Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport

While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator system that addresses these challenges through a scalable, adaptable, and repairable framework, offering a cost-effective solution for versatile applications. The system integrates optimized donut-shaped actuation modules and utilizes real-time pressure feedback for synchronized operation, ensuring efficient object grasping and transport without relying on intricate sensing or control algorithms. Experimental results validate the system`s ability to accommodate objects with varying geometries and material characteristics, balancing robustness with flexibility. This work advances the principles of peristaltic actuation, establishing a pathway for safely and reliably manipulating delicate materials in a range of scenarios.

Self-Deployable, Adaptive Soft Robots Based on Contracting-Cord Particle Jamming

We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We demonstrate this with a tripod-shaped robot, TripodBot, consisting of three CCPJ-based legs attached to a central body. TripodBot is intrinsically soft and can be stored and transported in a compact configuration. On site, it can self-deploy and crawl in a slip-stick manner through the shape morphing of its legs; a simplified analytical model accurately captures the speed. The robot's adaptability is demonstrated by its ability to navigate tunnels as narrow as 61 percent of its deployed body width and ceilings as low as 31 percent of its freestanding height. Additionally, it can climb slopes up to 15 degrees, carry a load of 5 grams (2.4 times its weight), and bear a load 9429 times its weight.