2024
DOI: 10.3390/machines12070439
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Response Surface Methodology for Kinematic Design of Soft Pneumatic Joints: An Application to a Bio-Inspired Scorpion-Tail-Actuator

Michele Gabrio Antonelli,
Pierluigi Beomonte Zobel,
Nicola Stampone

Abstract: 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 compressible fluid. The identification of analytical models is often complex, and finite element analyses are preferred to evaluate deformation and tension states, which are computationally onerous. Alternatively, artificial intelligence algorithms can be used to foll… Show more

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