Development of a Perforated Soft Surface Actuator with Variable Topology Mechanism

Abstract

Soft robotic actuators made of highly flexible materials have excellent deformability to conform to the shape of their surroundings. This property allows the actuator to be inserted through a narrow hole and deployed to work in a confined space. However, removing the deployed actuator from the narrow hole after work in the narrow space is difficult. To solve this problem, we developed a soft-surface actuator with a variable topology mechanism that facilitates removal from a narrow hole. The actuator is inserted and driven through a narrow hole, and then the perforation is cut to change the topology of the actuator, enabling it to be removed from the narrow hole. This paper demonstrates the results of the above sequence from insertion to removal.