A Novel Soft Bending Actuator Using Combined Positive and Negative Pressures

Frontiers in Bioengineering and Biotechnology
Mohammad FatahillahHugo Rodrigue

Abstract

Most soft pneumatic actuators for producing bending actuation have made use of either positive or negative pressure and adjusted their design in consequence. In the proposed paper, a novel soft bending actuator using combined positive and negative pressures (PNP) where the bending force of a negative pressure actuator and a positive pressure actuator is combined into a single actuating structure. This actuator is capable of producing a blocked force as high as 150 N at a combined positive pressure of 60 kPa and negative pressure of 60 kPa while still being able to produce large bending deformations. It was found that the equilibrium angle of PNP actuation is lower than using only negative pressure but that the actuator can produce larger forces at angles below the equilibrium angle of using positive pressure only. The actuator can use PNP actuation to produce large forces at lower bending angles and negative pressure actuation for producing large bending angles. This actuator was implemented in a soft robotic gripper capable of lifting large objects weighing up to 4 kg and a soft pinching gripper capable of holding a notebook weighing 1.85 kg by pinching it. The proposed actuator is capable of large forces and is versatile such...Continue Reading

References

Feb 18, 2011·Angewandte Chemie·Filip IlievskiGeorge M Whitesides
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May 29, 2015·Nature·Daniela Rus, Michael T Tolley
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May 8, 2018·Advanced Materials·Jun ShintakeHerbert Shea
Jul 20, 2018·Soft Robotics·Leonardo CappelloConor J Walsh
Oct 20, 2018·Soft Robotics·Jin-Gyu Lee, Hugo Rodrigue
Mar 27, 2019·Soft Robotics·Wyatt Felt

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