{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,7]],"date-time":"2026-02-07T19:00:16Z","timestamp":1770490816768,"version":"3.49.0"},"reference-count":26,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2021,2,17]],"date-time":"2021-02-17T00:00:00Z","timestamp":1613520000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2021,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The soft actuator is made of superelastic material and embedded flexible material. In this paper, a kind of soft tube was designed and used to assemble two kinds of pneumatic soft actuators. The experiment and finite element analysis are used to comprehensively analyze and describe the bending, elongation, and torsion deformation of the soft actuator. The results show that the two soft actuators have the best actuation performance when the inner diameter of the soft tube is 4 mm. In addition, when the twisting pitch of the torsional actuator is 24 mm, its torsional performance is optimized. Finally, a device that can be used in the production line was assembled by utilizing those soft actuators, and some operation tasks were completed. This experiment provides some insights for the development of soft actuators with more complex motions in the future.<\/jats:p>","DOI":"10.1017\/s0263574720001514","type":"journal-article","created":{"date-parts":[[2021,2,17]],"date-time":"2021-02-17T05:42:25Z","timestamp":1613540545000},"page":"1806-1815","source":"Crossref","is-referenced-by-count":10,"title":["Design and Experiments of Pneumatic Soft Actuators"],"prefix":"10.1017","volume":"39","author":[{"given":"Liqiang","family":"Guo","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8284-6306","authenticated-orcid":false,"given":"Ke","family":"Li","sequence":"additional","affiliation":[]},{"given":"Guanggui","family":"Cheng","sequence":"additional","affiliation":[]},{"given":"Zhongqiang","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Chu","family":"Xu","sequence":"additional","affiliation":[]},{"given":"Jianning","family":"Ding","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,2,17]]},"reference":[{"key":"S0263574720001514_ref24","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0001"},{"key":"S0263574720001514_ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.08.014"},{"key":"S0263574720001514_ref4","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1631\/jzus.A1500125","article-title":"Mechanics of dielectric elastomers: materials, structures, and devices","volume":"17","author":"Zhu","year":"2016","journal-title":"J. Zhejiang Univ. Sci. A: Appl. Phys. Eng."},{"key":"S0263574720001514_ref1","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2012.03.025"},{"key":"S0263574720001514_ref5","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1186\/s40638-017-0081-3","article-title":"A review on robotic fish enabled by ionic polymer\u2013metal composite artificial muscles","volume":"4","author":"Zheng","year":"2017","journal-title":"Robot. Biomim."},{"key":"S0263574720001514_ref16","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1615140114"},{"key":"S0263574720001514_ref23","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201303047"},{"key":"S0263574720001514_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989500"},{"key":"S0263574720001514_ref18","unstructured":"[18] Yi, S. , Yun, S. S. and Paik, J. , \u201cCharacterization of silicone rubber based soft pneumatic actuators,\u201d IEEE\/RSJ International Conference on Intelligent Robots & Systems. 2013."},{"key":"S0263574720001514_ref14","unstructured":"[14] Panagiotis, P. , Stacey, L. , Zheng, W. , Nicolini, L. F. , Mosadegh, B. , Whitesides, G. M. and Walsh, C. J. , \u201cTowards a soft pneumatic glove for hand rehabilitation,\u201d IEEE International Conference on Intelligent Robots & Systems. IEEE, 2013."},{"key":"S0263574720001514_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/RCAR.2017.8311839"},{"key":"S0263574720001514_ref15","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719001012"},{"key":"S0263574720001514_ref13","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1116564108"},{"key":"S0263574720001514_ref12","article-title":"Soft robotics for chemists","volume":"123","author":"Ilievski","year":"1930\u20131935 (2015","journal-title":"Angew. 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