Abstract
The field of soft robotics is continuing to grow as more researchers see the potential for robots that can safely interact in unmodeled, unstructured, and uncertain environments. However, in order for the design, integration, and control of soft robotic actuators to develop into a full engineering methodology, a set of metrics and standards need to be established. This paper attempts to lay the groundwork for that process by proposing six soft robot actuator metrics that can be used to evaluate and compare characteristics and performance of soft robot actuators. Data from eight different soft robot rotational actuators (five distinct designs) were used to evaluate these soft robot actuator metrics and show their utility. Additionally we provide a simple case study as an example of how these metrics can be used to evaluate soft robot actuators for a designated task. While this paper does not claim to present a comprehensive list of all possible soft robot actuator metrics, the metrics presented can 1) be used to initiate the development and comparison of soft robot actuators in an engineering framework and 2) start a broader discussion of which metrics should be standardized in future soft robot actuator research.
Highlights
Promising characteristics of soft robots include the ability to safely interact in unmodeled and unstructured areas around sensitive equipment, materials, or humans
(3.1 through 3.7) we present an analysis of the data we collected from different soft robot actuators along with an evaluation of each metric using the Metric Evaluation Criteria (MEC) discussed in the previous section
As examples of the ability of our metrics to enable Design Comparison we present specific comparisons between similar actuators of different sizes as well as similar actuators made of different materials
Summary
Promising characteristics of soft robots include the ability to safely interact in unmodeled and unstructured areas around sensitive equipment, materials, or humans. Despite the commonalities in many soft robot designs, many researchers continue to develop new types of actuators (involving novel actuation methods, geometries, materials, or combinations) without a clear way to compare their performance. These new designs include actuation methods ranging from tension cables, to Shape Memory Alloys (SMA), to fluidic actuation. Despite a variety of soft robot actuators, there is currently no systematic way for someone to determine which actuator will be most advantageous for a prescribed application or to design different actuators based on required performance specifications This is due to the lack of a standardized method for comparing different soft robot actuators. This article attempts to lay the groundwork for that process and encourage a broader discussion about engineering design and evaluation for soft robotics, soft robot actuators
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