Extending Inflatable Actuator with Spool Mechanism Incorporating Air Supply Tubes Within Its Body
Year: 2026
Type: article
Abstract: Soft actuators provide a wide range of motion capabilities, allowing for the advancement of novel mobile robots. However, soft actuators that possess the capability required to achieve three-dimensional movement are limited. In addition, the presence of air supply tubes poses a challenge to utilizing pneumatic actuators as mobile robot components. This study presents a long inflatable actuator with a novel structure in which air supply tubes are arranged within its body. This structure enables the extension of the inflatable tube with minimal deformation. The proposed actuator comprises an inflatable tube and a spool mechanism. The length of the actuator is controlled by a motor. The performance of the actuator was evaluated experimentally, validating its alignment with our proposed models. The results showed that the proposed actuator exerted extension and contraction forces of 28 N and 87 N, respectively. Furthermore, the proposed actuator can be equipped with a gripper at its tip, enhancing its functionality. In a demonstration, this gripper-equipped actuator successfully extended to grasp a bar at a height of 1.3 m and contracted while lifting a 1.0 kg base. This demonstration indicated that the proposed actuator could provide the required arm motions of a bi-arm climbing robot.
Source: Actuators
DOI: 10.3390/act15030176
Authors: Yuki Satake, Shinichi Hirai
Institution: Ritsumeikan University
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
OpenAlex ID: W7140093654