A Reconfigurable Fabric Based Pneumatic Actuator with Button Fastened Constraint Modules for Multi Mode Actuation
A Reconfigurable Fabric Based Pneumatic Actuator with Button Fastened Constraint Modules for Multi Mode Actuation
This research presents a reconfigurable fabric-based pneumatic actuator that enables rapid, tool-free switching between multiple actuation modes by attaching constraint fabric modules to a buttoned textile sleeve. The system supports isotropic expansion, contraction, bending, and twisting without redesigning or disassembling the actuator. A capacitive tactile sensor module is also introduced for task-dependent contact sensing. Experimental results show elongation ratios, bending angles, and blocking forces exceeding 10 N, with low hystesteresis and stable cyclic responses. The system is demonstrated in soft robotic arms for grasping through in situ motion reconfiguration.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
elongation ratio
1.2
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uator surface for task dependent contact sensing. Experiments demonstrated an elongation ratio of 1.2, a maximum bending angle of approximately 60 degrees, and a twisting angle of approximately 90 degrees at 24 kPa, while achieving blocking forces exceeding 10 N across all modes. The tactile sensor exhibited a monotonic, force-dependent increase in capacitance with low hysteresis (approximately 12%) and stable cyclic
Open source S4blocking force
10
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uator surface for task dependent contact sensing. Experiments demonstrated an elongation ratio of 1.2, a maximum bending angle of approximately 60 degrees, and a twisting angle of approximately 90 degrees at 24 kPa, while achieving blocking forces exceeding 10 N across all modes. The tactile sensor exhibited a monotonic, force-dependent increase in capacitance with low hysteresis (approximately 12%) and stable cyclic
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Automatically extracted; no manual editorial approval recorded.
uator surface for task dependent contact sensing. Experiments demonstrated an elongation ratio of 1.2, a maximum bending angle of approximately 60 degrees, and a twisting angle of approximately 90 degrees at 24 kPa, while achieving blocking forces exceeding 10 N across all modes. The tactile sensor exhibited a monotonic, force-dependent increase in capacitance with low hysteresis (approximately 12%) and stable cyclic
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org