This paper describes the design of a novel fabric–based antagonistic pneumatic actuator with multiple chambers that can be used for the development of soft continuum manipulators for collaborative tasks. The concept consists of three pneumatic chambers of fabric material capable of being actuated independently. By connecting multiple actuators of this kind, it is possible to obtain soft continuum manipulators capable of complex movements and able to change the stiffness of their elements. In this work we highlight the design and prototyping of the soft actuator and we present the preliminary experiments in terms of motion and stiffening capabilities.

Design of a Fabric–Based Antagonistic Pneumatic Actuator with Multiple Chambers for the Development of Soft Continuum Manipulators / Grazioso, S.; Ostuni, B. M. V.; Caporaso, T.; Di Gironimo, G.; Lanzotti, A.. - (2023), pp. 1195-1202. (Intervento presentato al convegno International Joint Conference on Mechanics, Design Engineering and Advanced Manufacturing, JCM 2022 tenutosi a ita nel 2022) [10.1007/978-3-031-15928-2_104].

Design of a Fabric–Based Antagonistic Pneumatic Actuator with Multiple Chambers for the Development of Soft Continuum Manipulators

Grazioso S.
Primo
;
Ostuni B. M. V.
Secondo
;
Caporaso T.;Di Gironimo G.
Penultimo
;
Lanzotti A.
Ultimo
2023

Abstract

This paper describes the design of a novel fabric–based antagonistic pneumatic actuator with multiple chambers that can be used for the development of soft continuum manipulators for collaborative tasks. The concept consists of three pneumatic chambers of fabric material capable of being actuated independently. By connecting multiple actuators of this kind, it is possible to obtain soft continuum manipulators capable of complex movements and able to change the stiffness of their elements. In this work we highlight the design and prototyping of the soft actuator and we present the preliminary experiments in terms of motion and stiffening capabilities.
2023
978-3-031-15927-5
978-3-031-15928-2
Design of a Fabric–Based Antagonistic Pneumatic Actuator with Multiple Chambers for the Development of Soft Continuum Manipulators / Grazioso, S.; Ostuni, B. M. V.; Caporaso, T.; Di Gironimo, G.; Lanzotti, A.. - (2023), pp. 1195-1202. (Intervento presentato al convegno International Joint Conference on Mechanics, Design Engineering and Advanced Manufacturing, JCM 2022 tenutosi a ita nel 2022) [10.1007/978-3-031-15928-2_104].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/903960
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