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Development and Testing of an Omni-directional Soft Pneumatic Actuator for Endoscopy

Year: 2024

Type: conference-paper

Abstract: Soft pneumatic actuators are appropriate for operation in unstructured environments because of their adaptability, cost-effectiveness, safety and ease of use. This paper presents the development and testing of an externally reinforced actuator with three independent chambers. Numerical simulations were used to design the actuator and to validate its workability for endoscopy. Finally, experimental tests on the prototype validated the numerical results and characterized the workspace of the actuator.

Source: Zenodo (CERN European Organization for Nuclear Research)

DOI: 10.5281/zenodo.14731143

Authors: Antonelli, Michele Gabrio, Zobel, Pierluigi Beomonte, Hanafusa, Akihiko, Stampone, Nicola

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W6968306870

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