Design and Modeling of Generalized Fiber-Reinforced Pneumatic Soft Actuators

  title={Design and Modeling of Generalized Fiber-Reinforced Pneumatic Soft Actuators},
  author={Joshua Bishop-Moser and Sridhar Kota},
  journal={IEEE Transactions on Robotics},
Soft actuators comprised of fluidic structures with fiber-reinforced elastomeric enclosures are seen throughout nature, exhibiting strength, power density, resilience, and diverse motions and forces. However, these structures are rarely used by engineers, in part due to the absence of a generalized understanding of their kinematics and forces. A small subset of soft actuators generating only extension or compression, popularly known as McKibben actuators, has been thoroughly investigated. This… CONTINUE READING
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