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| Natura: | Preprint |
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2026
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| Accesso online: | https://arxiv.org/abs/2603.24461 |
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| _version_ | 1866915891060408320 |
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| author | Tan, Xiangyi McDonald-Bowyer, Aoife Stoyanov, Danail Stilli, Agostino |
| author_facet | Tan, Xiangyi McDonald-Bowyer, Aoife Stoyanov, Danail Stilli, Agostino |
| contents | Miniaturised soft pneumatic actuators are crucial for robotic intervention within highly constrained anatomical pathways. This work presents the design and validation of a fibre-reinforced soft actuator at the centimetre scale for inte- gration into an endoluminal robotic platform for natural-orifice interventional and diagnostic applications. A single-chamber geometry reinforced with embedded Kevlar fibre was de- signed to maximise curvature while preserving sealing integrity, fabricated using a multi-stage multi-stiffness silicone casting process, and validated against a high-fidelity Abaqus FEM using experimentally parametrised hyperelastic material models and embedded beam reinforcement. The semi-cylindrical actuator has an outer diameter of 18,mm and a length of 37.5,mm. Single and double helix winding configurations, fibre pitch, and fibre density were investigated. The optimal 100 SH configuration achieved a bending angle of 202.9° experimentally and 297.6° in simulation, with structural robustness maintained up to 100,kPa and radial expansion effectively constrained by the fibre reinforcement. Workspace evaluation confirmed suitability for integration into the target device envelope, demonstrating that fibre-reinforcement strategies can be effectively translated to the centimetre regime while retaining actuator performance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_24461 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Design, Modelling and Characterisation of a Miniature Fibre-Reinforced Soft Bending Actuator for Endoluminal Interventions Tan, Xiangyi McDonald-Bowyer, Aoife Stoyanov, Danail Stilli, Agostino Robotics Miniaturised soft pneumatic actuators are crucial for robotic intervention within highly constrained anatomical pathways. This work presents the design and validation of a fibre-reinforced soft actuator at the centimetre scale for inte- gration into an endoluminal robotic platform for natural-orifice interventional and diagnostic applications. A single-chamber geometry reinforced with embedded Kevlar fibre was de- signed to maximise curvature while preserving sealing integrity, fabricated using a multi-stage multi-stiffness silicone casting process, and validated against a high-fidelity Abaqus FEM using experimentally parametrised hyperelastic material models and embedded beam reinforcement. The semi-cylindrical actuator has an outer diameter of 18,mm and a length of 37.5,mm. Single and double helix winding configurations, fibre pitch, and fibre density were investigated. The optimal 100 SH configuration achieved a bending angle of 202.9° experimentally and 297.6° in simulation, with structural robustness maintained up to 100,kPa and radial expansion effectively constrained by the fibre reinforcement. Workspace evaluation confirmed suitability for integration into the target device envelope, demonstrating that fibre-reinforcement strategies can be effectively translated to the centimetre regime while retaining actuator performance. |
| title | Design, Modelling and Characterisation of a Miniature Fibre-Reinforced Soft Bending Actuator for Endoluminal Interventions |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.24461 |