromachines 2022, 13(3), 392; https://doi.org/10.3390/mi13030392 - 28 Feb 2022

Cited by 3 | Viewed by 3137

Abstract

In this paper, additive manufacturing was used in order to produce hose prototypes for peristaltic linear pneumatic actuators. In order to optimise the endurance of the actuator, we 3D printed different thermoplastic polyurethane elastomers with different shore hardness levels using ARBURG Plastic Freeforming technology. Furthermore, effects of the hose geometries on the lifetime of the actuator were investigated. Experimental evidence showed that the lifetime of the actuator was dependent on the combination of the hose design and on the material used to manufacture the hose. Moreover, experimental tests showed that the use of the Aurburg-Freeformer 3D printing technology led to a much higher hose endurance than the one reported by using the fused layer manufacturing technique. Full article

(This article belongs to the Special Issue 3D Printed Actuators)

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13 pages, 5227 KB

Open AccessArticle

Additive Manufacturing of Flexible Material for Pneumatic Actuators Application

by Miranda Fateri, João Falcão Carneiro, Achim Frick, João Bravo Pinto and Fernando Gomes de Almeida

Actuators 2021, 10(7), 161; https://doi.org/10.3390/act10070161 - 15 Jul 2021

Cited by 5 | Viewed by 3797

Abstract

In this paper, endurance of peristaltic linear pneumatic actuators was studied using different hose geometries. Towards this goal, different hose geometries were additively manufactured using Fused Layer Manufacturing techniques of Thermoplastic Polyurethane Elastomer. Material properties of the elastomer were studied using Differential Scanning Calorimetry and the tensile test. The relations between the sample’s print temperature and build direction on the actuator endurance were investigated. Lastly, the relation between the geometry design of the PLPA actuator and its endurance is also discussed. Based on this methodology, authors present results showing that the use of a customized shaped hose with geometrical reinforcement at sides leads to a considerable rise in the hose endurance, when compared with the conventional circular design. Full article

(This article belongs to the Special Issue Peristaltic Linear Pneumatic Actuators)

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14 pages, 5684 KB

Open AccessArticle

Improving Endurance of Pneumatic Linear Peristaltic Actuators

by João Falcão Carneiro, João Bravo Pinto, Fernando Gomes de Almeida and Miranda Fateri

Actuators 2020, 9(3), 76; https://doi.org/10.3390/act9030076 - 25 Aug 2020

Cited by 3 | Viewed by 5301

Abstract

Pneumatic linear peristaltic actuators can offer some potential advantages when compared with conventional ones. Low cost, virtually unlimited stroke and easy implementation of curved motion profiles are among those benefits. On the downside, these actuators suffer high mechanical stress, which leads to short endurance and increased leakage between chambers during the actuator lifetime. This paper contributes to this field by experimentally characterizing the life behavior of a prototype of a linear pneumatic peristaltic actuator where force—instead of displacement—between rollers is imposed. It is shown that the use of an imposed force configuration has a significant impact in the actuator life time. In fact, the proposed actuator configuration has an average endurance of up to 250% higher than the one previously presented in the literature. This result was obtained while maintaining almost zero leakage between chambers, despite the hose wear throughout the service life. Finally, this paper explores the use of different hose geometries to increase the actuator life span. To this end, a preliminary study is presented where two different 3D printed hose cross sections are tested and compared with a circular one. Full article

(This article belongs to the Special Issue Pneumatic, Hybrid Pneumatic–Electric, and Vacuum-Powered Actuators)

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13 pages, 3701 KB

Open AccessArticle

Accurate Motion Control of a Pneumatic Linear Peristaltic Actuator

by João Falcão Carneiro, João Bravo Pinto and Fernando Gomes de Almeida

Actuators 2020, 9(3), 63; https://doi.org/10.3390/act9030063 - 30 Jul 2020

Cited by 9 | Viewed by 6082

Abstract

Pneumatic linear peristaltic actuators can offer some potential advantages when compared with conventional ones. The low cost, virtually unlimited stroke and easy implementation of curved motion profiles are among those benefits. On the downside, these actuators suffer high mechanical stress that can lead to short service life and increased leakage among chambers during the actuator lifetime. One way to cope with this problem is to impose the force—instead of the displacement—between rollers, as this has been shown to improve the endurance of the hose while reducing leakage during the actuator lifetime. This paper presents closed control loop results using such a setup. Previous studies with linear peristaltic actuators have revealed that, although it is possible to reach zero steady state error to constant references with closed loop control, the dynamic response obtained is very slow. This paper is mainly focused on this topic, namely on the development of several control laws to improve the dynamic performance of the system while avoiding limit cycles. The new developed control law leads to an average time of 1.67 s to reach a 0.1 mm error band in an experiment consisting of a series of 16 steps ranging from 0.02 to 0.32 m in amplitude. Full article

(This article belongs to the Special Issue Pneumatic, Hybrid Pneumatic–Electric, and Vacuum-Powered Actuators)

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13 pages, 6479 KB

Open AccessArticle

Model and Experimental Characteristics of a Pneumatic Linear Peristaltic Actuator

by João Falcão Carneiro, João Bravo Pinto, Fernando Gomes de Almeida and Miranda Fateri

Information 2020, 11(2), 76; https://doi.org/10.3390/info11020076 - 30 Jan 2020

Cited by 8 | Viewed by 4213

Abstract

Pneumatic linear peristaltic actuators present several potential advantages over conventional ones such as low cost, virtually unlimited stroke, and an easy implementation of curved motion profiles. However, the body of this type of actuators also suffers from high mechanical stress, leading to a decrease in the hose wall thickness, which leads to increased leakages between chambers. One way to potentially minimize this problem is to impose the force instead of the displacement between rollers. This paper describes the model and experimental characteristics of a new prototype of a linear pneumatic peristaltic actuator where either the force or the displacement between rollers can be imposed. Namely, experimental friction characteristics and the leakage between chambers are determined in the configuration where the force between rollers is imposed. Lastly, a third-order linear model is experimentally identified. Therefore, this study establishes the basis for future research focused on the service life and leakage obtained whenever the force between rollers is imposed. Full article

(This article belongs to the Special Issue Online Experimentation and the IoE)

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