Antagonistic Physical-Virtual Framework for the Development of Soft Actuators

Abstract

Soft robots rely on soft actuators, whose nonlinear responses are challenging to model, simulate, and integrate into designs. This complexity hinders the development of advanced soft robots and rigid mechanisms that require soft actuators for compliant actuation. To address this, in this study we present a framework for model development and actuator integration that offers both real and virtual environments for testing and validation. This framework includes high-fidelity digital twins and an actuator integration bench. The digital twin allows for the testing of virtual actuator models in a validated digital environment, replicating various load profiles. The actuator integration bench provides a safe, reproducible platform for validating both models and controllers under different loads, load profiles, and inertial conditions. Together, these tools enable rapid and reliable validation of actuator models and controllers, accelerating the development cycle of complex soft robots. We conclude by demonstrating the proposed workflow using liquid-gas phase transition actuators as a demonstrative test subject. Our source code is available at: https://github.com/softrobotic/antagonistic.