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Related Experiment Video

Updated: Jan 26, 2026

Bioinspired Soft Robot with Incorporated Microelectrodes
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Shape Programming Using Triangular and Rectangular Soft Robot Primitives.

Phone May Khin1, Jin Huat Low2, Marcelo H Ang3

  • 1Department of Biomedical Engineering, National University of Singapore, Singapore 117583, Singapore. biekpm@nus.edu.sg.

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|April 10, 2019
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Summary
This summary is machine-generated.

Researchers developed novel fabric-based soft robotic modules, including inflatable beams (IB) and rotary actuators (FRA). These modules enable the construction of adaptable pneumatic structures for assistive applications.

Keywords:
fabric-based soft actuatorflexible structuressoft pneumatic actuators

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft robotics offers advantages in adaptability and safety over rigid systems.
  • Fabric-based actuators provide lightweight and flexible solutions for robotic applications.
  • Pneumatic actuation is a common method for powering soft robotic devices.

Purpose of the Study:

  • To present novel fabric-based soft robotic modules: inflatable beam (IB) and fabric-based rotary actuator (FRA).
  • To explore the integration of IB and FRA modules for creating versatile pneumatic structures.
  • To demonstrate the potential of these modules in developing assistive robotic devices.

Main Methods:

  • Design and fabrication of origami-inspired V-pleated FRA modules for angular displacement.
  • Investigation of different rotary joint designs for connecting FRA and IB modules.
  • Implementation of a state transition-based position control system for pneumatic actuation.
  • Assembly of a soft robotic limb with an end effector using IB and FRA modules.

Main Results:

  • The FRA module effectively generates angular displacement upon pressurization.
  • Varying rotary joint designs allows for diverse ranges of motion in assembled modules.
  • The control system successfully regulates module movement through pneumatic pressurization.
  • A functional soft robotic limb with grasping capabilities was constructed.

Conclusions:

  • Fabric-based soft robotic modules (IB and FRA) offer a versatile platform for building complex pneumatic structures.
  • The developed modules and control system show promise for creating assistive robotic devices, such as a wheelchair-attachable limb.
  • This work contributes to the advancement of soft robotics for practical applications, particularly in aiding individuals with disabilities.