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Related Experiment Video

Updated: Feb 15, 2026

Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots

Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots

Published on: November 8, 2019

Slit Tubes for Semisoft Pneumatic Actuators.

Lee Belding¹, Bilge Baytekin², Hasan Tarik Baytekin²

¹Department of Chemistry and Chemical Biology, Harvard University, 12 Oxford Street, Cambridge, MA, 02138, USA.

Advanced Materials (Deerfield Beach, Fla.)

|January 16, 2018

Summary

This summary is machine-generated.

Researchers developed novel soft pneumatic actuators called SLit-in-Tube (SLiT) actuators. These actuators can achieve complex motions like bending and twisting by controlling inflation pressure and slit design, enabling versatile robotic applications.

Keywords:

external shells pneumatic actuators pneumatic artificial muscles semisoft sequential actuation soft robotics

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Area of Science:

Robotics
Materials Science
Mechanical Engineering

Background:

Soft pneumatic actuators offer compliant and adaptable movement.
Existing designs often have limitations in achieving complex, multi-directional motions.
The need for precise control and fabrication simplicity in soft robotics is growing.

Purpose of the Study:

To introduce a new design principle for soft pneumatic actuators: SLit-in-Tube (SLiT) actuators.
To demonstrate the capability of SLiT actuators to produce diverse motions through controlled inflation and slit geometry.
To showcase the potential of SLiT actuators in constructing functional robotic systems.

Main Methods:

Designing elastomeric balloons enclosed within a higher Young's modulus shell featuring precisely oriented slits.
Analyzing the relationship between slit length, material properties, and the required actuation pressure.
Implementing external sliders as programmable switches for actuator control.
Fabricating and testing a pneumatic arm and a walker using SLiT actuators.

Main Results:

SLiT actuators successfully generated various motions including bending, twisting, contraction, and elongation.
Actuation pressure was found to be dependent on slit length, enabling sequential activation.
External sliders provided effective on-off control for individual actuators.
The fabricated pneumatic arm and walker demonstrated the actuators' ease of fabrication and functional range of motion.

Conclusions:

The SLit-in-Tube (SLiT) principle offers a versatile and controllable method for designing soft pneumatic actuators.
SLiT actuators can achieve complex motions and are suitable for constructing sophisticated soft robotic systems.
The design's inherent pressure-motion relationship and the use of external switches facilitate advanced control strategies.