Soft pneumatic actuators: a review of design, fabrication, modeling, sensing, control and applications

Xavier, MS, Tawk, CD, Zolfagharian, A, Pinskier, J, Howard, D, Young, T, Lai, J, Harrison, SM, Yong, YK, Bodaghi, M ORCID: https://orcid.org/0000-0002-0707-944X and Fleming, AJ, 2022. Soft pneumatic actuators: a review of design, fabrication, modeling, sensing, control and applications. IEEE Access, 10, pp. 59442-59485. ISSN 2169-3536

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Abstract

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 significant 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 date of publication. 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.

Item Type:	Journal article
Publication Title:	IEEE Access
Creators:	Xavier, M.S., Tawk, C.D., Zolfagharian, A., Pinskier, J., Howard, D., Young, T., Lai, J., Harrison, S.M., Yong, Y.K., Bodaghi, M. and Fleming, A.J.
Publisher:	Institute of Electrical and Electronics Engineers
Date:	2022
Volume:	10
ISSN:	2169-3536
Identifiers:	Number Type 10.1109/access.2022.3179589 DOI 1552370 Other
Rights:	Attribution 4.0 International (CC BY 4.0)
Divisions:	Schools > School of Science and Technology
Record created by:	Jonathan Gallacher
Date Added:	10 Jun 2022 10:18
Last Modified:	10 Jun 2022 10:18
URI:	https://irep.ntu.ac.uk/id/eprint/46436

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