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Authors: Ansari Usama and Asokan Thondiyath

Affiliation: Department of Engineering Design, Indian Institute of Technology Madras, Chennai, 600 036, India

Keyword(s): Soft Actuator, Robotic Gripping, Parameter Identification, FEM.

Abstract: Soft actuators are finding wide applications in robotics due to the compliance they offer in handling delicate objects. The design of soft actuators is challenging due to the fragile nature of the materials used and the difficulty of fabricating them. Also, soft actuators must be designed to achieve the desired bending performance that suits the application. This paper presents the design and analysis of a multi-chamber, multi-curvature soft actuator for robotic gripping applications. This design combines two different configurations to get the desired bending curvature of the actuator. Modeling of the actuator and analysis of the effect of various design parameters on the bending angle and the tip force are presented. Prototype fabrication and experimental results are also presented. The results confirm that it is possible to custom-design soft actuators to meet specific performance requirements through design synthesis.

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Paper citation in several formats:
Usama, A. and Thondiyath, A. (2025). Design Space Exploration and Performance Evaluation of a Multi-Chamber, Multi-Curvature Soft Actuator for Robotic Applications. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2; ISSN 2184-2809, SciTePress, pages 116-127. DOI: 10.5220/0013777000003982

@conference{icinco25,
author={Ansari Usama and Asokan Thondiyath},
title={Design Space Exploration and Performance Evaluation of a Multi-Chamber, Multi-Curvature Soft Actuator for Robotic Applications},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={116-127},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013777000003982},
isbn={978-989-758-770-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Design Space Exploration and Performance Evaluation of a Multi-Chamber, Multi-Curvature Soft Actuator for Robotic Applications
SN - 978-989-758-770-2
IS - 2184-2809
AU - Usama, A.
AU - Thondiyath, A.
PY - 2025
SP - 116
EP - 127
DO - 10.5220/0013777000003982
PB - SciTePress

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