Folded-Tube Soft Pneumatic Actuators for Bending

This article presents a model and experimental results for a new class of bending soft pneumatic actuators (SPAs) made from a single section of thin-walled flexible tubing. The actuator is formed by creasing the tubing into fin-like rectangular folds and inserting the folds through regularly spaced slits in a high-strength fabric. When pressurized, the folds inflate and press against one another to create a bending moment. The actuator bends with a constant-length arc formed by the fabric. The walls of the tubing behave like an inextensible membrane. This membrane reinforcement allows the actuator to create large motions with limited material strain. Accordingly, the actuator can actuate over large bending angles without generating large elastic restoration forces in its structure. Spacing the slits for the folds closer together increases the bending moment for the same angle and pressure. Three folded-tube SPAs with different fold-spacings were experimentally characterized for this work. The strongest of the three was able to produce >190 N of tension and an estimated 10 Nm of bending moment with only 60 kPa. Even after bending 160 degrees, the bending moment was still similar to 5.7 Nm at the same pressure. The model presented in this work describes the moment per unit pressure of the actuators over the measured range of motion. For the 40 and 60 kPa tests, the model differed from the data with an average absolute error of