GRACE: GeometRy-based Actuators that Contract and Elongate

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Jan 2022Publisher:ZenodoJournal:2022 I-RIM ConferenceFunded by:EC | PROBOSCIS

Authors: De Pascali, Corrado; Naselli, Giovanna Adele; Palagi, Stefano; Scharff, Rob Bernardus Nicolaas; Mazzolai, Barbara;

doi: 10.5281/zenodo.7531361 , 10.5281/zenodo.7531362

GRACE: GeometRy-based Actuators that Contract and Elongate

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Abstract

This paper describes a recently developed class of 3D-printable soft pneumatic actuators, named GRACE. They can be built as a whole with the robotic artefact, avoiding structural discontinuities in the soft robot's body. Their design is fully scalable and they can be built with different materials and additive manufacturing technologies. Their arrangements in series and/or parallel configurations enable the fabrication of complex bundles of muscle fibres for biomimetic machines.

Related Organizations

FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy
Italian Institute of Technology
Italy
Sant'Anna School of Advanced Studies
Italy

Keywords

soft actuator, 3D printing, pneumatic

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