A Reconfigurable Fabric Based Pneumatic Actuator with Button Fastened Constraint Modules for Multi Mode Actuation
By rearranging low-stretch constraint parts on a single actuator body, the proposed system realizes four actuation modes isotropic expansion, contraction, bending, and twisting without redesigning or disassembling the actuator.We further introduce an attachable capacitive fabric-based tactile sensor module that can be mounted at arbitrary locations on the actuator surface for task dependent contact sensing.
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Key points
- Soft pneumatic actuators are widely used in soft robotics.
- This paper presents a reconfigurable fabric-based pneumatic actuator that enables rapid, tool free, and reusable switching among multiple actuation modes by attaching constraint fabric modules to a buttoned textile sleeve.
- Finally, we constructed soft robotic arms composed of multiple actuators and demonstrated in situ motion reconfiguration for grasping by changing the attached constraint patterns.
- These results indicate that the proposed modular constraint and sensing framework improves the functional adaptability of fabric-based soft robots while preserving a simple, robust actuator structure.
Sources (1)
- [1]A Reconfigurable Fabric Based Pneumatic Actuator with Button Fastened Constraint Modules for Multi Mode ActuationarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 8, 01:07 AM
By rearranging low-stretch constraint parts on a single actuator body, the proposed system realizes four actuation modes isotropic expansion, contraction, bending, and twisting without redesigning or disassembling the actuator.We further introduce an attachable capacitive fabric-based tactile sensor module that can be mounted at arbitrary locations on the actuator surface for task dependent contac
Soft pneumatic actuators are widely used in soft robotics.
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