Soft actuator and soft gripper using the same

Fluid-Driven Soft Actuator Implementing Bending via Folding Structures and Deployment Limiters

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

Pneumatic soft robots have historically faced issues with large footprints due to internal chamber design and a tendency to sag under their own weight when not in operation.

By applying an origami-inspired structure, this technology minimizes size when not in use and utilizes fixed deployment limiters between the folding surfaces to restrict expansion in specific directions during fluid injection. This allows for the control of complex deployment and bending motions within a single actuator. It is suitable for applications in logistics automation, medical assistive devices, and end-effectors for collaborative robots, and is particularly advantageous for equipment where space efficiency is critical due to its foldable, compact storage design.

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Key Features:

• A folding actuator unit featuring an internal chamber that expands when fluid is introduced.
• A deployment limiter fixed only to the ends of the folds between two folded surfaces on one side of the actuator.
• A configuration where the deployment limiter restricts expansion on one side during the deployment of the folding actuator.
• A soft actuator where the deployment limiter is formed as a folding structure that expands between two folded surfaces.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of collaborative assistive robot arms using foldable hybrid soft robot technology.