Xinyue Ji

A Novel Wavy Soft Pneumatic Actuator Combining Variable Thickness and an Unconstrained Base

This letter proposes novel wavy soft pneumatic actuators (WSPAs) that integrates an unconstrained base with an elastic chamber of varying wall thicknesses. The base plate design eliminates bottom constraints, thereby enhancing the bending performance of WSPAs. Wavy elastomer cavities with varying wa