Modeling of Soft Robots Actuated by Twisted-and-Coiled Actuators

@article{Pawlowski2019ModelingOS,
  title={Modeling of Soft Robots Actuated by Twisted-and-Coiled Actuators},
  author={Benjamin Pawlowski and Jiefeng Sun and Jing Xu and Yingxiang Liu and Jianguo Zhao},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2019},
  volume={24},
  pages={5-15}
}
Soft robots made from soft materials outperform traditional rigid robots in safety, maneuverability, and adaptability. Various methods have been proposed to actuate soft robots such as cables, pneumatic, or smart materials (e.g., shape memory alloys, dielectric elastomer, or ionic polymer-metal composites, etc.). In this paper, we propose to leverage a recently discovered artificial muscle—twisted-and-coiled actuators (TCAs)—to actuate soft robots. Compared with existing actuation methods, TCAs… CONTINUE READING

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