Geometry-based pneumatic actuators for soft robotics
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866910035323387904 |
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| author | Chen, Rui Leonardis, Daniele Chiaradia, Domenico Frisoli, Antonio |
| author_facet | Chen, Rui Leonardis, Daniele Chiaradia, Domenico Frisoli, Antonio |
| contents | Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, including minimum bending radii, multi-states capabilities and structural stability. We present geometry-based pneumatic actuators (GPAs), a design and implementation approach that introduces constraint layers with configurable CNC heat-sealed chambers. The approach achieves predictable deformation, near-zero bending radii, multi-states actuation, and enables customizable and repeatable complex actuated geometries. Mathematical modeling reveals predictable linear angle transformations and validates nonlinear torque-angle relationships across diverse configurations. We demonstrate versatility of the GPAs approach through three applications: a 49 g wrist exoskeleton reducing muscle activity by up to 51%, a 30.8 g haptic interface delivering 8 N force feedback with fast response, and a 208 g bipedal robot achieving multi-gait locomotion. GPAs establish a configurable platform for next-generation wearable robotics, haptic systems, and soft locomotion devices. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_24104 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Geometry-based pneumatic actuators for soft robotics Chen, Rui Leonardis, Daniele Chiaradia, Domenico Frisoli, Antonio Robotics Soft pneumatic actuators enable safe human-machine interaction with lightweight and powerful applied parts. On the other side, they suffer design limitations as regards complex actuation patterns, including minimum bending radii, multi-states capabilities and structural stability. We present geometry-based pneumatic actuators (GPAs), a design and implementation approach that introduces constraint layers with configurable CNC heat-sealed chambers. The approach achieves predictable deformation, near-zero bending radii, multi-states actuation, and enables customizable and repeatable complex actuated geometries. Mathematical modeling reveals predictable linear angle transformations and validates nonlinear torque-angle relationships across diverse configurations. We demonstrate versatility of the GPAs approach through three applications: a 49 g wrist exoskeleton reducing muscle activity by up to 51%, a 30.8 g haptic interface delivering 8 N force feedback with fast response, and a 208 g bipedal robot achieving multi-gait locomotion. GPAs establish a configurable platform for next-generation wearable robotics, haptic systems, and soft locomotion devices. |
| title | Geometry-based pneumatic actuators for soft robotics |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.24104 |