Configuration identification of on-demand variable stiffness strain-limiting layers in zig-zag soft pneumatic actuators using deep learning methods

Palpolage Don Shehan Hiroshan Gunawardane, Duhyeon Lee, Phoebe Cheung, Hao Zhou, Gursel Alici, Mu Chiao, Department of Mechanical Engineering, The University of British Columbia, School of Mechanical, Mechatronic and Biomedical Engineering, University of Wollongong

The International Journal of Robotics Research

Published online on August 28, 2025

Abstract

The International Journal of Robotics Research, Volume 45, Issue 4, Page 628-644, April 2026.
Soft pneumatic actuators (SPAs) typically offer a fixed trajectory, resulting in one specific tip motion for a given range of pressure. When multiple trajectories are needed, these actuators require re-fabrication with altered structural designs, with ...