CUED Publications database

Elastic Inflatable Actuators for Soft Robotic Applications

Gorissen, B and Reynaerts, D and Konishi, S and Yoshida, K and Kim, J and De Volder, M (2017) Elastic Inflatable Actuators for Soft Robotic Applications. Advanced Materials, 29. p. 1604977. ISSN 0935-9648 (Unpublished)

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Abstract

The 20th century’s robotic systems have been made out of stiff materials and much of the developments in the field have pursued ever more accurate and dynamic robots which thrive in industrial automation settings and will probably continue to do so for many decades to come. However, the 21st century’s robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfil the role of robotic link and robotic actuator, where prime focus is on design and fabrication of the robotic hardware instead of software control to achieve a desired operation. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators to generate movement. This paper reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained substantial traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies including soft-lithography and additive manufacturing, and on the other hand by a market pull from the applications listed above. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication and applications.

Item Type: Article
Uncontrolled Keywords: actuators anisotropic structures hydraulic actuators microactuators PDMS molding pneumatic actuators soft robotics
Subjects: UNSPECIFIED
Divisions: Div E > Production Processes
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 20:01
Last Modified: 11 Apr 2021 20:46
DOI: 10.1002/adma.201604977