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arXiv · 2311.03032

Reconfigurable, Transformable Soft Pneumatic Actuator with Tunable 3D Deformations for Dexterous Soft Robotics Applications

Dickson Chiu Yu Wong·Mingtan Li·Shijie Kang·Lifan Luo·Hongyu Yu
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Abstract

Numerous soft actuators based on PneuNet design have already been proposed and extensively employed across various soft robotics applications in recent years. Despite their widespread use, a common limitation of most existing designs is that their action is pre-determined during the fabrication process, thereby restricting the ability to modify or alter their function during operation. To address this shortcoming, in this article the design of a Reconfigurable, Transformable Soft Pneumatic Actuator (RT-SPA) is proposed. The working principle of the RT-SPA is analogous to the conventional PneuNet. The key distinction between the two lies in the ability of the RT-SPA to undergo controlled transformations, allowing for more versatile bending and twisting motions in various directions. Furthermore, the unique reconfigurable design of the RT-SPA enables the selection of actuation units with different sizes to achieve a diverse range of three-dimensional deformations. This versatility enhances the potential of the RT-SPA for adaptation to a multitude of tasks and environments, setting it apart from traditional PneuNet. The paper begins with a detailed description of the design and fabrication of the RT-SPA. Following this, a series of experiments are conducted to evaluate the performance of the RT-SPA. Finally, the abilities of the RT-SPA for locomotion, gripping, and object manipulation are demonstrated to illustrate the versatility of the RT-SPA across different aspects.

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Dickson Chiu Yu Wong, Mingtan Li, Shijie Kang, Lifan Luo, Hongyu Yu. 2023-11-06. Reconfigurable, Transformable Soft Pneumatic Actuator with Tunable 3D Deformations for Dexterous Soft Robotics Applications. https://arxiv.org/abs/2311.03032

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