Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport

TL;DR

This paper introduces a scalable, modular soft robotic actuator inspired by biological peristalsis, capable of transporting fragile and irregular objects efficiently without complex sensing, validated through experimental results.

Contribution

It presents a novel, adaptable soft robotic system with optimized modules and real-time pressure feedback for reliable object transport, advancing peristaltic actuation principles.

Findings

Successfully transports objects with varying geometries and materials

Operates efficiently without intricate sensing or control algorithms

Demonstrates robustness and flexibility in experimental tests

Abstract

While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator system that addresses these challenges through a scalable, adaptable, and repairable framework, offering a cost-effective solution for versatile applications. The system integrates optimized donut-shaped actuation modules and utilizes real-time pressure feedback for synchronized operation, ensuring efficient object grasping and transport without relying on intricate sensing or control algorithms. Experimental results validate the system`s ability to accommodate objects with varying geometries and material characteristics, balancing robustness with flexibility. This work advances the principles of peristaltic actuation, establishing a pathway for safely and reliably manipulating delicate materials in a range of scenarios.