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Realizing the Bending Motion of a McKibben Pneumatic Actuator via Elastic Adhesive Coating
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Realizing the Bending Motion of a McKibben Pneumatic Actuator via Elastic Adhesive Coating
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Journal Article
Realizing the Bending Motion of a McKibben Pneumatic Actuator via Elastic Adhesive Coating
2025
Overview
Recently, soft actuators have gained considerable attention owing to their flexibility and high output-to-weight ratios. The McKibben pneumatic actuator (MPA), a type of soft artificial muscle, is an actuator that generates force by inflating a rubber tube with compressed air. Conventional MPAs, such as linear actuators, generate force along straight lines; hence, achieving complex movements, such as bending using a single muscle, can be challenging. In this study, we enabled bending movements in MPA by applying an elastic adhesive coating to MPA. Experimental results demonstrated that the coated MPA successfully performed bending movements. Furthermore, we confirmed that the curvature and fiber angles of the coated and uncoated surfaces changed with applied pressure, thereby indicating that the adhesive can be used to control the fiber angles and achieve the desired curvature.
