A bi-directional pneumatic actuator for sustainable robotic systems

This paper presents a novel soft pneumatic actuator that demonstrates a bi-directional linear behaviour when pressurized. The actuator design is based on the concept of antagonistic chambers and utilizes bellows and pleated geometries to achieve bidirectionality. A simplified analytical model with low computational cost is presented to estimate the actuator's behaviour in terms of stroke, exerted forces, and energy consumption. The model results are discussed to establish some design guidelines. An initial experimental phase is also discussed, aimed at prototyping using easily reproducible additive manufacturing techniques, including experimental results from isometric tests conducted on the actuator. The paper concludes with a comparison of the proposed solution with similar ones available in the literature and evaluates potential applications of the technology in the field of service robotics through a case study involving the development of an adaptive gripper mounted on a commercial robotic manipulator.