Parameter Fitting for Soft Dielectric Elastomer Actuator

Karner, Timi; Gotlih, Janez; Razboršek, Boštjan; Gotlih, Karl

doi:10.1007/978-3-319-90893-9_19

Lecture Notes in Networks and Systems

2018

DOI: 10.1007/978-3-319-90893-9_19

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Parameter Fitting for Soft Dielectric Elastomer Actuator

Timi Karner

Janez Gotlih

Boštjan Razboršek

et al.

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2024

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A new design and analysis of low-profile soft rotary pneumatic actuator for enhanced rotation and torque

Lee,

Moon,

Choi

et al. 2024

The International Journal of Robotics Research

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Soft actuators producing bending motions have gained significant attention for their advantages in mimicking the properties and movements of human muscles. However, the research on soft rotary actuators has yet to keep pace with other soft actuators. This paper makes two key contributions to the design and modeling of these actuators. First, we introduce a novel design for a soft rotary pneumatic actuator. This design outperforms existing cylindrical shaped soft actuators, especially in terms of torque. Second, we present an analytical model based on finite deformation. This model accurately describes the relationship between rotational movement and corresponding torque. The accuracy of this model is validated through Finite Element Method (FEM) simulations and corresponding tests. By providing a mechanically efficient design and a highly accurate analytical model, this work offers a comprehensive solution for the development of new soft pneumatic actuators.

show abstract

A new design and analysis of low-profile soft rotary pneumatic actuator for enhanced rotation and torque

Lee,

Moon,

Choi

et al. 2024

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

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Parameter Fitting for Soft Dielectric Elastomer Actuator

Cited by 1 publication

References 10 publications

A new design and analysis of low-profile soft rotary pneumatic actuator for enhanced rotation and torque

A new design and analysis of low-profile soft rotary pneumatic actuator for enhanced rotation and torque

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