Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications

Matheus S. Xavier, Charbel D. Tawk, Ali Zolfagharian, Joshua Pinskier, David Howard, Taylor Young, Jiewen Lai, Simon M. Harrison, Yuen K. Yong, Mahdi Bodaghi, Andrew J. Fleming
2022 IEEE Access  
Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the
more » ... nificant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified. INDEX TERMS Soft robotics, soft pneumatic actuator, design, modeling, sensing, control. Research Fellow with the University of Wollongong, where he worked on soft prosthetic hands with sensing capabilities, soft wearable devices, and soft dexterous grippers. He is currently an Assistant Professor of mechanical engineering at the University of Wollongong in Dubai. His research interests include soft and smart 3D printed actuators and sensors, soft and smart prosthetic hands, wearable soft robotic devices, and soft human-machine interfaces.
doi:10.1109/access.2022.3179589 fatcat:nxdgxuorkjhcnoxwqc47gakone