STAS: An Antagonistic Soft Pneumatic Actuator Assembly for High Torque Output

The benefits of soft robotic actuation have been recognized and soft actuators are increasingly used. Soft robots are generally lightweight, inexpensive, and highly compliant. They are often used for interaction with small objects which only require relatively low force output. Nevertheless, large-scale applications can still benefit from the advantages of soft actuators if force output is sufficiently large. Some soft actuation has been...