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Mechanical Systems

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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...

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Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers

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Design, modeling, and experimental study of variable stiffness pneumatic bio-inspired soft actuators.

Wenchuan Zhao¹, Shijie Wu¹, Kunlin Zhang¹

¹School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, People's Republic of China.

Bioinspiration & Biomimetics

|March 6, 2026

Summary

This study introduces a novel pneumatic soft actuator inspired by octopus tentacles, offering adjustable stiffness for enhanced load-bearing and manipulation. The bio-inspired design achieved significant improvements in stiffness and contact force, advancing soft robotics.

Keywords:

pneumatic actuation soft actuator soft robot variable stiffness method

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Last Updated: Mar 7, 2026

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Area of Science:

Soft Robotics
Bio-inspired Engineering
Materials Science

Background:

Octopus tentacles exhibit remarkable dexterity and variable stiffness, inspiring novel robotic designs.
Existing soft actuators often lack precise stiffness control and robust load-bearing capabilities.

Purpose of the Study:

To develop a pneumatic soft actuator with variable stiffness inspired by octopus tentacles.
To enhance load-bearing capacity and manipulation performance in soft robotic systems.
To provide a theoretical framework for optimizing soft actuator design.

Main Methods:

Numerical simulations were used to analyze the impact of chamber geometry, wall thickness, and length.
A deformation analysis model was developed using the Yeoh hyperelastic constitutive model and moment equilibrium.
A variable stiffness model was formulated using the pseudo-rigid-body model and energy equivalence principles.
Prototypes were fabricated using rapid prototyping and validated experimentally.

Main Results:

The actuator demonstrated multi-modal deformation: elongation, bending, and circumferential deflection.
Experimental validation confirmed the accuracy of the static and variable-stiffness models.
A 40% increase in stiffness and a 23.59% enhancement in horizontal contact force were achieved.

Conclusions:

The proposed pneumatic soft actuator effectively achieves variable stiffness and improved performance.
The study provides valuable insights for designing advanced pneumatic and hydraulic soft robots.
The bio-inspired approach offers a practical and efficient solution for soft robotics applications.