Inflatable soft actuator: Electrode Protection through Neutral Axis Theory and Fiber Reinforcement
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초록
내용
Research on the Inflatable Soft Actuator (ISA) aims to apply it in various industrial fields, leveraging its notable characteristics such as high compressibility, softness, and safety. However, integrating electrodes and sensors into ISA is challenging due to its significant deformation, while maintaining softness and compressibility presents conflicting issues. This study proposes a solution using Kevlar fiber-reinforced Elastomer to increase force while preserving ISA's key traits. Additionally, the study addresses the limitations by employing electrode protection based on the neutral axis theory. The proposed ISA underwent verification through folding, tensile, and force measurement experiments. Results indicate that the force increased while retaining compressibility and softness, and the electrodes remained protected even after repeated folding. This research offers an approach to overcome existing ISA limitations and demonstrates stable application of electrodes and sensors.