Increasing Bending Performance of Soft Actuator by Silicon Rubbers of Multiple Hardness

In this study, a method for fabricating actuators made of various silicone materials is proposed to improve the flexural performance soft-body actuators. Specifically, redundant deformation part soft actuator was replaced with material higher hardness limit actuator. Materials lower were used produce main actuator, so that body could perform greater bending under same air pressure and create force. addition, fabricated divided into three regions in study: periphery chamber, chamber wall (the curved part), bottom surface The impact on overall when using different these explored study. According idea multi-hardness structure, an seven chambers fabricated, improved by 90.72% compared uniform