Soft Actuator and Soft Gripper Using the Same

This technology is a soft actuator and soft gripper that operates by injecting fluid into a chamber with a flexible, zigzag folding structure to induce expansion. It achieves both linear extension and bending motions by physically controlling the deployment angle through deployment limiters placed between the folds.

Pneumatic soft robots often face issues such as large footprints due to their internal chamber design and a tendency to sag under their own weight when not in operation.

This technology utilizes an origami-inspired structure to minimize size when not in use and incorporates fixed deployment limiters between the folding surfaces to restrict expansion in specific directions during fluid injection. This allows a single actuator to control both extension and bending motions. It is suitable for applications in logistics automation, medical assistive devices, and end-effectors for collaborative robots. Its foldable design minimizes storage volume, making it particularly advantageous for equipment where space efficiency is critical.

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Key Features:

• A fluid-injected chamber featuring a flexible, zigzag folding structure
• A structure that generates driving force by injecting fluid into the chamber to induce expansion
• Deployment limiters positioned between the folds to physically regulate the deployment angle
• A soft actuator capable of linear extension or bending motions based on the configuration of the deployment limiters