Soft, Rotating Pneumatic Actuator

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Soft, Rotating Pneumatic Actuator

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Title: Soft, Rotating Pneumatic Actuator
Author: Ainla, Alar; Verma, Mohit S.; Yang, Dian; Whitesides, George McClelland

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Citation: Ainla, Alar, Mohit S. Verma, Dian Yang, and George M. Whitesides. 2017. “Soft, Rotating Pneumatic Actuator.” Soft Robotics (May 30). doi:10.1089/soro.2017.0017.
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Abstract: This paper describes a soft pneumatic actuator that generates cyclical motion. The actuator consists of several (three, four, or five) chambers (arranged around the circumference of a circle surrounding a central rod) that can be actuated independently using negative pressure (or partial vacuum). Sequential actuation of the four-chamber device using reduced pressure moves the central rod cyclically in an approximately square path. We characterize the trajectory of the actuator and the force exerted by it, as we vary the material used for fabrication, the number of chambers, and the size of the actuator. We demonstrate two applications of this actuator: to deliver fluid while stirring (by replacing the central rod with a needle), and for locomotion that mimics a reptilian gait (by combining four actuators together).
Published Version: 10.1089/soro.2017.0017
Terms of Use: This article is made available under the terms and conditions applicable to Open Access Policy Articles, as set forth at
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