Abstract:This research presents a new class of versatile multi-material hybrid actuators, powered by pneumatics and electrostatic adhesion (EA) based adaptive strain-limiting layers. Soft pneumatic actuators with strain-limiting layers as the mainstream actuation for soft robotics have been developed for decades. However, due to their permanent strain-limiting layers, those actuators possess fewer motion patterns. Inspired by the longitudinal muscles of the earthworm, we present a concept of an adaptive strain-limiting… Show more
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