Developing Soft Interconnected Microchannel Network for 2D Skin-Like Actuator

Soft pneumatic actuators are essential components in bioinspired and wearable systems, where flexibility, adaptability, and safe human interaction are required. However, most pneumatic designs rely on bulky chambers that limit miniaturization and prevent implementation in thin films actuation. Therefore, achieving efficient planar pneumatic actuation remains challenging. Here, a novel actuator is introduced called soft interconnected network (SIN) actuator, featuring a two-dimensional network of interconnected microchannels embedded within an asymmetric bilayer polydimethylsiloxane (PDMS). Upon pressurization, localized strain gradients drive dual-curvature out-of-plane deformation, forming a dome-shaped motion. This skin-like actuator exhibits large, reversible displacement and blocking force despite an overall thickness of only 2 mm. The conducted systematic geometric study shows how channel height, width, pattern resolution, and layer thickness govern actuation performance. The optimized design can achieve a large peak displacement of 30 mm under moderate pressure levels. Finally, the proposed soft actuator is implemented in a bio-inspired prototype to mimic smooth, cyclic expansion-contraction behavior of a jellyfish bell, confirming its high potential for utilization in future bio-inspired robots as an artificial muscle. This work establishes a generalizable platform for planar pneumatic actuation and paves the way toward next-generation artificial skins, soft muscles, and bioinspired robots capable of 2D shell deformation.