Household Applications Research Articles

ExAIRFC-GSDC: An Advanced Machine Learning-Based Interpretable Framework for Accurate Gas Leakage Detection and Classification

Gas leakage detection is imperative in various sectors, including chemical industries, coal mines, and household applications. The escalating number of accidents in coal mines, chemical industries, and homes underscores the urgency of swift and accurate gas detection methods. This research focuses on developing advanced systems that promptly identify gas types to prevent harm to human lives and the environment. This paper addresses the challenges of gas leakage detection and classification in diverse environments, such as industrial, residential, and mining scenarios. The proposed ExAIRFC-GSDC model integrates machine learning algorithms, particularly a Random Forest Classifier, with explainable artificial intelligence (XAI) techniques to enhance interpretability. This study employs a dataset comprising gas sensor measurements that encompassing gasses, such as Liquid Petroleum Gas (LPG), Compressed Natural Gas (CNG), Methane, Propane, and others. Various machine learning classifiers, including K-Nearest Neighbors, Decision Tree, Support Vector Machines, XGBoost, and others, are compared with ExAIRFC-GSDC for gas detection. The model demonstrates superior performance, achieving an accuracy rate of 98.67%. Incorporating SHAP and LIME explanations enhances the model's interpretability, providing insights into the contributions of individual sensors. Statistical analysis confirms the significant differences in sensor readings across different gas types. ExAIRFC-GSDC is a robust and explainable solution for accurate gas detection and classification in complex environments.

Physicochemical and Sensory Analysis of Sorghum, Rice, and Teff Flours Blending With Flaxseed Flour for Better Quality Injera.

This study investigates the optimization of four gluten free flours namely sorghum, rice, teff flours, and 3% flaxseed flour blends to enhance the quality injera, which was traditionally baked with only pure teff. Utilizing a D-optimal mixture design, ratios were varied (sorghum 43%-50%, rice 20%-27%, teff 23%-30%). Methods followed AOAC and AACC standards, analyzed using Minitab 19.2 software with one-way and two-way ANOVA. Results show flaxseed supplementation significantly improves sorghum-based injera's texture and sensory attributes, approaching teff injera quality. Hedonic ratings (color, rollability, softness, taste, eye distribution, mouthfeel, and overall acceptability) were favorable. Physical texture remained stable during storage, with variable titratable acidity among blends. This research supports integrating flaxseed flour in grain blends to enhance injera's nutritional and sensory qualities, proposing applications in both household and industrial settings. The purpose of this study is to investigate the supplementation of flaxseed flour in a blend of sorghum, rice, and teff flours, for its performance to improve the overall acceptability, and sensory appeals of the produced injera.

Finite Element and Experimental Analysis of Microstructural and Hardness Variations in Plasma Arc Welding of AISI 304 Stainless Steel

AISI 304 is widely regarded as the most common austenitic stainless steel and is utilized in various household and industrial applications, including food handling equipment, machinery components, and heat exchangers. Its popularity stems from its excellent mechanical properties, corrosion resistance, and ease of manufacturing. Given its diverse applications, it is crucial to study the microstructural evolution and mechanical properties of the welded zone, especially considering the potential for weld decay during fusion welding. In this context, two critical thermal-dependent factors for ensuring high-quality welds are grain growth and hardness variation in the heat-affected zone (HAZ) during the welding process. This paper presents an innovative finite element (FE) model developed to analyze the grain growth and hardness reduction that occur in the HAZ during plasma arc welding (PAW) of AISI 304 steel for solid expansion tube (SET) technology. Using the commercial FE software SFTC DEFORM-3D™, a user subroutine was created that integrates a physics-based model with the Hall–Petch (H-P) equation to predict changes in grain size and hardness. This study introduces a comprehensive numerical model, encompassing the user subroutine, heat source fitting, and geometry, which accurately predicts the thermal phenomena associated with grain coarsening and hardness reduction in the HAZ during the welding of austenitic stainless steel. The results from the numerical model, including the customized user routines, show good agreement with experimental data, leading to a maximum error prediction of 10 HV in hardness, 30 µm in grain size, and 10% in HAZ extension.

Local Electric Field-Incorporated In-Situ Copper Ions Eliminating Pathogens and Antibiotic Resistance Genes in Drinking Water.

Pathogen inactivation and harmful gene destruction from water just before drinking is the last line of defense to protect people from waterborne diseases. However, commonly used disinfection methods, such as chlorination, ultraviolet irradiation, and membrane filtration, experience several challenges such as continuous chemical dosing, the spread of antibiotic resistance genes (ARGs), and intensive energy consumption. Here, we perform a simultaneous elimination of pathogens and ARGs in drinking water using local electric fields and in-situ generated trace copper ions (LEF-Cu) without external chemical dosing. A 100-μm thin copper wire placed in the center of a household water pipe can generate local electric fields and trace copper ions near its surface after an external low voltage is applied. The local electric field rapidly damages the outer structure of microorganisms through electroporation, and the trace copper ions can effectively permeate the electroporated microorganisms, successfully damaging their nucleic acids. The LEF-Cu disinfection system achieved complete inactivation (>6 log removal) of Escherichia coli O157:H7, Pseudomonas aeruginosa PAO1, and bacteriophage MS2 in drinking water at 2 V for 2 min, with low energy consumption (10-2 kWh/m3). Meanwhile, the system effectively damages both intracellular (0.54~0.64 log) and extracellular (0.5~1.09 log) ARGs and blocks horizontal gene transfer. LEF-Cu disinfection holds promise for preventing horizontal gene transfer and providing safe drinking water for household applications.

Solar-based nighttime electric power generator based on radiative cooling

This study focuses on developing and investigating a hybrid nighttime electric power generator that integrates photovoltaic (PV) cells with thermoelectric generators (TEG) to provide continuous power generation during both day and night. During the day, PV cells efficiently capture solar energy and convert it into electricity. At night, radiative cooling lowers the surface temperature of the PV panels, creating a temperature differential between the ambient air and the cooled panels. This temperature difference drives the TEG modules, which generate electricity based on the Seebeck effect. The experimental results reveal that the size and configuration of TEG modules significantly affect power output. A single 3 cm×3 cm TEG produced up to 0.9 mW of power with a 55°C temperature difference, while a larger 4 cm×4 cm TEG generated up to 3.8 mW. Furthermore, connecting two 4 cm×4 cm TEGs in series resulted in a peak output of 7.7 mW, nearly double that of the single TEG setup. This hybrid system demonstrates potential for moderate nighttime power generation, suitable for small household applications such as LED lights, laptops, phone chargers, and wireless routers. The ability to generate power both during the day and night enhances the efficiency and reliability of renewable energy systems, offering a continuous, sustainable power supply that mitigates the limitations of conventional solar panels. The results underscore the feasibility of scaling up TEG modules to achieve higher power outputs, making this system a promising solution for addressing nighttime energy demands in off-grid and low-power applications.

Bio-based sulfonated surfactants with high Ca2+ tolerance in detergent formulations

The use of calcium-resistant surfactants in household and industrial washing applications may simplify the formulation composition of laundry and therefore reduce costs. A series of bio-based surfactants, N-alkyl furfuryl methylamine sulfonates (AFMS), was developed from the biomass-derived furfural and aliphatic amines by a simple and effective method. The structure of these bio-based surfactants was characterized by gas chromatography–mass spectrometry, liquid chromatography–mass spectrometry and 1H nuclear magnetic resonance spectroscopy. These bio-based surfactants demonstrated low surface tension, high emulsification, and high decontamination efficiency. Meanwhile, the AFMS surfactants exhibited excellent calcium resistance, maintaining micelle stability in Ca2+up to 2.16 × 104 mg/L and the solution clarification in Ca2+up to 7.21 × 104 mg/L. Furthermore, the AFMS surfactants had a stable decontamination effect in hard water. The wetting ability, foaming ability, toxicity, and biodegradability parameters were also evaluated. Therefore, the AFMS surfactants synthesized in this work could be applied as a more efficient and promising bio-based surfactant candidate for application in household and industrial washing.

Performance of R134a vapour compression refrigeration system by using Gr and Al2o3 hybrid nano lubricants

Nowadays, in many developing countries like India they are facing the shortage of energy. The Refrigeration system has become the major consumer of energy for many industrial as well as household applications. So, it is the need to enhance the energy efficiency of the refrigeration systems. Performance of the refrigeration system can be improved either by increasing the rate of heat absorption in evaporator or by reducing the compressor power. Use of efficient lubricant oil can help to remove the heat generated in the compression process which leads to less power consumption. Development in Nanotechnology makes it possible to develop a new class of lubricant called nanolubricant, in which nanoparticles are added in base lubricant oil to enhance the thermal properties. The two step technique with ultrasonic agitation force is used tosynthesise stable nanolubricant. The present study investigates the performance of an R-134a refrigerant vapour compression refrigeration system using nanolubricant with different volume concentrations (0.05%, 0.075%, 0.1% and 0.2%) of Graphene/Aluminium nanoparticles to mineral oil (MO) experimentally. The result shows maximum enhancement in COP approximately as 85% for 0.075 % volume fraction Nano lubricant as compared to base fluid. Use of nanolubricant saves approximately 27% compressor power.

Enabling modern bioenergy deployment in Nigeria to support industry and local communities

Nigeria intends to rank among the top 20 global economies by 2030 by focusing on industrialisation. However, limiting energy access may slow the rate of industrialisation. Bioenergy integration into Nigeria's energy mix can accelerate the industrialisation agenda due to the co-benefits it offers. We used a disaggregated approach to map agri-residue availability and identify knowledge gaps in agri-residue application to support modern and sustainable bioenergy integration into Nigeria's energy mix. Expert interviews with stakeholders from government departments, small- and large-scale industries, and feedstock producers were used to validate the biomass mapping. The output of the biomass mapping shows that residues from yam, sorghum, wheat, palm, cassava, rice, sugarcane, etc, have knowledge gaps in agri-residue application and they could support the industrialisation agenda of Nigeria. The output of the stakeholder engagement shows that fossil fuels are the main energy source for productive uses in Nigeria. Current waste management practices involve onsite burning and disposal on land. Bioenergy technologies currently deployed in Nigeria are predominantly anaerobic digestion and combustion. Stakeholders have a strong preference for electricity to be the predominant energy vector. However, awareness of modern bioenergy applications and technologies was limited even though Nigeria's Energy Masterplan supports the efficient use of biomass to generate clean heat, electricity and biofuel for industrial, transport and household applications. Based on these findings, we have developed a suite of novel bioenergy case studies to support biomass integration into Nigeria's energy system.

Research on Indoor Automatic Path Planning Algorithm for Robots

The field of robotics has significantly advanced, especially in indoor autonomous navigation, with applications in households, offices, factories, and tourism. This research focuses on developing and optimizing algorithms for indoor autonomous path planning, aiming to enhance robots' ability to navigate efficiently and safely in various indoor environments. The research adopts a comprehensive methodological approach, beginning with a literature review to understand current state-of-the-art techniques in path planning and obstacle avoidance. Novel algorithms were designed and implemented, focusing on efficiency and real-time performance. These algorithms were tested in simulation environments and validated on actual robotic platforms. Performance metrics such as path efficiency, computational time, and obstacle avoidance success rates were used to assess the algorithms. The study evaluated global path planning algorithms like A* and Dijkstra’s, and local path planning algorithms such as Rapidly-exploring Random Trees (RRT) and Dynamic Window Approach (DWA). A* and Dijkstra's algorithms proved effective for global planning but required optimization for real-time applications. RRT excelled in complex environments but needed improvements for path optimality. DWA provided robust real-time obstacle avoidance. Hybrid approaches combining these algorithms showed enhanced performance, balancing global and local planning strengths. Machine learning techniques further improved adaptability and efficiency. The integration of advanced sensor technologies and accurate map construction methods is crucial for effective indoor navigation. LIDAR, ultrasonic sensors, and depth cameras were key in providing precise environmental perception. Hybrid maps combining grid and topological approaches offered detailed local information and efficient long-distance planning. Optimization techniques like parameter tuning and algorithm fusion, along with machine learning, significantly enhanced algorithm performance. Future research should explore intelligent algorithms, multi-robot collaboration, and human-robot interaction to further advance the field.

The removal of pollutants from synthetic bathroom greywater by coagulation-flocculation and filtration as a fit-for-purpose method

It has been demonstrated that treated bathroom greywater (TBGW) is a useful substitute for fresh water for non-potable applications in households. Reuse of TBGW for irrigation, toilet flushing, car washing etc. offers a good opportunity to save drinking water and meet the sustainable development goals (SDGs). In this study, synthetic bathroom greywater (SBGW) was compiled in a controlled manner and used as a substitute for bathroom GW. Detailed statistical analysis also was performed to confirm the similarity between real and synthetic BGWs. SBGW is suitable for testing efficiency of applied treatment methods. It was confirmed that coagulation–flocculation with iron(III) chloride and sand filtration was the most effective method of the tested 7 systems. The best and affordable treatment combination generates good-quality treated SBGW (TSBGW) (pH = 7.54 ± 0.29, TURB = 0.54 ± 0.49 NTU, BOD5 = 21 ± 10 mgL−1, COD = 32 ± 11 mgL−1, and TOC = 12.7 ± 6.7 mgL−1) for different non-potable purposes by complying with the regulated limit values for reuse. The elemental analysis of raw, TSBGW and tap water (TW) samples by MP-AES method provided further support for safe recycling. This study leads to the conclusion that the generation of TBGW by fit-for-purpose treatment can effectively meet the circular economy goals at household level. The recycling of GW is of limited importance in the European Union (EU) and legal regulations are not available in many countries. This study provides novel support for regulating the reuse of water in Eastern European countries.

Comparative investigation for sustainable freshwater production in hybrid multigrid systems based on solar energy

Energy storage systems are decisive players in the sustainable performance of the energy market for more beneficial outcomes from technical and economic points of view. Renewable energy-powered desalination technologies are attractive options for sustainable freshwater production for household applications. Two configurations based on the chemical and electrochemical energy storage systems are introduced to discover an effective system for this goal of sustained potable water production throughout the day. These systems' technical and economic performances present their superiorities over each other. The estimated exergy destruction for the battery and fuel cell-based systems are around 6.4 and 7.1 MW, respectively. The calculated parameters declared that the fuel cell-powered system offers higher round-trip efficiency by 16.48%. Moreover, the fuel cell-contained system has an interesting superiority in economic parameters by a lower payback period. Another captivating fact lies in the provision of the designed products. In this case, the fuel cell offers more sustainable electrical power in the discharge times for freshwater and hydrogen production. The obtained outcomes confirm that while the required investment cost for the fuel cells is relatively higher, the obtained chemical energy through the processes involved in the fuel cells can compensate for the financial stresses.

Synthesis and characterization of antibacterial and low‐temperature resistant slow rebound polyurethane foams

AbstractSlow rebound polyurethane foam (SPUF) has been widely used due to its advantages such as sound insulation, energy absorption, and good tactile sensation. However, SPUF is prone to harden at low temperature, and its application in medical equipment and households requires significant antibacterial properties. In this paper, self‐made silicone modified polyethylene glycol (Si‐APEG) and graphene oxide supported allicin (Alc@GO) were prepared and used as low‐temperature resistant agent and antibacterial agent, respectively. Low‐temperature resistant polyurethane foam (LSPUF) and antibacterial LSPUF (ALSPUF) were prepared respectively with water as foaming agent. The morphology of ALSPUF was observed by scanning electron microscope. Properties studied include apparent core density and porosity, mechanical properties including tensile strength, 40% compressive hardness, and rebound resilience, as well as low‐temperature resistance. Effects of Si‐APEG content on the structures and properties were analyzed and the LSPUF with an Si‐APEG content of 10 wt.% showed the best comprehensive performance. Therefore, ALSPUFs with Si‐APEG content of 10 wt.% and Alc@GO content of 0–3 wt.% were prepared. The addition of Alc@GO increased the antibacterial ratio significantly without obvious effect on the structure and mechanical properties of LSPUF. The antibacterial ratio of ALSPUF reached 99.07% at a Alc@GO content of 2.5 wt.% and testing time of 60 min. This work provides an effective and feasible method for the preparation of ALSPUF which can be widely used in medical devices and households.Highlights Silicone modified polyether is a suitable low‐temperature resistant agent for PU foam. Allicin supported on GO provides good antibacterial property for PU foam. ALSPUF has better mechanical properties than SPU.

Passive techniques for the thermal performance enhancement of flat plate solar collector: A comprehensive review

One of the most abundantly available non-conventional energy sources is solar energy. The advantages of solar energy are that it is freely available, sustainable, non-exhaustible, pollution-free, etc. Many thermal energy technologies are frequently employed to utilize solar energy for different household, agricultural, residential, and industrial applications. A flat plate solar collector (FPSC) is one of the most popular devices for harvesting solar energy and transforming solar radiation into useful heat. The low thermal performance of FPSC is one of its major disadvantages. The performance of the FPSC can be enhanced using active, passive, and mixed methods. In this article, various thermal performance enhancement techniques of FPSC, including design and modification, use of inserts, selective coating, nanofluid, phase change material, mini/microchannels, and transparent insulation material, are discussed. The use of nanomaterial coatings can reduce the convection and radiation losses from the FPSC. High absorptivity black nickel nanoparticles make them excellent for selective coatings. The performance of FPSC with CuO/water nanofluid was more efficient than that of other metal oxides. The performance of a minichannel integrated FPSC is better than that of conventional type because of its direct contact with water, which enhances the heat transfer rate. The most recent technological development of enhanced FPSC discussed in this article will be very useful to the scientific community.

Solar Thermal Plasmonic Absorber Design Using Graphene-Based Zr-Fe-Ti Materials for Industrial and Household Applications

Solar Thermal Plasmonic Absorber Design Using Graphene-Based Zr-Fe-Ti Materials for Industrial and Household Applications

Coconut Water (Cocos nucifera L.) and Yeast (Saccharomy cescerevisiae) Infused With Papaya (Carica papaya Linn.) Seeds and Leaves as an Alternative Surface Disinfectant

This investigation presents an eco-friendly disinfectant formulation, integrating coconut water, yeast, and extracts from papaya seeds and leaves as alternative components. Under the Republic Act No. 6969 or the Toxic Substances and Hazardous and Nuclear Wastes Control Act of 1990, which underscores the imperative to manage toxic substances for environmental protection. This study aims to address ecological concerns associated with traditional disinfectants. Framed within a true experimental design, the research evaluated the efficacy of the disinfectant. The product, composed of a 7:3 ratio of fermented coconut water with yeast, and papaya extracts respectively; underwent rigorous laboratory assessments, including pH levels, solubility, and disinfecting capacity evaluations. The focus of the study pertains to the experimentation of disinfectant concentrations of 70%, 90%, and 100% to determine the optimal concentration for maximum efficacy. Results indicated water solubility, a pH level adequate for microorganism elimination on surfaces, and significant disinfecting capacity, aligned with the Centers for Disease Control and Prevention (CDC) standards. The study implicates the use of 100% pure concentration of the disinfectant, recommends it as a promising alternative for household applications. This research contributes to the discourse on sustainable disinfection practices guided by the United Nation’s Sustainable Development Goals no. 13 – Climate action.

Supramolecular Binding of Phosphonate Dianions by Nanojars and Nanojar Clamshells.

Despite the widespread use of phosphonates (RPO32-) in various agricultural, industrial, and household applications and the ensuing eutrophication of polluted water bodies, the capture of phosphonate ions by molecular receptors has been scarcely studied. Herein, we describe a novel approach to phosphonate binding using chemically and thermally robust supramolecular coordination assemblies of the formula [RPO3⊂{cis-CuII(μ-OH)(μ-pz)}n]2- (Cun; n = 27-31; pz = pyrazolate ion, C3H3N2-; R = aliphatic or aromatic group). The neutral receptors, termed nanojars, strongly bind phosphonate anions by a multitude of hydrogen bonds within their highly hydrophilic cavities. These nanojars can be synthesized either directly from their constituents or by depolymerization of [trans-CuII(μ-OH)(μ-pz)]∞ induced by phosphonate anions. Electrospray-ionization mass spectrometry, UV-vis and variable-temperature, paramagnetic 1H and 31P NMR spectroscopy, single-crystal X-ray diffraction, along with chemical stability studies toward NH3 and Ba2+ ions, and thermal stability studies in solution are employed to explore the binding of various phosphonate ions by nanojars. Crystallographic studies of 12 different nanojars offer unprecedented structural characterization of host-guest complexes with doubly charged RPO32- ions and reveal a new motif in nanojar chemistry, nanojar clamshells, which consist of phosphonate anion-bridged pairs of nanojars and double the phosphonate-binding capacity of nanojars.

Enhancing Sustainable Development: Assessing a Solar Air Heater (SAH) Test Bench through Computational and Experimental Methods

A solar air heater is a device that gathers solar radiation and converts it into heat. The core principle involves air moving through a solar collector, where sunlight naturally increases the air temperature within the collector. The benefit of this technology lies in its affordability and simplicity. The implementation of a solar air heater (SAH) test bench holds significant promise in addressing both global change and sustainable development objectives. The primary goal of this study is to examine the aerodynamic configuration of a novel solar air heater test bench accessible at the Laboratory of Electro-Mechanic Systems (LASEM). This study was carried out using the standard k-ω turbulence model with the use of the ANSYS Fluent 17.0 software. The results indicate that the velocity at the inlet directly influences the velocity fields, temperature, static pressure, and characteristics of turbulence. Furthermore, the numerical findings confirmed that the temperature and velocity profiles in the second channel are in good concordance with the experimental findings in the case of a fan, placed alongside the insulation, operating in a delivery mode. Based on these results, the computational approach is validated. When comparingforced convection to natural convection under identical conditions, there was a notable increase in the energy efficiency, with forced convection showing a significant improvement of approximately 31.8%. Indeed, the range of temperatures reached with the proposed design, is highly beneficial for both industrial and household applications.

Influence of age on the concentrations of perfluoroalkyl acids (PFAA) in the tissues of perch (Percafluviatilis)

Globally, perfluoroalkyl acids (PFAA) are ubiquitous due to their almost unlimited applications in industry and households and are detected in a wide variety of matrices.Aquatic ecosystems are of particular importance due to the spread of PFAA via water fluxes. The majority of published studies describe PFAA concentrations in fish or aquatic mammals, but not the dependence of PFAA concentrations in tissues and organs in fish of different ages. Since this is very important for understanding the accumulation behavior of these substances our study systematically investigates the influence of age on the PFAA concentration in the tissues of 74 perches (Perca fluviatilis), a very popular edible fish. Fish are particularly suitable as indicators of PFAA contamination of water because of their uptake via water (gills and skin) and food (predominantly piscivorous diet). The mean total PFAA concentrations (as the sum of the individual concentrations of 11 compounds) were: 114 μg/kg (kidney), 112 μg/kg (heart), 79.9 μg/kg (liver), 78.4 μg/kg (spleen), 64.6 μg/kg (gills) and 21.7 μg/kg (muscle), with longer-chain compounds accounting for 90% of the substances. Perfluorooctanesulfoic acid (PFOS) accounted for the largest percentage of the total PFAA concentration in all tissues at 43–63%. With the exception of the heart and spleen, a significant increase in total concentrations was observed with increasing age of the perch. The strongest correlation was observed for the kidney, followed by the liver and gills. With regard to their consumption as human nutrition the tolerable weekly PFAA intake of 4.4 ng/kg bodyweight and week for the sum of the 4 EFSA PFAA in adults and children was exceeded many times over (860% and 1600% respectively) with an average fish consumption per week. The maximum PFAA levels set in the E.U. since January 2023 were exceeded five times.

Overview of the low-cost technologies for household water treatment in developing countries

ABSTRACT This study explored various low-cost water treatment technologies that are used to minimize levels of pathogens and contaminants in raw water. The paper focused on techniques such as cloth filtration, boiling, chlorination, and solar water disinfection. In the communities, cloth filtration is applied as the initial step of treating raw water with the proper choice of cloth fabrics followed by either boiling, chlorination or solar water disinfection. In low-income communities with unclean burning fuel sources, boiling was found to be the preferred method. Chlorination was also a popular technique associated with the challenges of low or high levels of free chlorine at the point of use and disinfection by-products. Solar water disinfection required optimal residence time and detection sensors for microorganism inactivation. Overall, the paper provided valuable insights into the different low-cost water treatment techniques that are commonly used for household applications, particularly in developing countries.

Design and application of bidirectional soft actuator with multiangle chambers

PurposeThis study aims to introduce a novel bidirectional soft actuator as an enhancement to conventional pneumatic network actuators. This improvement involves integrating air chambers positioned at specific angles to improve stability, adaptability and grasping efficiency in various environments.Design/methodology/approachThe design approach incorporates air chambers positioned at a 45° angle relative to the horizontal direction at the actuator's terminus, along with additional chambers at a 90° angle. Mathematical models are developed for longitudinal and transverse bending, as well as for obliquely connected cavities, based on the assumption of piecewise constant curvature. Analyses are conducted on output forces, bending characteristics and end contact areas for both transverse and longitudinal ends.FindingsThe proposed soft actuator surpasses traditional pneumatic network actuators in gripping area due to the inclusion of a diagonal air cavity and a transverse pneumatic network structure at the terminus. As a result, it provides torsion and gripping force in both directions. Testing on a dedicated platform with two variants of grippers demonstrates superior gripping force capability and performance in complex environments.Practical implicationsThrough the design of multiangle chambers, the soft actuator exhibits diverse driving angles and morphological variations, offering innovative design perspectives for industrial grasping.Social implicationsThe design of multiangle chambers facilitates personalized configurations of soft actuators by researchers, enabling tailored angles for specific interaction environments to achieve desired functionalities. This approach offers novel insights into soft actuator design, addressing more prevalent industrial grasping challenges.Originality/valueThis study introduces a novel soft actuator design that significantly enhances gripping capabilities in comparison to conventional pneumatic network actuators. The incorporation of specific air chamber configurations and mathematical modeling provides valuable insights for the development of adaptable and efficient robotic grippers for industrial and household applications.