Interaction Forces of Soft Fiber Reinforced Bending Actuators

  title={Interaction Forces of Soft Fiber Reinforced Bending Actuators},
  author={Zheng Wang and Panagiotis Polygerinos and Johannes T. B. Overvelde and Kevin C. Galloway and Katia Bertoldi and Conor J. Walsh},
  journal={IEEE/ASME Transactions on Mechatronics},
Soft-bending actuators are inherently compliant, compact, and lightweight. They are preferable candidates over rigid actuators for robotic applications ranging from physical human interaction to delicate object manipulation. However, characterizing and predicting their behaviors are challenging due to the material nonlinearities and the complex motions they can produce. This paper investigates a soft-bending actuator design that uses a single air chamber and fiber reinforcements. Additionally… CONTINUE READING
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