Energy Release Through Volume Snapping in Soft Inflatable Actuators

ORAL

Abstract

Traditionally, the actuation speed of soft inflatable actuators is limited by the influx of fluid, resulting in slow moving soft robots. To overcome this limitation, we have developed a bistable elastic actuator with an isochoric snap-through. As no external fluid input is needed to pass through this instability, the resulting actuator deformation happens quasi-instantaneous and is characterized by energy release. Besides optimizing the actuator’s design for energy release, we also demonstrate its ability to be reset to the initial, undeformed state, enabling cyclic energy release.

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Presenters

  • Benjamin Gorissen

    SEAS, Harvard University, John A. Paulson School of Engineering and Applied Sciences, Harvard University, School of Engineering and Applied Sciences, Harvard University

Authors

  • Benjamin Gorissen

    SEAS, Harvard University, John A. Paulson School of Engineering and Applied Sciences, Harvard University, School of Engineering and Applied Sciences, Harvard University

  • David Melancon

    SEAS, Harvard University, John A. Paulson School of Engineering and Applied Sciences, Harvard University, School of Engineering and Applied Sciences, Harvard University

  • Nick Vasios

    SEAS, Harvard University, John A. Paulson School of Engineering and Applied Sciences, Harvard University

  • Mehdi Torbati

    SEAS, Harvard University

  • Katia Bertoldi

    Harvard University, SEAS, Harvard University, John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA, School of Engineering and Applied Sciences, Harvard University, John A. Paulson School of Engineering and Applied Sciences, Harvard University