Machines, Volume 12, Issue 7 (July 2024) – 69 articles
Cover Story (view full-size image):
The most commonly used actuators in soft robotics are soft pneumatic actuators because of their simplicity, cost-effectiveness, and safety. However, pneumatic actuation is also disadvantageous due to the associated strong non-linearities. Identifying analytical models is often complex, and finite element analyses are preferred for evaluating strain and tension states. Alternatively, artificial intelligence algorithms can be used to follow model-free approaches. In this paper, Response Surface Methodology is adopted to identify a predictive model of the bending angle of soft pneumatic joints. Finally, a bioinspired application of the identified model is proposed by designing the soft joints and realizing an actuator that mimics the movements of the scorpion's tail in the attack position. View this paper
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