Geometry-Based Customization of Bending Modalities for 3D-Printed Soft Pneumatic Actuators

In this work, we propose a novel type of 3D-printed soft pneumatic actuator that allows geometry-based customization of bending modalities. While motion in the 3-D space has been achieved for several types of soft actuators, only 2-D bending has been previously modeled and characterized within the scope of 3D-printed soft pneumatic actuators. We developed the first type of 3D-printed soft pneumatic actuator, which, by means of the unique feature...