2023/08/09 by Jacqueline Libby, Aniket A. Somwanshi, Libby, Jacqueline +11
Biochemistry, Genetics and Molecular Biology · Engineering · #Advanced Materials and Mechanics #Cellular Mechanics and Interactions #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Soft Robotics and Applications #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2308.04722
openalex publication_date 2023/08/09 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper investigates the influence of the internal geometrical structure of soft pneu-nets on the dynamic response and hysteresis of the actuators. The research findings indicate that by strategically manipulating the stress distribution within soft robots, it is possible to enhance the dynamic response while reducing hysteresis. The study utilizes the Finite Element Method (FEM) and includes experimental validation through markerless motion tracking of the soft robot. In particular, the study examines actuator bending angles up to 500% strain while achieving 95% accuracy in predicting the bending angle. The results demonstrate that the particular design with the minimum air chamber width in the center significantly improves both high- and low-frequency hysteresis behavior by 21.5% while also enhancing dynamic response by 60% to 112% across various frequencies and peak-to-peak pressures. Consequently, the paper evaluates the effectiveness of "mechanically programming" stress distribution and distributed energy storage within soft robots to maximize their dynamic performance, offering direct benefits for control.