This study aims to investigate the effects of various design parameters on the actuation performance of a pneumatic network actuator (PNA), optimise its structure using the finite element method (FEM), and subsequently quantify the performance of the...
A variety of soft robots with prospective applications has been developed in recent years. As a key component of a soft robot, the soft actuator plays a critical role and hence must be designed carefully according to application requirements. The sof...
Soft robot has been one significant study in recent decades and soft gripper is one of the popular research directions of soft robot. In a static gripping system, excessive gripping force and large deformation are the main reasons for damage of the o...
Owing to their compliance with most shapes, soft actuators are regarded as cost-effective solutions for grasping irregular objects. The material properties of nonlinear elastic polymers are considered necessary for the correct implementation of these...
Preterm infants in neonatal intensive care units (NICUs) experience impaired neurodevelopment and dysregulated stress responses, partly due to a lack of tactile stimulation. Although massage therapy offers proven therapeutic benefits by stimulating C...
Dielectric electroactive actuators are novel and significant smart actuators. The crucial aspect of construction of these devices is the bias mechanism. The current literature presents three main types of biases used in the construction of the DEAP a...
This paper presents a fully coupled fluid-structure interaction (FSI) simulation model of a soft pneumatic actuator (SPA). Previous research on modelling and simulation of SPAs mostly involves finite element modelling (FEM), in which the fluid pressu...
The study of bio-inspired structures and their reproduction has always fascinated humans. The advent of soft robotics, thanks to soft materials, has enabled considerable progress in this field. Over the years, polyps, worms, cockroaches, jellyfish, a...
With the ongoing research on soft robots, the performance of soft actuators needs to be enhanced for more wide robotic applications. Currently, most soft robots based on pneumatic actuation are capable of assisting small systems, but they are not ful...
Soft actuators have enabled the growth of soft robotics, overcoming several drawbacks of rigid robotics by providing devices with many degrees of freedom and the ability to grasp, bend, move, jump, and more. The reconfiguration of the workspace is st...
Dynamic modeling and control of the soft pneumatic actuators are challenging research. In this paper, a neural network based dynamic control method used for a soft pneumatic actuator with symmetrical chambers is proposed. The neural network is introd...
In recent years, soft pneumatic actuators have come into the spotlight because of their simple control and the wide range of complex motions. To monitor the deformation of soft robotic systems, elastomer-based sensors are being used. However, the emb...
In soft robotics, the most used actuators are soft pneumatic actuators because of their simplicity, cost-effectiveness, and safety. However, pneumatic actuation is also disadvantageous because of the strong non-linearities associated with using a com...
SPIRA Coil actuators are formed from thin sheets of PET plastic laminated into a coil shape that unfurls like a “party horn” when inflated, while many soft actuators require large pressures to create only modest strains, SPIRA Coils can e...
Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the...
In the landscape of Industry 4.0, advanced robotics awaits a growing use of bioinspired adaptive and flexible robots. Collaborative robotics meets this demand. Due to human–robot coexistence and interaction, the safety, the first requirement to...
A novel multi-degree-of-freedom bionic Soft Pneumatic Actuator (SPA) inspired by the shoulder joint of a sea turtle is proposed. The SPA is mainly composed of a combination of oblique chamber actuator units capable of omnidirectional bending and bi-d...
Haptic feedback is appealing for achieving the realistic perception of environmental changes for human bodies in human–computer interaction fields. However, existing haptic actuators have some hurdles such as single mode, poor compatibility, or...
This paper focuses on the recent development of soft pneumatic actuators for soft robotics over the past few years, concentrating on the following four categories: control systems, material and construction, modeling, and sensors. This review work se...
Soft pneumatic actuators are extensively used in soft robots, and their bending angles and kinematic rules at different pressures play a crucial role in practical applications. This investigation aims to model the bending angle and motion of a new ty...
Interest in soft actuators has increased enormously in the last 10 years. Thanks to their compliance and flexibility, they are suitable to be employed to actuate devices that must safely interact with humans or delicate objects or to actuate bio-insp...
Drawing inspiration from the intricate soft structures found in nature, soft actuators possess the ability to incrementally execute complex tasks and adapt to dynamic and interactive environments. In particular, the integration of sensor data feedbac...
Template-based and additive manufacturing techniques have demonstrated some fabrication routes for creating pneumatic soft actuators. However, as the complexity and capability of the actuators continue to develop, the limitations of these approaches...
With the ongoing advancements in material technology, the domain of soft robotics has garnered increasing attention. Soft robots, in contrast to their rigid counterparts, offer superior adaptability to the environment, enhanced flexibility, and impro...
This study describes the basic design, material selection, fabrication, and evaluation of soft pneumatic actuators (SPA) for lower-limb rehabilitation compression therapy. SPAs can be a promising technology in proactive pressure delivery, with a wide...
Soft robotics is a specialized field of robotics that focuses on the design, manufacture, and control of robots made of soft materials, as opposed to those made of rigid links. One of the primary challenges for the future use of continuous or hyper-r...
To precisely achieve a series of daily finger bending motions, a soft robotic finger corresponding to the anatomical range of each joint was designed in this study with multi-material pneumatic actuators. The actuator as a biomimetic artificial joint...
As a groundbreaking innovation in the field of soft robotics, fabric-based pneumatic soft actuators exhibit substantial advantages over traditional rigid mechanical systems in terms of adaptability, safety, and multifunctionality. This paper presents...
Hysteresis is a nonlinear phenomenon found in many physical systems, including soft viscoelastic actuators, where it poses significant challenges to their application and performance. Consequently, developing accurate hysteresis models is essential f...
Soft actuators are essential to soft robots and can also be used with rigid-bodied robots. This paper is focused on methods for improving the applicability of origami-inspired soft pneumatic actuators (OSPA). Our method for rapidly fabricating OSPA i...
Soft pneumatic actuators used in robotic rehabilitation gloves are classified into two types: whole-finger actuators with air chambers that cover the entire finger and modular actuators with chambers only above the finger joints. Most existing protot...
This paper contributes to a new design of the three-dimensional printable robotic ball joints capable of creating the controllable stiffness linkage between two robot links through pneumatic actuation. The variable stiffness ball joint consists of a...
The excellent compliance and large range of motion of soft actuators controlled by fluid pressure has lead to strong interest in applying devices of this type for biomimetic and human-robot interaction applications. However, in contrast to soft actua...
Motion capture of a robot and tactile sensing for a robot require sensors. Strain sensors are used to detect bending deformation of the robot finger and to sense the force from an object. It is important to introduce sensors in effective combination...
Soft pneumatic actuators with a channel network (pneu-net) based on thermoplastic elastomers are compatible with fused deposition modeling (FDM). However, conventional filament-based fused deposition modeling (FDM) printers are not well suited for th...
The soft actuator possesses the characteristics of flexibility, environmental adaptability, and human–machine interaction. Firstly, aiming to resolve the limitation of variable stiffness performance of a traditional pneumatic artificial muscle...
Soft robotics is one of the most popular areas in the field of robotics due to advancements in bionic technology, novel materials, and additive manufacturing. Existing soft crawling robots with specific structures have a single locomotion mode and ca...
Modeling of soft robotics systems proves to be an extremely difficult task, due to the large deformation of the soft materials used to make such robots. Reliable and accurate models are necessary for the control task of these soft robots. In this pap...
In order to study the influence of the cavity inclination angle bending performance of pneumatic soft actuators, two kinds of soft actuators were designed, one with a five-degree-angle cavity structure, and the other with a hybrid variable-degree-ang...
A stroke is an infarction in the cortical region of the brain that often leads to isolated hand paresis. This common side effect renders individuals compromised in their ability to actively flex or extend the fingers of the affected hand. While there...
Inspired by musculoskeletal systems in nature, this paper presents a pneumatically actuated quadruped robot which utilizes two soft–rigid hybrid rotary joints in each of the four two-degrees of freedom (DoF) planar legs. We first introduce the...
Soft pneumatic actuators (SPAs) are gaining attention in the field of soft robotics due to their lightweight, highly flexible, and safer interaction while operated under an unstructured environment. They are easy to fabricate, produce high output for...
The development of soft robotics owes much to the field of biomimetics, where soft actuators predominantly mimic the movement found in nature. In contrast to their rigid counterparts, soft robots offer superior safety and human–machine interact...
This investigation presents a novel soft-robotic pneumatic gripper that consists of three newly proposed soft actuators. The newly proposed soft actuators adopt a composite structure of two kinds of pneumatic networks which can work independently and...
Soft actuators, designed for fragile item conveyance and navigation in complex environments, have garnered recent attention. This study proposes a cost-effective soft actuator, created by weaving tubes into twill patterns, capable of transportation a...
Soft pneumatic network (Pneu-net) actuators are frequently used to achieve sophisticated movements, but they face challenges in producing both bending and twisting motions concurrently. In this paper, we present a new Pneu-net twisting and bending ac...
This paper describes the design and characterisation of a novel hybrid pneumatic rotational actuator that aims to overcome the limitations of both rigid and soft actuators while combining their advantages; indeed, the designed actuator consists of a...
Analytical modeling of soft pneumatic actuators constitutes a powerful tool for the systematic design and characterization of these key components of soft robotics. Here, we maximize the quasi-static bending angle of a soft pneumatic actuator by opti...
Soft fiber-reinforced actuators have demonstrated significant potential across various robotics applications. However, the actuation motion in these actuators is typically limited to a single type of motion behavior, such as bending, extending, and t...
Soft robotics, a recent advancement in robotics systems, distinguishes itself by utilizing soft and flexible materials like silicon rubber, prioritizing safety during human interaction, and excelling in handling complex or delicate objects. Soft pneu...
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