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Design of a multimaterial 3D-printed soft actuator with bi-directional variable stiffness

Abstract:

A multi-material 3D printed soft actuator is presented that uses symmetrical, parallel chambers to achieve bi-directional variable stiffness. Many recent soft robotic solutions involve multi-stage fabrication, provide variable stiffness in only one direction or lack a means of reliably controlling the actuator stiffness. The use of multi-material 3D printing means complex monolithic designs can be produced without the need for further fabrication steps. We demonstrate that this allows for a h...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1007/978-3-030-89177-0

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Oxford college:
Brasenose College
Role:
Author
ORCID:
0000-0002-7588-9567
Publisher:
Springer
Host title:
Towards Autonomous Robotic Systems: 22nd Annual Conference, TAROS 2021
Series:
Lecture Notes in Artificial Intelligence
Series number:
13054
Publication date:
2021-10-31
Acceptance date:
2021-10-07
Event title:
22nd Annual Conference Towards Autonomous Robotic Systems Conference (TAROS 2021)
Event location:
Lincoln, UK
Event website:
https://lcas.lincoln.ac.uk/wp/taros-2021/
Event start date:
2021-09-08
Event end date:
2021-09-10
DOI:
EISSN:
1611-3349
EISBN:
978-3-030-89177-0
ISBN:
978-3-030-89176-3
Language:
English
Keywords:
Pubs id:
1204485
Local pid:
pubs:1204485
Deposit date:
2021-10-21

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