Design and Performance Analysis of a Torsional Soft Actuator Based on Hyperelastic Materials

Conducting research on soft robots is crucial as there are still many problems that need to be resolved in the areas of material selection, structure design and manufacture, drive control. Soft manipulators, a subset robots, now popular area study for researchers. In comparison typical manipulators feature high degree gripping flexibility basic morphological structure. They composed flexible materials. have wide range potential applications healthcare, rehabilitation, bionics, detection, they can compensate drawbacks rigid some use scenarios. A modular soft-body torsional system developed after actuator conceived constructed, its performance examined. The torsion grasping combined fashion. With help RGB-D vision algorithms, this multi-modular setup makes it possible combine actuators with various twisting degrees achieve exact gripping. Through pneumatic control, target object precisely grasped rotated at angles, enabling rotation three dimensions.