Magnetic-Pneumatic Hybrid Soft Actuator

Abstract

In this study, we developed a new actuator that can be driven by both magnetic and pneumatic and conducted driving experiments using the fabricated actuator. Soft actuators are widely used as a means of biomimicry. However, many existing actuators that use a single drive source have limited degrees of freedom and deformation capabilities. Recently, hybrid actuators that can be driven by multiple sources have gained attention due to their ability to produce movements that are not achievable by a single drive source. In this study, we fabricated a simple actuator that combines a cylindrical pillar made of silicone material containing magnetic particles with a hollow structure for pneumatic deformation. Three types of actuators with varying diameters and positions of the hollow structure were fabricated, and the drive of each actuator was measured. The pneumatic extensible actuator allows the actuator tip to be manipulated on a fan-shaped two-dimensional plane. The pneumatic bending actuator could manipulate the actuator tip in three dimensions. The actuator with a larger diameter hollow structure could be deformed differently in the same magnetic field by changing the stiffness of the actuator depending on the air pressure. Furthermore, by modifying the hollow structure and the external shape of the actuator, more unique movements can be achieved, and it is expected to be applied to bio-mimicry such as tentacle movement and cilia structure.