Abstract Current soft robots lack the adaptability and reconfigurability of conventional robotics, resulting in limitations in the reuse and adaptability of such systems. Due to this, soft robots are commonly designed from the ground up for each discrete task. Inspired by the leg joints of spiders, we have developed a novel soft robotic actuator that permits reuse over a wide array of tasks including locomotion and grasping. Utilizing a soft silicone core, and a PET film exoskeleton we are able to reconfigure the actuator to move as required. With the modular construction of the exoskeleton, including tube and joint segments, we have developed an actuator that can be completely reconfigured, in just 20 minutes, by simply swapping out the exoskeleton. This actuator has the potential to address the lack of soft robotics in education while being useful for industrial and medical applications.

Creator

• Muralt, Arnold

Contributors

• Telliel, Yunus Dogan
• Agheli Hajiabadi, Mohammad Mahdi
• Onal, Cagdas

Degree

• MS

Unit

• Robotics Engineering

Publisher

• Worcester Polytechnic Institute

Identifier

• etd-104316

Keyword

• Re-Configureable
• Pneumatic
• Modular
• Spider-Inspired
• Actuator
• Soft Robotics

Advisor

• Onal, Cagdas
• Telliel, Yunus Dogan
• Agheli Hajiabadi, Mohammad Mahdi

Defense date

• 2023-08-01

Year

• 2023

Sponsor

• FWRD-NRT Program

Date created

• 2023-04-21

Resource type

• Thesis

Source

• etd-104316

Rights statement

• In Copyright

License

• Creative Commons BY-NC Attribution-NonCommercial 4.0 International

Last modified

• 2023-08-23