Abstract
Abstract Compared to rigid-structure robots, soft robots possess higher degrees of freedom and stronger environmental adaptability, which has aroused increasing attention in the robotic field. Among them, soft pneumatic robots have excellent performances in various practical applications. However, the nonlinearity and instability of pressure response of soft actuators caused by lateral expansion come to a great challenge. To address this problem, we proposed to embed a spring constraint layer around each single air chamber. Following the design concept, we obtained single-cavity and multi-DoF pneumatic actuators and evaluated their elongation and bending characteristics. Experimental results demonstrated that our proposed actuators have more linear pressure response as well as higher consistency. Eventually, through robotic applications, including soft robotic hand, gripper, and manipulator for minimally invasive surgery (MIS), our proposed actuators could facilitate flexible manipulation and elaborate performance.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
