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Bioinspired Design for Energy-Efficient Soft Actuators Achieving Asymmetrical Spatiotemporal Deformation.

Ki-Young Song1, Wenjun Zhang2

  • 1The School of Robotics, Xi'an Jiaotong-Liverpool University, Suzhou, China.

Soft Robotics
|May 28, 2025
PubMed
Summary

Researchers developed a novel soft actuator inspired by human walking, achieving complex movements with reduced complexity and energy use. This bioinspired design offers versatile and efficient adaptive locomotion for soft robots.

Keywords:
asymmetric spatiotemporal deformationsbioinspiredenergy efficienthalf-crossingmultidirectional locomotionpneumatic soft actuators

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Area of Science:

  • Robotics
  • Bioinspired Engineering
  • Materials Science

Background:

  • Conventional soft actuators often require complex structures and multiple air channels for sophisticated movements.
  • Achieving asymmetrical spatiotemporal deformations, mimicking biological locomotion, remains a challenge in soft robotics.
  • Energy efficiency and structural simplicity are key limitations in current soft actuator designs.

Purpose of the Study:

  • To present a novel bioinspired pneumatic soft actuator capable of asymmetrical spatiotemporal deformations.
  • To demonstrate a simplified design using a half-crossing structure with only two air tubes.
  • To achieve energy-efficient and versatile adaptive locomotion in soft robotic systems.

Main Methods:

  • Design and fabrication of a pneumatic soft actuator featuring a unique half-crossing structure.
  • Utilizing controlled airflow through two air tubes to generate complex bending and linear motions.
  • Implementing a passive feedforward control strategy for enhanced movement flexibility.
  • Integration and testing of the actuator in a hexapod robot platform.

Main Results:

  • The novel actuator successfully produced asymmetrical spatiotemporal deformations, mimicking human walking phases (stance and swing).
  • Complex multidirectional movements, including forward, backward, and turning, were achieved with reduced structural complexity and energy consumption.
  • Experimental validation on a hexapod robot demonstrated the actuator's adaptability and efficiency.
  • Optimized performance was achieved by adjusting air pressure and cycle duration.

Conclusions:

  • The bioinspired pneumatic soft actuator offers a versatile and energy-efficient solution for adaptive locomotion.
  • The simplified half-crossing structure significantly reduces complexity and energy demands compared to conventional designs.
  • This novel approach advances the field of soft robotics by enabling more biomimetic and efficient movement.