Bio-inspired soft bistable actuator with dual actuations

Soft bending actuators, as one of the most important components of soft robotics, have attracted significantly increasing attention due to their robustness, compliance, inherent safety, and ease of manufacture. However, the key disadvantages can be the low output force, slow response speed, large deformation and vibration, which can potentially be addressed by introducing a bistable mechanism enabled by a prestressed steel shell. This work proposes a novel soft actuator with bistable property, which can maintain the predefined initial state and enhance bending motion at the corresponding stable state. A novel dual-actuation mechanism, which utilises pneumatic pressure for closing and tendon-driven for opening process, is proposed for autonomous transition between both states, and for a fast response. Mathematical model is proposed and compared with the experimental result for triggering pressure, which serves as a threshold to activate the transition of the stable state. Experimental results also indicate that closing and opening speeds are enhanced by 9.82% and more than ten times, respectively, as compared with the existing pneumatic bistable reinforced actuator design. Mathematical and experimental results suggest that a programmable bending angle at the second stable state can also be achieved by adjusting the preset tendon extension. The tendon arrangement also acts as a passive damping mechanism to reduce the oscillation while closing. The damping ratio is increased by more than four times, indicating that the oscillation decay is significantly accelerated for quick stabilization. Finally, a three-finger soft gripper is developed based on the proposed actuator design, which demonstrates promising performance in grasping objects with various shapes and sizes. The experimental results also show that the proposed bistable gripper can grasp the object with a weight up to 2067 g, which is more than 17 times heavier than that of three actuators.