How Does the Inner Geometry of Soft Actuators Modulate the Dynamic and Hysteretic Response?
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This paper investigates the influence of the internal geometrical structure of soft pneu-nets on the dynamic response and hysteresis of the actuators. The research findings indicate that by strategically manipulating the stress distribution within soft robots, it is possible to enhance the dynamic response while reducing hysteresis. The study utilizes the Finite Element Method (FEM) and includes experimental validation through markerless motion tracking of the soft robot. In particular, the study examines actuator bending angles up to 500 results demonstrate that the particular design with the minimum air chamber width in the center significantly improves both high- and low-frequency hysteresis behavior by 21.5 112 paper evaluates the effectiveness of "mechanically programming" stress distribution and distributed energy storage within soft robots to maximize their dynamic performance, offering direct benefits for control.
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