A novel double-layer, multi-channel soft pneumatic actuator that can achieve multiple motions

Abstract

This paper proposes a novel double-layer, multichannel soft pneumatic actuator that can achieve multiple motions. The technical requirements of the actuator are presented and a prototype of the actuator has been designed and fabricated. We analyze the actuator's motion through finite element modeling simulation. Our experiments show that the proposed actuator is able to achieve multidirectional translational motions and various bending motions, and can meet the technical requirement of the system.