Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications

Xavier, Matheus S.; Tawk, Charbel; Zolfagharian, Ali; Pinskier, Joshua; Howard, David; R., Young, Taylor; Lai, Jiewen; Harrison, Simon; Yong, Yuen Kuan; Bodaghi, Mahdi; Fleming, Andrew J.

doi:10.1109/access.2022.3179589

Cited by 161 publications

(72 citation statements)

References 669 publications

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“…[1] In order to simplify machines and get closer to biology's mechanical capabilities, the discipline of soft robotics employs compliant structures. [2] Soft robots can navigate surroundings by altering their shape and size while applying modest contact pressures and avoiding damage from rapid contact, in DOI: 10.1002/mame.202200490 contrast to conventional robots made of rigid materials. With this kind of robotics, a variety of unique soft mobile platforms, manipulators, and other structures have been developed that can carry out a variety of increasingly complicated activities, including wearable robotics, object manipulation, and mobility over uneven terrain.…”

Section: Introductionmentioning

confidence: 99%

Soft Magneto‐Responsive Shape Memory Foam Composite Actuators

Dezaki

Bodaghi

2022

Macro Materials & Eng

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Soft magnetic composites are exceptional because they can be controlled remotely, move quickly, conform to hard things, and interact with people safely. However, even with all these features, magnetic elastomers suffer a lack of stability due to the high softness of the elastomer. This issue affects their controllability and repeatability. This article introduces a novel conceptual design of magneto‐responsive shape memory polyurethane (SMP) foam composites with high stability and reversibility. The fabrication technique is based on the silicone resins filled with strontium ferrite magnetic particles and a thin SMP foam placed onto one side. Material properties, room‐temperature shape recovery features, and magnetization conditions necessary for the process are determined by experimental studies of composite actuators. As a result, a workable, light, stable, soft composite gripper with programmable magnetic patterns is created, which can carry out activities like grabbing, holding, and moving objects in horizontal and vertical directions when a low magnetic field is applied. The SMP foam increases the contact surface and decreases the weight by up to three times providing better stability compared to the magnetic elastomer without SMP foam. The shape‐recoverable gripper with a small contract area can lift objects eight times heavier than its weight.

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Section: Introductionmentioning

confidence: 99%

Soft Magneto‐Responsive Shape Memory Foam Composite Actuators

Dezaki

Bodaghi

2022

Macro Materials & Eng

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“…Introduction of the fluid inflates the chamber, and the expansion pressure generated within the chamber leads to movement of the body resulting in large and fast deformation. Classification of soft actuators and design strategies to achieve different types of actuations have been reviewed in detail ( Gorissen et al, 2017 ; Pagoli et al, 2021 ; Xavier et al, 2022 ). Balloon actuators are designed to undergo various movements such as expansion, contraction, twisting, and bending ( Fujiwara et al, 2009 ; Marchese et al, 2015 ; Schaffner et al, 2018 ; Balak and Mazumdar, 2020 ).…”

Section: Introductionmentioning

confidence: 99%

Characterization of bending balloon actuators

Kumar²,

Rosen³

et al. 2022

Front. Robot. AI

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The emerging field of soft robotics often relies on soft actuators powered by pressurized fluids to obtain a variety of movements. Strategic incorporation of soft actuators can greatly increase the degree of freedom of soft robots thereby bestowing them with a range of movements. Balloon actuators are extensively used to achieve various motions such as bending, twisting, and expanding. A detailed understanding of how material properties and architectural designs of balloon actuators influence their motions will greatly enable the application of these soft actuators. In this study, we developed a framework involving experimental and theoretical analyses, including computational analysis, delineating material and geometrical parameters of balloon actuators to their bending motions. Furthermore, we provide a simple analytical model to predict and control the degree of bending of these actuators. The described analytical tool could be used to predict the actuating function of balloon actuators and thereby help generate optimal actuators for functions which require control over the extent and direction of actuation.

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“…[5,6]. However, pneumatic actuation using Soft Pneumatic Actuators (SPAs) remains the main technology in the filed as highlighted in [7,8].…”

Section: Introductionmentioning

confidence: 99%

“…However, the method is time-consuming, involves many intermediary steps and requires special equipment (vacuum pumps for degassing the mixture, curing ovens, etc.) [7,11]. More recently, direct 3D printing techniques were successfully used to manufacture SPAs by using direct-drive 3D-printers optimized for printing flexible filaments.…”

Section: Introductionmentioning

confidence: 99%

Aspects Regarding the Modelling and Design of 3D-printed Bending Soft Pneumatic Actuators

Rad

Hancu

Lapusan

2022

IOP Conf. Ser.: Mater. Sci. Eng.

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Soft robotics has the potential to revolutionize our society and industries due to its increased adaptability and soft interaction with environment. In this context, the paper presents the results of finite element modelling and design of two 3D-printed bending soft pneumatic actuators made from NinjaFlex® flexible filament. Geometrical parameters of the actuators were chosen based on the recommendations from the literature and NinjaFlex® material elastic properties were modelled using Ogden hyperelastic model. The simulation was implemented in ANSYS® Workbench software and both designs were compared and analysed in terms of bending angle performance and equivalent (von-Mises) stresses for an input pressure of 0.1÷0.5 MPa with an increment of 0.1 MPa. The obtained simulation results can be used as a design guideline for 3D-printed bending soft pneumatic actuators made from flexible thermoplastic polyurethanes.

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Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications

Cited by 161 publications

References 669 publications

Soft Magneto‐Responsive Shape Memory Foam Composite Actuators

Soft Magneto‐Responsive Shape Memory Foam Composite Actuators

Characterization of bending balloon actuators

Aspects Regarding the Modelling and Design of 3D-printed Bending Soft Pneumatic Actuators

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