Abstract:Multi-chamber soft pneumatic actuators (m-SPAs) have been widely used in
soft robotic systems to achieve versatile grasping and locomotion.
However, existing m-SPAs have slow actuation speed and are either
limited by a finite air supply or require energy-consuming hardware to
continuously supply compressed air. Here, we address these shortcomings
by introducing an internal exhaust air recirculation (IEAR) mechanism
for high-speed and low-energy actuation of m-SPAs. This mechanism
recirculates the exhaust compr… Show more
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