Embedding control in inchworm-based soft actuator

@inproceedings{Nierenberger2018EmbeddingCI,
  title={Embedding control in inchworm-based soft actuator},
  author={Mathieu Nierenberger and Laurent Barb{\'e} and Benoit Wach and Pierre Renaud},
  year={2018}
}
The development of an inchworm-based soft actuator with embedded control is presented. Design of pressure loss integrated on purpose within the actuator is being used to simplify the overall control of the actuator. The latter is based on multimaterial additive manufacturing. Dynamic model is compared to experimental behaviour. Prediction accuracy is encouraging and performances of interest for the applicative context. 

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