Power-Efficient Soft Pneumatic Actuator Using Spring-Frame Collateral Compression Mechanism

With the ongoing research on soft robots, performance of actuators needs to be enhanced for more wide robotic applications. Currently, most robots based pneumatic actuation are capable assisting small systems, but they not fully suited supporting joints requiring large force and range motion. This is due characteristics artificial muscle (PAM); relatively slow, inefficient, experience a significant reduction when PAM contracts. Hence, we propose novel spring-frame collateral compression mechanism. only single compressed air source, external mesh-covered inner proposed operate simultaneously generate considerable force. Additionally, design internal actuator within void space reduces consumption consequently improves actuator’s operating speed efficiency. We experimentally confirmed that exhibited 31.2% greater force, was 25.6% faster, consumed 21.5% lower compared conventional McKibben muscles. The enhancement allowing development compact with assistive range.