Pouch Motors: Printable Soft Actuators Integrated with Computational Design

We propose pouch motors, a new family of printable soft actuators integrated with computational design. The pouch motor consists of one or more inflatable gas-tight bladders made of sheet materials. This printable actuator is designed and fabricated in a planar fashion. It allows both easy prototyping and mass fabrication of affordable robotic systems. We provide theoretical models of the actuators compared with the experimental data. The...