Plant-Inspired Soft Pneumatic Eversion Robot

Abstract

Due to safety concerns in human-robot interaction, researchers are moving from rigid-component robotics to soft robotics. This paper presents the design of a novel linear pneumatic robot structure based on the eversion principle. Experiments are carried out to investigate the forces that this robot can exert. This robot was successfully able to exert pushing force from its distal end and pulling force from its stationary end while extending along the longitudinal direction.