Increasing the Force Exertion of a Soft Actuator Using Externally Attachable Inter-Chamber Plates

Abstract

The application of soft actuators has become increasingly common in wearable devices. In this study, we investigated the force characteristics of soft actuators made entirely of elastic material, when equipped with solid external chamber plates of varying thickness that can be attached from the outside. This study examines the effect of these plates on the force characteristics of a fully silicone-based fifteen-chamber soft actuator without any non-stretchable internal components. The parameters of the actuator were determined with consideration of wearable applications, such as rehabilitation devices and exoskeletons. The observed differences in the behavior of the actuator at various pressure levels and plate thicknesses were measured. Furthermore, the effect of the externally inserted plates between the chambers on the passive bending of the actuator was examined. The obtained results were evaluated and compared to determine how external chamber plates of given thicknesses affect the operational performance of a soft actuator.