A three-chambed soft actuator module with omnidirectional bending motion

摘要

Unlike traditional rigid robots, soft robots can deform in a wide range to suit environment and contact compliantly with operating objects. Therefore, soft robots have wide potential application prospects in terms of physical rehabilitation, minimally invasive surgery and other fields. This paper presents the concept design and fabrication of a three-chambed soft actuator module with omnidirectional bending capability. The effect of geometrical parameters on the module bending properties was investigated by using finite element methods (FEM). Preliminary tests as proof of concept and assessment of performances were implemented, indicating that the module has good deformation capacity and can be used to assemble soft multi fingers hand, soft manipulators and other soft robotic systems.