2022
Soft Pneumatic Actuator Model Based on a Pressure-Dependent Spatial Nonlinear Rod Theory
RA-L 2022
To describe the mechanical behavior of a soft pneumatic actuator, we present a nonlinear rod theory, which recognizes the chamber pressurization as contribution to the resultant contact forces and couples. Accordingly, the pressure actuation can be considered as part of the rod’s constitutive laws,