Recent Progresses in Inflatable Robotics

Contents 1. Introduction 2. Vacuum-based soft actuators 2.1 Background 2.2 Origami-based Vacuum PAMs 2.3 Armor-based Stable Force PAMs 2.4 Reconfigurable origami-based PAMs 3. Inflatable Robotic Manipulators 3.1 Introduction 3.2 Concept and design of bending joint actuator 3.3 Performance of bending joint actuator 3.4 Concept, design and manufacturing of torsional actuator 3.5 Theoretical model of pretwisted tubes 3.6 Performance of torsional actuator 3.7 Integration into multi-DOF manipulators 4 Hybrid hard-soft Robotic Joints and Manipulators 4.1 Introduction 4.2 Design and manufacturing of origami joint 4.3 Theoretical model of unit chamber 4.4 Performance of origami joints 4.5 3DOFs hybrid robotic manipulator 5 Unbuckling inflatable tubes 5.1 Introduction 5.2 Film-based inflatable tubes 5.3 Tube behaviors under axial compression 5.4 Buckling tube modeling 5.5 Discussion 6 Multi-segment inflatable tubes 6.1 Bistable structure design 6.2 Bi-stability configurations 6.3 Bending actuator design 6.4 Multi-segment tube buckling 6.5 Inflatable tube grippers 7. Conclusion References

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