Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications
Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dyna...
| Main Authors: | , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9785890/ |
| _version_ | 1811341491858046976 |
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| author | Matheus S. Xavier Charbel D. Tawk Ali Zolfagharian Joshua Pinskier David Howard Taylor Young Jiewen Lai Simon M. Harrison Yuen K. Yong Mahdi Bodaghi Andrew J. Fleming |
| author_facet | Matheus S. Xavier Charbel D. Tawk Ali Zolfagharian Joshua Pinskier David Howard Taylor Young Jiewen Lai Simon M. Harrison Yuen K. Yong Mahdi Bodaghi Andrew J. Fleming |
| author_sort | Matheus S. Xavier |
| collection | DOAJ |
| description | Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the significant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the date of publication. The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified. |
| first_indexed | 2024-04-13T18:56:04Z |
| format | Article |
| id | doaj.art-149fcb89edc04ea6b35085419796fb77 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-13T18:56:04Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-149fcb89edc04ea6b35085419796fb772022-12-22T02:34:13ZengIEEEIEEE Access2169-35362022-01-0110594425948510.1109/ACCESS.2022.31795899785890Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and ApplicationsMatheus S. Xavier0https://orcid.org/0000-0002-6581-705XCharbel D. Tawk1https://orcid.org/0000-0002-2917-5985Ali Zolfagharian2https://orcid.org/0000-0001-5302-360XJoshua Pinskier3https://orcid.org/0000-0002-8878-9012David Howard4https://orcid.org/0000-0002-5012-7224Taylor Young5https://orcid.org/0000-0002-4933-7128Jiewen Lai6https://orcid.org/0000-0002-2676-7387Simon M. Harrison7https://orcid.org/0000-0002-4772-4917Yuen K. Yong8https://orcid.org/0000-0001-7363-5304Mahdi Bodaghi9https://orcid.org/0000-0002-0707-944XAndrew J. Fleming10https://orcid.org/0000-0001-7132-8458Precision Mechatronics Laboratory, School of Engineering, The University of Newcastle, Callaghan, NSW, AustraliaFaculty of Engineering and Computer Science, University of Wollongong in Dubai, Dubai, United Arab EmiratesSchool of Engineering, Deakin University, Geelong, VIC, AustraliaData61, CSIRO, Pullenvale, QLD, AustraliaData61, CSIRO, Pullenvale, QLD, AustraliaPrecision Mechatronics Laboratory, School of Engineering, The University of Newcastle, Callaghan, NSW, AustraliaDepartment of Mechanical Engineering, The Hong Kong Polytechnic University, Hong KongData61, CSIRO, Pullenvale, QLD, AustraliaPrecision Mechatronics Laboratory, School of Engineering, The University of Newcastle, Callaghan, NSW, AustraliaDepartment of Engineering, School of Science and Technology, Nottingham Trent University, Nottingham, U.K.Precision Mechatronics Laboratory, School of Engineering, The University of Newcastle, Callaghan, NSW, AustraliaSoft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the significant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the date of publication. The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified.https://ieeexplore.ieee.org/document/9785890/Soft roboticssoft pneumatic actuatordesignmodelingsensingcontrol |
| spellingShingle | Matheus S. Xavier Charbel D. Tawk Ali Zolfagharian Joshua Pinskier David Howard Taylor Young Jiewen Lai Simon M. Harrison Yuen K. Yong Mahdi Bodaghi Andrew J. Fleming Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications IEEE Access Soft robotics soft pneumatic actuator design modeling sensing control |
| title | Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications |
| title_full | Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications |
| title_fullStr | Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications |
| title_full_unstemmed | Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications |
| title_short | Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications |
| title_sort | soft pneumatic actuators a review of design fabrication modeling sensing control and applications |
| topic | Soft robotics soft pneumatic actuator design modeling sensing control |
| url | https://ieeexplore.ieee.org/document/9785890/ |
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