Seahorse-Tail-Inspired Soft Pneumatic Actuator: Development and Experimental Characterization

Area of Science:

• Robotics
• Biomimetics
• Materials Science

Background:

• Soft robotics leverages soft materials for advanced applications, including bio-inspired structures like polyps and jellyfish.
• Seahorse tail-inspired grippers have been explored for handling delicate or complex objects.
• Previous research has focused on various bio-inspired robotic designs for manipulation and locomotion.

Purpose of the Study:

• To present a novel biomimetic soft pneumatic actuator inspired by the seahorse tail (Hippocampus reidi).
• To develop a leg for a multi-legged robot using this novel actuator design.
• To characterize the mechanical performance and actuation properties of the seahorse tail-inspired actuator.

Main Methods:

• The actuator was prototyped using a 3D-printed thermoplastic polyurethane reinforcement (skeletal mimic) within a silicone rubber structure (epithelial mimic).
• Pneumatic actuation was achieved through an internal channel within the silicone structure, mimicking muscle function.
• Mechanical characterization involved isotonic and isometric tests, along with activation/deactivation time measurements.

Main Results:

• The actuator prototype demonstrated a full distension of 154.5 mm at 1.8 bar.
• A maximum force of 11.9 N was achieved during testing.
• Activation and deactivation times were recorded at 74.9 ms and 94.5 ms, respectively.

Conclusions:

• The developed biomimetic actuator effectively mimics the seahorse tail's function for robotic applications.
• The novel design, combining 3D printing and soft materials, shows promise for creating robust robotic legs.
• The actuator's performance metrics support its potential use in multi-legged robots requiring versatile locomotion.