Deployable Soft Pneumatic Networks (D-PneuNets) Actuator With Dual-Morphing Origami Chambers for High-Compactness

Soft pneumatic networks (PneuNets) actuators are widely considered as a robotic solution for safety and simplicity, yet the trade-off relationship between output force and bulkiness limits usability. In this letter, we propose a deployable soft pneumatic networks (D-PneuNets) actuator consisting of origami-designed chambers. In response to applied pressure, the origami chambers rapidly deploy to increase the moment arm, while simultaneously inflating to bend the whole body through asymmetric lengthening and mutual contacts. Consequently, the D-PneuNets actuator can generate relatively large force, and also provide compactness when not in use. Experiment and finite element analysis results show that the D-PneuNets actuator can grow more than 2.5 times of its initial height, and generate an output force more than 10 times higher compared to that of a conventional soft pneumatic networks actuator with the same initial height. In addition, a dual-material origami chamber with relatively stiff side walls was developed to prevent an unnecessary bulge out. Finally, a robotic soft glove using D-PneuNets actuators was developed and verified for grasping various everyday-objects. Our approach offers a design strategy to overcome the trade-off relationship of soft pneumatic networks actuators, enabling compact designs of soft robotic devices.