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Soft actuators with embedded fluidic channels are promising for soft robotics, but their continuous nature presents challenges in accurate and efficient modeling. Existing studies on dynamic behavior have shown that both approximate and exact methods have limitations in accurately predicting the deflection of soft actuators. Additionally, conventional methods require experimental parameter extraction for each individual actuator. To address these challenges, we propose a modified analytical method and use finite element analysis as the defined correction functions to improve accuracy and computational efficiency, providing a promising tool for the design and control of soft robotic systems. In this work, we propose a solution methodology for simulating the dynamic behavior of fluidic soft actuators, which are widely used in soft robotics applications. Our approach takes into account the cross-sectional geometry and the number of channels in the actuator's configuration. By scrutinizing various fluidic actuation designs, we can deduce the most suitable cross-sectional configuration for optimal performance. Compared to existing analytical methods, our approach is more accurate and does not require additional calculation time. As the method is adaptable with experimental models, it can be used to design and optimize soft actuators while can be refined and improved through experimental model updating. [ABSTRACT FROM AUTHOR]

Soft pneumatic biomimetic robotic systems excel at the specific application they are designed for, often to interact or navigate unstructured environments safely. However, redeployment to new purposes requires substantial resources, from redesign to revalidation. Despite most pneumatic artificial muscles surpassing the power and contraction performance of natural muscles, natural muscles largely remain unmatched in terms of their versatility and complex performance. This is likely due to artificial muscle's low effective strain and high radial expansion, limiting parallel operating efficiencies. To address these challenges, a class of compact versatile pneumatic actuators, called multilayer artificial muscle (MAM), that are capable of deployment to different applications through configurable modularity, is presented. The MAMs are biomimetically inspired by the sarcomere, the building block for natural muscle architecture. Similarly, MAM can extend and contract as well as be rearranged to mimic muscle‐like actions and functions, such as a caterpillar locomotion robot and an entire robotic arm. The MAMs are fabricated through multilayer, multimaterial, low‐cost additive manufacturing, which offers certain advantages such as higher extension, contraction force, and durability. MAMs have the potential to provide a crucial fundamental building block toward future versatile reconfigurable architecture. [ABSTRACT FROM AUTHOR]

Soft robotics is projected to have a significant impact on healthcare, industry, and the military to deliver assistance in rehabilitation, daily living activities, repetitive motion tasks, and human performance augmentation. Many attempts have been made for application-specific robotic joints, robots, and exoskeletons using various actuator types, materials, and designs. The progress of creating soft robotic systems can be accelerated if a set of actuators with defined characteristics were developed, similar to conventional robotic actuators, which can be assembled to create desired systems including exoskeletons and end effectors. This work presents the design methodology of such a modular actuator, created with a novel corrugated diaphragm that can apply linear displacement, angular displacement, and force. This modular actuator approach allows for creating various robotic joints by arranging them into different configurations. The modular corrugated diaphragm actuator concept was validated through numerical simulation, fabrication, and testing. Linear displacement, angular displacement, and force characteristics were shown for a single module and in multi-module assemblies. Actuator assemblies that are configured in a serial and parallel manner were investigated to demonstrate the applicability and versatility of the concept of the modular corrugated diaphragm actuator for creating single and multi-degree-of-freedom joints. [ABSTRACT FROM AUTHOR]