FORCE-OPTIMIZED MONOLITHIC PNEUNETS SOFT ACTUATORS: DESIGN, SIMULATION AND CHARACTERIZATION

This study investigates the design, simulation, and characterization of force-optimized, monolithic, PneuNets-based soft actuators for applications in robotics and rehabilitation. Building on previous work, the research explores the optimization of actuator geometry through Finite Element Method (FEM) simulations and experimental validation. By refining the actuator’s geometry, particularly regarding chamber count and structural elements, the study aims to improve force output and efficiency while maintaining a simple, cost-effective design process. The elastomer Dragon Skin 30 was selected for its favorable mechanical properties, ensuring high deformation tolerance and efficient force control. The optimization process involved a detailed analysis of force and stress distribution using FEM, followed by actuator fabrication and testing. The results indicate that increasing the number of chambers enhances force output, with a maximum tip force of 1.2 N achieved in the final design. A comparison between the initial and final designs revealed significant improvements in force generation, thereby validating the FEM model as a reliable tool for actuator design. The study concludes that the optimized actuator design offers a promising solution for flexible and efficient soft actuators, suitable for rehabilitation and other delicate manipulation tasks.