Prototype Design and Experimental Test for A Hydraulic-Driven Soft Robotic Arm

Abstract

Soft robotics has gained considerable attention in recent years for its structural flexibility and inherent safety in environmental interactions. To address the pitfalls of pneumatic actuation systems, namely sluggish response and inefficiencies, this paper introduces the design and fabrication of a Hydraulic-Driven Soft Robotic Arm (HDSRA). The study establishes a comprehensive platform that integrates actuation, sensing, and control software to provide an experimental prototype for validating control algorithms. A novel fabrication technique utilizing water-soluble PVA for single-step mold creation enhances the structural reliability of soft actuators. Through closed-loop control experiments, the HDSRA demonstrates rapid and precise tracking of 1Hz signals, encompassing sine, square, and ramp waves, thus confirming the platform's reliability. This foundational work lays a robust foundation for future research and the verification of control algorithms in HDSRAs.